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CONROLIB

Learn about the new CONRO hardware, development environment, CONROLIB, APIs, and how to write your first CONRO program. Explore future work and see a demo.

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CONROLIB

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  1. CONROLIB

  2. Objective of presentation • CONRO Developer should be able to program a fully functional CONRO after this presentation

  3. Outline of Presentation • The Basics: What is the new CONRO Hardware? • What is the new development environment? • Where can I get this software environment? • What is CONROLIB? • Discussion of all APIs • Writing your first program …very easy • Modifying the Makefile • How do I add my contribution to CONROLIB? • Why use static libaries? • Future Work on CONROLIB • Demo

  4. The Basics: What is the new CONRO Hardware? • Atmega128 Low power MCU • All peripherals on chip (ADC, Timers, UART) • 4Mhz , 128Kb Program Flash, 4KB RAM • MICA2DOT = MCU + Wireless Chip + Serial Flash For Data Logging • Board under DOT -> IR LEDs / Transistor • Battery Powered

  5. Main Functionalities of CONRO’s Hardware Communicate using Software UART and Infrared Control 2 Servo Motors Measure Infrared Intensity at each port Control Each ports TX LED and Read Digital from Rx Send Debug Info to a PC Host Wireless Communication

  6. What is the new development environment? Serial Programmer PC Host with Cross Compiler CONRO Atmega128

  7. What is the new development environment?...contd. • Cross Compiler is avr-gcc + avr-linker + avr-binutils • Both *nix & Windows environments available. Bin-Utils converts assembly to Intel hex file C Code Avr-gcc UISP/Avrdude CONRO

  8. Where can I get this software environment? • Unix/Linux : http://www.isi.edu/~weiye/system/guide/avrtools.html • Note: instructions are old download latest versions of gcc, avr-libc, binutils, uisp. • Windows • http://sourceforge.net/projects/winavr • Instructions are available with s/w • NOTE! : Must have permissions for accessing /dev/ttyS0 (unix) or COM1 in Windows

  9. What is CONROLIB? • A precompiled static library with host of standard C APIS. • CONROLIB = libconro_lib.a + header files. That's all you need to program CONRO! • The library has API's for : • Reading Sensor from each port • Debug through printf to a host pc running hyperterminal(9600 8N1) in • Software UART for inter CONRO communication • Individual control of each port TX and reading the digital value of • Each port RX. • Controlling pitch and yaw servo

  10. Discussion of all APIs • 1 Header file for each oval functionality • adc.h • debugPrintf.h • portControl.h • servo.h • uartsw.h

  11. Discussion of all APIs • Uartsw (For Infrared Communication) • #include “uartsw.h” • int sendByte(uint8_t u08) • int receiveByte(void) • #define UARTSW_RX_BUFFER_SIZE 0x20

  12. Discussion of all APIs • Servos • #include “servo.h” • initializeServos(); • void controlServoNorth(uint16_t angle); • void controlServoSouth(uint16_t angle);

  13. Discussion of all APIs • Controlling PORT LEDS(TX) and reading a digital value from RX • #include “portControl.h” • initializePorts(); • void northPortTx(uint8_t status); //status =1 TX => ON status = 0 =>OFF. • uint8_t readNorthRx(void); //returns a HIGH or LOW

  14. Discussion of all APIs • Reading ADC sensor: intensity of received IR on any RX port • #include “adc.h” • initializeAdc(); • uint16_t readSensorNorth(void);

  15. Discussion of all APIs • Using printf to send data to PC: Hyperterminal • #include “debugPrintf.h” • initializeDebug(); • Printf(“Howdy CONRO\n\r”); OR • Printf(“value of angle is %d\n\r”,angle);

  16. Writing your first program • Example :you want to move the servo • Make any directory say.. testConro • mkdir testConcro • cd testConro • tar xvzf CONRO.tar.gz • Vi/emacs demo.c

  17. Writing your first program #include “servo.h” Int main(void) { initializeServos();//initiallize servo controlServoNorth(300);//servo middle return 1;//make sure u write return }

  18. Writing your first program To clean testConro>$ make clean To compile testConro>$ make Switch on CONRO ,Connect the programming cable testConro>$ make flash You’re done!

  19. Modifying the Makefile • Currently SRCS = demo.c OBJS = demo.o • Change to SRCS = cfile1.c cfile2.c OBJS = cfile1.o cfile2.o

  20. How do I add my contribution to CONROLIB? • U just made a cool *.o u want to add to libconro_lib.a • USE CVS! Do not overwrite the old library • Compile ure code to obj(-c option) do NOT link • avr-gcc –mmcu=atmega128 –c blah.c • ar qv libconro_lib.a blah.o • ranlib libconro_lib.a • Make a header file with ure API in it. Put header file in includes dir and update libconro_lib.a

  21. Why use static libaries? • Precompiled: Saves time • If a bug fix is found you only have to update 1 file ! • Insulates you from hardware. Don’t worry about hardware dependant C code • Note: only relevant object code is linked

  22. Future Work on CONROLIB • Modify APIs? • Wireless API • API code is stable according to me but bugs could still be lurking around. Report anything unusual to me • Fixed point Math Library :Speed and Accuracy

  23. Demo • How To install Winavr? • How To use it? • Installing CONROLIB • Running a Program

  24. HAVE FUN !

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