- バックアップ一覧
- 差分 を表示
- 現在との差分 を表示
- バックアップ を表示
- A/D値でサーボモーターの振れ角を制御(LCD表示 16F1827 XC8) へ行く。
- 1 (2014-01-14 (火) 23:35:31)
- 2 (2014-01-14 (火) 23:35:48)
- 3 (2014-01-14 (火) 23:35:48)
- 4 (2015-02-15 (日) 05:04:28)
- 5 (2015-11-10 (火) 10:33:44)
- 6 (2015-11-16 (月) 12:27:48)
- 7 (2015-12-22 (火) 11:27:49)
- 8 (2015-12-25 (金) 04:46:52)
- 9 (2015-12-25 (金) 09:44:02)
- 10 (2015-12-30 (水) 12:38:07)
- 11 (2016-01-08 (金) 18:37:47)
- 12 (2016-09-18 (日) 18:23:32)
- 13 (2017-03-09 (木) 18:39:05)
- 14 (2017-09-22 (金) 11:40:41)
#freeze
閲覧総計：&counter(); （本日：&counter(today); 昨日：&counter(yesterday);）~
*A/D値でサーボモーターの振れ角を制御(LCD表示 16F1827 XC8) [#l27c50b1]
PICに液晶ディスプレー(LCD)が接続できる様になると、PICの動いている状態
をビジュアルで確認出来る様になりとても便利です。
PICの細かな動きが数値で確認できる様になり、細かい補正を行う事が可能に
なります。
今回は、可変抵抗器で作るアナログ値をデジタル変換し、その値でサーボモー
ターを制御するパルス信号の長さを調整し、振れ角を制御してみました。
制御デジタル値と、パルス信号時間をLCDに表示し見える化しました。
サーボの中心位地が制御デジタル値295、パルス信号時間1,640us
左に85度が制御デジタル値136、パルス信号時間740us
右に85度が制御デジタル値430、パスル信号時間2,380us
が見えました。 2014/1/14
|&attachref(TS3V0018.JPG,zoom,200x300,button){新しい写真添付};|&attachref(サーボ中位オン時間のロジアナ画像.jpg,zoom,200x250,button){新しい写真添付};|
/* A/D値でサーボモーターの振れ角を制御する
* またパルスON時間をLCDに表示する
* PIC16F1827
* XC8 v1.20
* サーボモーター:RA1
* 可変抵抗器(10kΩ):RB5
* LED:RA2
* I2C SDA:SDA1(RB1) pin7
* I2C SCL:SCL1(RB4) pin10
* 電源：3.3V
*/
#include <xc.h>
#pragma config FOSC = INTOSC, WDTE = OFF, BOREN = OFF, IESO = OFF, FCMEN = OFF
#pragma config PLLEN = OFF, STVREN = OFF, LVP = OFF
//__delay_us(), __delay_ms()へのクロック情報の設定
#define _XTAL_FREQ 8000000 //PICのクロックをHzで設定(8MHz)
//関数のプロトタイプ宣言
extern void itostring(char digit, unsigned int data, char *buffer);
extern unsigned int read_a2d(unsigned char channel);
extern void arg_delay_ms(unsigned int x);
extern void arg_delay(unsigned int x);
void i2cByteWrite(char, char, char); // i2c byte送信
void i2cTxData(char); // i2c SSPBUF セット
void LCD_dat(char); // １文字表示
void LCD_cmd(char); // コマンド出力
void LCD_clr(void); // 全消去
void LCD_int(void); // 初期化
void LCD_str(char *); // 文字列表示
void LCD_ROMstr(const char *); // ROM文字列表示
void LCD_posyx(char,char); // カーソル位置指定
void LCD_hex(char); // １６進文字変換表示
//グローバル変数の定義
unsigned int angle; //サーボの振れ角度
int main(void) {
//使用変数の定義
unsigned int adc_val; //ADC値の結果(0-1023)
unsigned char s_angle[6]; //LCD表示用文字列
unsigned int ontime; //duty%値
unsigned char s_ontime[6]; //LCD表示用文字列
//PICの初期設定
PORTA = 0b00000000; //PORTAの中身をきれいにする
