קורס אמבדד – 005 – RB18

מחבר:admin
פורסם:דצמבר 9, 2022
קטגוריה:רובוטרוניקס כללי
תגובות:אין תגובות

קורס אמבדד – 005 – RB18

MOTOR DRIVER

תכנון מעגל משלוב חומרה ותוכנה -מתנתקים ממיגבלות המעבד \ משדר של כמות IO

(PWM / I/O / SPI / I2C /I2S/ UART ) I/O Expanders

PCF8575 Interface – I/O Expanders Remote 16-Bit I2C & SMBus I/O Expander

PCAL6524HEAZ

UART EXPENDER

TIMER

esp32 80Mhz ==> 8,000,000Hz

TICK :

T.S (HZ) , prescaler=1 ==> 80mhz /1 = 80Mhz

T.S (HZ) , prescaler=80==> 80mhz /80 = 1Mhz

// Robotronix.co.il


#define LED 32

hw_timer_t *My_timer = NULL;
void IRAM_ATTR onTimer(){
digitalWrite(LED, !digitalRead(LED));
}



void setup() {
pinMode(LED, OUTPUT);
My_timer = timerBegin(0, 80, true); // TIMEER 0-3,PRESCALR, COUNER UP ?
timerAttachInterrupt(My_timer, &onTimer, true);

/* timerAttachInterrupt:
pecify the counter value in which the timer interrupt should be 
generated. So, for this example, we assume that we 
want to generate an interrupt each second, and thus we 
pass the value of 1000000 microseconds, which is equal to 1 second.
 For the third argument, we will pass the value true, so the counter 
 will reload and thus the interrupt will be generated periodically.
*/

timerAlarmWrite(My_timer, 1000000, true);
 // enabling the timer interrupt using the function timerAlarmEnable.
timerAlarmEnable(My_timer); 

}
void loop() {
}

// Robotronix.co.il

#define LED 32

hw_timer_t *My_timer = NULL;

void IRAM_ATTR onTimer(){

digitalWrite(LED, !digitalRead(LED));

}

void setup() {

pinMode(LED, OUTPUT);

My_timer = timerBegin(0, 80, true); // TIMEER 0-3,PRESCALR, COUNER UP ?

timerAttachInterrupt(My_timer, &onTimer, true);

/* timerAttachInterrupt:

pecify the counter value in which the timer interrupt should be

generated. So, for this example, we assume that we

want to generate an interrupt each second, and thus we

pass the value of 1000000 microseconds, which is equal to 1 second.

For the third argument, we will pass the value true, so the counter

will reload and thus the interrupt will be generated periodically.

timerAlarmWrite(My_timer, 1000000, true);

// enabling the timer interrupt using the function timerAlarmEnable.

timerAlarmEnable(My_timer);

}

void loop() {

}

https://wokwi.com/projects/350706177868300882

הוספת ספרייה לארדואינו \ ESP32

https://github.com/RoboticsBrno/ServoESP32

#include <Servo.h>

static const int servoPin = 4;

Servo servo1;

void setup() {
    Serial.begin(115200);
    servo1.attach(servoPin);
}

void loop() {
    for(int posDegrees = 0; posDegrees <= 180; posDegrees++) {
        servo1.write(posDegrees);
        Serial.println(posDegrees);
        delay(20);
    }

    for(int posDegrees = 180; posDegrees >= 0; posDegrees--) {
        servo1.write(posDegrees);
        Serial.println(posDegrees);
        delay(20);
    }
}

#include <Servo.h>

static const int servoPin = 4;

Servo servo1;

void setup() {

Serial.begin(115200);

servo1.attach(servoPin);

}

void loop() {

for(int posDegrees = 0; posDegrees <= 180; posDegrees++) {

servo1.write(posDegrees);

Serial.println(posDegrees);

delay(20);

}

for(int posDegrees = 180; posDegrees >= 0; posDegrees--) {

servo1.write(posDegrees);

Serial.println(posDegrees);

delay(20);

}

SUMMERY

// Set the bit

num = num | (1 << bit); // num |= (1<< bit)

// Check the bit

( num & (1 << bit) ) >0

// Clear the bit

num = num & ~(1 << bit); // num &= ~(1<< bit)

// Toggle the bit or Invert the bit

num = num ^ (1 << bit); // num ^= ~(1<< bit)

BITWISE OPERATORS

bitwise – mask

נבדוק את ביט מספר 3

תוצאה גדולה מ 0

——————————————————————————————————————————————

נבדוק את BIT מספר 7

תוצאה 0

BIT WIZE SET BIT

מטרה – להציב ערך של ביט אחד או יותר בלי לשנות את שאר הביטים

Clearing Bits

FLIP BIT / TOGGLING

1^1==>0

0^1==>1

FLIP ALL BITS

תרגיל כיתה :

Build a program in emended c that control DJ leds with string commando from rs232 / Bluetooth

https://wokwi.com/projects/350701464616698450

the program get 8 chars string s , like s="0100-1010" in this format

1. SET S , EXMAPLE SET 0000-1000

2. CLEAR S , CLEAR 3 WILL CLEAR BIT 3

3 RAND , SET all 8 leds in random value 1 or 0 ,Example RAND

4 CLEAR BIT , example CLEAR 5 , will clear bit 5 .

5 T BIT , toggle bit number BIT , T 4

6. BLINK will blink all bit in 500 ms

7 shift N will shift all bits in N BITS

8 LEFT N will shift shift all bit in N BITS

all input can be lower , upper or both letters .

