/********************************************************************************

Written by: Vinod Desai, NEX Robotics Pvt. Ltd.

Edited by: Sachitanand Malewar, NEX Robotics Pvt. Ltd.
AVR Studio Version 4.17, Build 666

Date: 26th December 2010

Application example: Robot control over serial port via XBee wireless
communication module
(located on the ATMEGA260 microcontroller adaptor
board)

Concepts covered: serial communication

Serial Port used: UART0

There are two components to the motion control:

1. Direction control using pins PORTA0 to PORTA3
2. Velocity control by PWM on pins PL3 and PL4 using OC5A and OC5B.

In this experiment for the simplicity PL3 and PL4 are kept at logic 1.

Pins for PWM are kept at logic 1.

Connection Details:

Motion control: L-1---->PA0; L-2---->PA1;

R-1---->PA2; R-2---->PA3;
PL3 (OC5A) ----> Logic 1; PL4 (OC5B) ---->
Logic 1;

Serial Communication: PORTD 2 --> RXD1 UART1 receive for RS232 serial
communication
PORTD 3 --> TXD1 UART1 transmit for RS232
serial communication

PORTH 0 --> RXD2 UART 2 receive for USB - RS232

communication
PORTH 1 --> TXD2 UART 2 transmit for USB -
RS232 communication

PORTE 0 --> RXD0 UART0 receive for ZigBee

wireless communication
PORTE 1 --> TXD0 UART0 transmit for ZigBee
wireless communication

PORTJ 0 --> RXD3 UART3 receive available on

microcontroller expansion socket
PORTJ 1 --> TXD3 UART3 transmit available on
microcontroller expansion socket

Serial communication baud rate: 9600bps

To control robot use number pad of the keyboard which is located on the right hand
side of the keyboard.
Make sure that NUM lock is on.

Commands:
Keyboard Key ASCII value Action
 8 0x38 Forward
2 0x32 Backward
4 0x34 Left
6 0x36 Right
5 0x35 Stop
7 0x37 Buzzer on
9 0x39 Buzzer off

Note:

1. Make sure that in the configuration options following settings are

done for proper operation of the code

Microcontroller: atmega2560
Frequency: 14745600
Optimization: -O0 (For more information read section: Selecting proper
optimization
options below figure 2.22 in the Software
Manual)

2. Difference between the codes for RS232 serial, USB and wireless communication
is only in the serial port number.
Rest of the things are the same.

3. For USB communication check the Jumper 1 position on the ATMEGA2560

microcontroller adaptor board

4. Auxiliary power can supply current up to 1 Ampere while Battery can supply
current up to
2 Ampere. When both motors of the robot changes direction suddenly without
stopping,
it produces large current surge. When robot is powered by Auxiliary power
which can supply
only 1 Ampere of current, sudden direction change in both the motors will
cause current
surge which can reset the microcontroller because of sudden fall in voltage.
It is a good practice to stop the motors for at least 0.5seconds before
changing
the direction. This will also increase the useable time of the fully charged
battery.
the life of the motor.

*********************************************************************************/

/********************************************************************************

Copyright (c) 2010, NEX Robotics Pvt. Ltd. -*- c -*-

All rights reserved.

Redistribution and use in source and binary forms, with or without

modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright

notice, this list of conditions and the following disclaimer.

* Redistributions in binary form must reproduce the above copyright

notice, this list of conditions and the following disclaimer in
the documentation and/or other materials provided with the
distribution.
 * Neither the name of the copyright holders nor the names of
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.

* Source code can be used for academic purpose.

For commercial use permission form the author needs to be taken.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.

Software released under Creative Commence cc by-nc-sa licence.

For legal information refer to:
http://creativecommons.org/licenses/by-nc-sa/3.0/legalcode

********************************************************************************/

#include<avr/io.h>
#include<avr/interrupt.h>
#include<util/delay.h>

unsigned char data; //to store received data from UDR1

void buzzer_pin_config (void)

{
DDRC = DDRC | 0x08; //Setting PORTC 3 as outpt
PORTC = PORTC & 0xF7; //Setting PORTC 3 logic low to turnoff buzzer
}

void motion_pin_config (void)

{
DDRA = DDRA | 0x0F;
PORTA = PORTA & 0xF0;
DDRL = DDRL | 0x18; //Setting PL3 and PL4 pins as output for PWM generation
PORTL = PORTL | 0x18; //PL3 and PL4 pins are for velocity control using PWM.
}

//Function to initialize ports

void port_init()
{
motion_pin_config();
buzzer_pin_config();
}

void buzzer_on (void)

{
unsigned char port_restore = 0;
port_restore = PINC;
port_restore = port_restore | 0x08;
 PORTC = port_restore;
}

void buzzer_off (void)

{
unsigned char port_restore = 0;
port_restore = PINC;
port_restore = port_restore & 0xF7;
PORTC = port_restore;
}

//Function To Initialize UART0

// desired baud rate:9600
// actual baud rate:9600 (error 0.0%)
// char size: 8 bit
// parity: Disabled
void uart0_init(void)
{
UCSR0B = 0x00; //disable while setting baud rate
UCSR0A = 0x00;
UCSR0C = 0x06;
UBRR0L = 0x5F; //set baud rate lo
UBRR0H = 0x00; //set baud rate hi
UCSR0B = 0x98;
}

SIGNAL(SIG_USART0_RECV) // ISR for receive complete interrupt

{
data = UDR0; //making copy of data from UDR0 in 'data'
variable

UDR0 = data; //echo data back to PC

if(data == 0x38) //ASCII value of 8

{
PORTA=0x06; //forward
}

if(data == 0x32) //ASCII value of 2

{
PORTA=0x09; //back
}

if(data == 0x34) //ASCII value of 4

{
PORTA=0x05; //left
}

if(data == 0x36) //ASCII value of 6

{
PORTA=0x0A; //right
}

if(data == 0x35) //ASCII value of 5

{
PORTA=0x00; //stop
}
 if(data == 0x37) //ASCII value of 7
{
buzzer_on();
}

if(data == 0x39) //ASCII value of 9

{
buzzer_off();
}

//Function To Initialize all The Devices

void init_devices()
{
cli(); //Clears the global interrupts
port_init(); //Initializes all the ports
uart0_init(); //Initailize UART1 for serial communiaction
sei(); //Enables the global interrupts
}

//Main Function
int main(void)
{
init_devices();
while(1);
}