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--- en:examples:projects:finger_counter [2009/03/05 12:10] – raivo.sell
+++ en:examples:projects:finger_counter [2010/02/04 12:32] (current) – removed mikk.leini
@@ Line 1: / Line 1: @@
-====== Project - Finger counter ======
-  * {{examples:projects:finger_counter:finger_counter.zip|AVRStudio full project}}
-===== main.c =====
-The project uses IR sensor and servo motor for scanning sector.
-Putting hands on the front of scanning sector the result should be number of spread out fingers.
-<code c>
-#include <avr/io.h>
-#include <util/delay.h>
-#include <stdlib.h>
-#include "adc.h"
-#include "motors.h"
-#include "lcd.h"
-#include "segment_display.h"
-#include "pinops.h"
-#include "configuration.h"
-// Math operations
-#define DIFF(a, b) ((a) < (b) ? (b) - (a) : (a) - (b))
-#define INTEGRATE(value, new_value, n)    value = (value * (n - 1) + new_value) / n;
-//
-// Main entrance
-//
-int main(void)
-{
-	unsigned short distance, compare_distance = 0;
-	unsigned char matches = 0, num_fingers = 0;
-	signed short servo_pos = -100, scan_dir = 1;
-	char text[10];
-	// Initialize
-	adc_init();
-	dcmotors_init();
-	segment_display_init();
-	servomotors_init();
-	setup_output_pin(LED_RED);
-	lcd_init(LCD_DISP_ON);
-	lcd_clrscr();
-	lcd_puts("Finger counter");
-	// Endless loop
-	while (1)
-	{
-		// Scan
-		servomotors_position(1, servo_pos);
-		servo_pos += scan_dir;
-		// Servo on edge ?
-		if ((servo_pos < -100) || (servo_pos > 100))
-		{
-			scan_dir = (servo_pos > 0 ? -1 : 1);
-			// Output results
-			segment_display_write(num_fingers);
-			itoa(num_fingers, text, 10);
-			lcd_gotoxy(0, 1);
-			lcd_puts(text);
-			lcd_puts("  ");
-			// Reset fingers count
-			num_fingers = 0;
-		}
-		// Measure distance
-		distance = adc_sample_value(0, 4);
-		// Check for drastic changes
-		// Look for decreasing distance (increasing sensor output voltage)
-		if (distance > compare_distance + 100)
-		{
-			// Light on finger
-			clear_pin(LED_RED); // inverted!
-			// Changes has to last for some time
-			if (matches++ == 5)
-			{
-				// Count fingers
-				num_fingers++;
-			}
-		}
-		else
-		{
-			// Reset matches and turn off the LED
-			set_pin(LED_RED); // inverted!
-			matches = 0;
-		}
-		// Calculate compare distance (integrated distance)
-		INTEGRATE(compare_distance, distance, 20);
-		// Pause
-		_delay_ms(10);
-	}
-}
-</code>
-===== configuration.h =====
-<code c>
-// Hardware pin configurations
-#define BUTTON_1      PORTPIN(C, 2)
-#define BUTTON_2      PORTPIN(C, 1)
-#define BUTTON_3      PORTPIN(C, 0)
-#define LED_RED       PORTPIN(C, 5)
-#define LED_YELLOW    PORTPIN(C, 4)
-#define LED_GREEN     PORTPIN(C, 3)
-#define DCMOTOR_1A    PORTPIN(B, 7)
-#define DCMOTOR_1B    PORTPIN(B, 4)
-#define DCMOTOR_2A    PORTPIN(D, 1)
-#define DCMOTOR_2B    PORTPIN(D, 0)