#include <string.h>
#include <stdio.h>

void run()
{

    for (int i = 4; i <= 13; i++) {
    digitalWrite(i, HIGH);
    delay(100);
    digitalWrite(i, LOW);
  }
  for (int i = 12; i > 4; i--) {
    digitalWrite(i, HIGH);
    delay(100);
    digitalWrite(i, LOW);
  }
}

char ch;
char buf[100];
int c=0;
void setup() {
  Serial.begin(115200);
  Serial. print("Dj control - The Bits Master\n");
  for (int i = 4; i <= 13; i++) {
    pinMode(i, OUTPUT);
  }
}

void loop() {

 
  if(Serial.available())
  {
    ch=Serial.read();
    Serial.print(ch);
    if(ch!='\n')
    {
     buf[c]=ch;
    buf[c+1]=0;
    c++;
    }
    else
    {
     // Serial.print(buf);
      c=0;
      // terminate command
      if(strstr(buf,"run")>0)
      {
        run();
      }
      memset(buf,100,0);
    }
 
  }


}

#include <string.h>

#include <stdio.h>

void run()

{

for (int i = 4; i <= 13; i++) {

digitalWrite(i, HIGH);

delay(100);

digitalWrite(i, LOW);

}

for (int i = 12; i > 4; i--) {

digitalWrite(i, HIGH);

delay(100);

digitalWrite(i, LOW);

}

char ch;

char buf[100];

int c=0;

void setup() {

Serial.begin(115200);

Serial. print("Dj control - The Bits Master\n");

for (int i = 4; i <= 13; i++) {

pinMode(i, OUTPUT);

}

void loop() {

if(Serial.available())

{

ch=Serial.read();

Serial.print(ch);

if(ch!='\n')

{

buf[c]=ch;

buf[c+1]=0;

c++;

}

else

{

// Serial.print(buf);

c=0;

// terminate command

if(strstr(buf,"run")>0)

{

run();

}

memset(buf,100,0);

}

#include <stdio.h>
    
void showbits( unsigned int x )
{   int c1=0;
    int i;
    unsigned int temp=0;
    for (i = (sizeof(int) * 8) - 1; i >= 0;c1++, i--)
    {
      // putchar(x & (1 << i) ? '1' : '0');
     temp =x & (1 << i);
     if ( (c1%4)==0 )putchar('-');
     if( temp>0)
        {
          putchar('1');
        }
        else
        {
          putchar('0');   
        }
       
       
       
       
    }
    printf("\n");
}

int main( void )
{
    int j =1;
    printf("%d in binary  ", j);
     showbits(j);
    printf("\n-----------------------------\n");
    showbits(j);

    /* the loop for right shift operation */
    for (int m = 0; m <= 5; m++)
    {
        int n = j >> m;
        printf("%d right shift %d gives ", j, m);
        showbits(n);
    }
    return 0;
}

#include <stdio.h>

void showbits( unsigned int x )

{ int c1=0;

int i;

unsigned int temp=0;

for (i = (sizeof(int) * 8) - 1; i >= 0;c1++, i--)

{

// putchar(x & (1 << i) ? '1' : '0');

temp =x & (1 << i);

if ( (c1%4)==0 )putchar('-');

if( temp>0)

{

putchar('1');

}

else

{

putchar('0');

}

printf("\n");

}

int main( void )

{

int j =1;

printf("%d in binary ", j);

showbits(j);

printf("\n-----------------------------\n");

showbits(j);

/* the loop for right shift operation */

for (int m = 0; m <= 5; m++)

{

int n = j >> m;

printf("%d right shift %d gives ", j, m);

showbits(n);

}

return 0;

}

brushless drones motors

Spikes Motor driver

כתיבת תגובה לבטל

יש להיות מחובר כדי לפרסם תגובה.

MOTOR DRIVER

(PWM / I/O / SPI / I2C /I2S/ UART ) I/O Expanders

PCF8575 Interface – I/O Expanders Remote 16-Bit I2C & SMBus I/O Expander

TIMER

esp32 80Mhz ==> 8,000,000Hz

SUMMERY

bitwise – mask

Clearing Bits

Spikes Motor driver

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