-#define DCMOTOR_3A    PORTPIN(D, 7)
-#define DCMOTOR_3B    PORTPIN(D, 6)
-#define DCMOTOR_4A    PORTPIN(D, 5)
-#define DCMOTOR_4B    PORTPIN(D, 4)
-#define SERVOMOTOR_1  PORTPIN(B, 5)
-#define SERVOMOTOR_2  PORTPIN(B, 6)
-#define SEGMENT_DISPLAY_LATCH      PORTPIN(G, 2)
-#define SEGMENT_DISPLAY_DATA_OUT   PORTPIN(C, 6)
-#define SEGMENT_DISPLAY_CLOCK      PORTPIN(C, 7)
-</code>
-===== adc.c =====
-<code c>
-#include <avr/io.h>
-#include "pinops.h"
-//
-// ADC initialization
-//
-void adc_init(void)
-{
-	// ADC setup
-	// Prescaler 8
-	ADCSRA = BIT(ADEN) | BIT(ADPS1) | BIT(ADPS0);
-	// Reference voltage to external (+5V)
-	ADMUX = BIT(REFS0);
-}
-//
-// ADC conversion waiting
-//
-void adc_wait_until_done(void)
-{
-	while (IS_BIT_SET(ADCSRA, ADSC))
-	{
-		asm volatile ("nop");
-  	}
-}
-//
-// ADC channel value sampling
-//
-unsigned short adc_sample_value(unsigned char channel, unsigned char num_samples)
-{
-	unsigned short result = 0;
-	// Specify channel
-	ADMUX &= 0xF0;
-	ADMUX |= channel & 0x0F;
-	// Take test sample to "warm up" converter
-	// Usually the first sample is discarded
-	SET_BIT(ADCSRA, ADSC);
-	adc_wait_until_done();
-	// Real sampling, sum up specifed number of samples
-	for (unsigned char i = 0; i < num_samples;i++)
-	{
-		SET_BIT(ADCSRA, ADSC);
-		adc_wait_until_done();
-		// Sum-up
-		result += ADCW;
-	}
-	// Return averaged result
-	return (result / num_samples);
-}
-</code>
-===== adc.h =====
-<code c>
-// ADC function headers
-void adc_init(void);
-unsigned short adc_sample_value(unsigned char channel, unsigned char num_samples);
-</code>
-===== motors.c =====
-<code c>
-#include <avr/io.h>
-#include "pinops.h"
-#include "configuration.h"
-// PWM full period
-// 14.745600 Mhz / 8 / 50 Hz = 36864
-#define PWM_PERIOD      (F_CPU / 8 / 50)
-// PWM servo middle position
-// 36864 / 20 ms * 1.5 ms = 2764
-#define PWM_MIDDLE_POS  (PWM_PERIOD * 15 / 200)
-// PWM ratio to get position from -100 to 100
-// 36864 / 20 ms / 2 / 100
-// We add +1 to get a full range and a little bit more
-#define PWM_RATIO       (PWM_PERIOD / 20 / 2 / 100 + 1)
-//
-// Initialize motors
-//
-void dcmotors_init(void)
-{
-	setup_output_pin(DCMOTOR_1A);
-	setup_output_pin(DCMOTOR_1B);
-	setup_output_pin(DCMOTOR_2A);
-	setup_output_pin(DCMOTOR_2B);
-	setup_output_pin(DCMOTOR_3A);
-	setup_output_pin(DCMOTOR_3B);
-	setup_output_pin(DCMOTOR_4A);
-	setup_output_pin(DCMOTOR_4B);
-}
-//
-// Drive command for specified motor
-//
-void dcmotors_drive(unsigned char nr, signed char dir)
-{
-	switch (nr)
-	{
-		case 1:
-			set_pin_to(DCMOTOR_1A, dir < 0);
-			set_pin_to(DCMOTOR_1B, dir > 0);
-			break;
-		case 2:
-			set_pin_to(DCMOTOR_2A, dir < 0);
-			set_pin_to(DCMOTOR_2B, dir > 0);
-			break;
-		case 3:
-			set_pin_to(DCMOTOR_3A, dir < 0);
-			set_pin_to(DCMOTOR_3B, dir > 0);
-			break;
-		case 4:
-			set_pin_to(DCMOTOR_4A, dir < 0);
-			set_pin_to(DCMOTOR_4B, dir > 0);
-			break;
-	}
-}
-//
-// Intialize servo motors
-//
-void servomotors_init(void)
-{
-	setup_output_pin(SERVOMOTOR_1);
-	setup_output_pin(SERVOMOTOR_2);
-	// Set timer control registers
-	// Clear OUTA and OUTB on compare match
-	// Fast PWM mode with ICR = TOP
-	// Prescaler 8
-	TCCR1A = BIT(COM1A1) | BIT(COM1B1) | BIT(WGM11);
-	TCCR1B = BIT(CS11) | BIT(WGM13) | BIT(WGM12);
-	// TOP period
-	ICR1 = PWM_PERIOD;
-}
-//
-// Position servo motors
-// pos is from -100 to 100
-//
-void servomotors_position(unsigned char nr, signed short pos)
-{
-	//
-	switch (nr)
-	{
-		case 1: OCR1A = PWM_MIDDLE_POS + pos * PWM_RATIO; break;
-		case 2: OCR1B = PWM_MIDDLE_POS + pos * PWM_RATIO; break;
-	}
-}
-</code>
-===== motors.h =====
-<code c>
-// Motor function headers
-void dcmotors_init(void);
-void dcmotors_drive(unsigned char nr, signed char dir);
-void servomotors_init(void);
-void servomotors_position(unsigned char nr, signed short pos);
-</code>
-===== segment_display.c =====
-<code c>
-#include <avr/io.h>
-#include <util/delay.h>
-#include "pinops.h"
-#include "configuration.h"
-//
-// 7 segment display initialization
-//
-void segment_display_init(void)
-{
-	// Set latch, data out and clock pins as output
-	setup_output_pin(SEGMENT_DISPLAY_LATCH);
-	setup_output_pin(SEGMENT_DISPLAY_DATA_OUT);
-	setup_output_pin(SEGMENT_DISPLAY_CLOCK);
-}
-//
-// Digit writing to 7 segment display
-//
-void segment_display_write(unsigned char digit)
-{
-	unsigned char map;
-	// Decimal to segment map
-	switch (digit)
-	{
-		case 0 : map = 0b00111111; break; // Every bit corresponds to one segment
-		case 1 : map = 0b00000110; break; // "1"
-		case 2 : map = 0b01011011; break; // "2"
-		case 3 : map = 0b01001111; break; // "3" and so on
-		case 4 : map = 0b01100110; break;
-		case 5 : map = 0b01101101; break;
-		case 6 : map = 0b01111100; break;
-		case 7 : map = 0b00000111; break;
-		case 8 : map = 0b01111111; break;
-		case 9 : map = 0b01100111; break;
-		default: map = 0b01111001;        // E like Error
-	}
-	// Latch low
-	clear_pin(SEGMENT_DISPLAY_LATCH);
-	// Send every bit in the byte. MSB (most significant bit) first.
-	for (signed char i = 7; i >= 0; i--)
-	{
-		// If bit is set, sets the data out pin, otherwise not
-		set_pin_to(SEGMENT_DISPLAY_DATA_OUT, IS_BIT_SET(map, i));
-		// Clock high for certain period
-		set_pin(SEGMENT_DISPLAY_CLOCK)
-		_delay_us(1);
-		// Clock low for certain period
-		clear_pin(SEGMENT_DISPLAY_CLOCK)
-		_delay_us(1);
-	}
-	// Latch high
-	set_pin(SEGMENT_DISPLAY_LATCH);
-}
-</code>
-===== segment_display.h =====
-<code c>
-// 7 segment display function headers
-void segment_display_init(void);
-void segment_display_write(unsigned char digit);
-</code>

en/examples/projects/finger_counter.1236255027.txt.gz · Last modified: 2020/07/20 09:00 (external edit)