PORTB = 0b00000000; //PORTBの中身をきれいにする
TRISA = 0b00000000; //PORTA全てを0:出力に設定
TRISB = 0b11111111; //PORTBは全て1:入力に設定
ANSELA = 0b00000000; //RA4(AN4)-RA0(AN0)は全て0:デジタルI/Oとする
ANSELB = 0b00100000; //RB5(AN7)のみ1:アナログ、他は0:デジタルI/Oとする
OSCCON = 0b01110000; //PLL:OFF, 内部クロック8MHzで駆動
OPTION_REGbits.nWPUEN = 0; // 0:PORTB内部プルアップ利用に設定
WPUBbits.WPUB1 = 1; // RB1をI2C通信のウィークプルアップ
WPUBbits.WPUB4 = 1; // RB4をI2C通信のウィークプルアップ
//I2C通信の初期設定
SSPCON1 = 0b00101000; // I2Cマスターモード指定
SSPSTAT = 0b00000000; // I2C STATUSの設定
SSPADD = 19; // I2Cクロック周波数100KHz(=(19+1)*4/8MHz)
//AD変換開始
ADCON1 = 0b10010000; //select right justify result, ADCS Fosc/8, A/D port configuratio n 0
ADCON0bits.ADON = 1; //ADON
//TMR0割り込みの初期設定(Timer割り込みでサーボ制御用15ms周期を発生)
//15.104ms=0.125us(8MHz)*4*プリスケーラー256*118カウント
//ちなみに19.968ms=0.125us(8MHz)*4*プリスケーラー256*156カウント
OPTION_REG = 0b0111; //プリスケーラ値設定0b0111(=256回)
TMR0 = -118; //TMR0カウント値設定 118回(アップカウンタ)
INTCONbits.TMR0IE =1; //タイマ割込み許可
INTCONbits.GIE = 1; //全体割込み許可
//メイン処理
LATAbits.LATA2 = 1; //RA2:パワーオンを示すLED点灯
LCD_int(); // LCD初期化
LCD_ROMstr("On Count ="); // 1行目に表示
LCD_posyx(1,0); // ２行目頭にカーソル移動
LCD_ROMstr("On Time =");
while(1) {
//アナログデータの取得 10bit(0~1023)
adc_val = read_a2d(7); //RB5(AN7)のアナログ値読み込み
angle = (unsigned int)(adc_val / 3 + 110); //ADC値を補正しangle入力
//angleカウント値とパルスON時間をLCDに表示
//angleカウント値の表示
itostring(4, angle, s_angle); //数値の文字列への変換
LCD_posyx(0,11); // 1行11文字目にカーソル移動
LCD_str(s_angle);
//パルスON時間の表示
ontime = (unsigned int)(angle * 5.53); //angle値をパルスON時間に変換
itostring(4, ontime, s_ontime); //数値の文字列への変換
LCD_posyx(1,10); //2行10文字目にカーソル移動
LCD_str(s_ontime);
LCD_posyx(1,14); //2行14文字目にカーソル移動
LCD_ROMstr("us");
}
}
static void interrupt isr(void) { //割り込み関数
if(INTCONbits.TMR0IF == 1) { //割込み種がTimer0割込みの場合
INTCONbits.TMR0IF = 0; //Timer0割り込みフラグクリアー
TMR0 = -118; //TMR0カウント値設定 118回(アップカウンタ)
LATAbits.LATA1 = 1; //パルスON
arg_delay(angle); //パルスON時間
LATAbits.LATA1 = 0; //パルスOFF
}
}
//待ち時間が変数設定できるarg_delay()関数を定義
//（_delay()は引数に変数設定が出来ない為）
void arg_delay(unsigned int x) {
while(x) {
_delay(1);
x--;
}
}
/***************************************
* int整数からASCII文字に変換
****************************************/
void itostring(char digit, unsigned int data, char *buffer) {
char i;
buffer += digit; // 最後の数字位置
*buffer = 0; //文字列終端
for(i=digit; i>0; i--) { // 変換は下位から上位へ
buffer--; // ポインター１
*buffer = (data % 10) + '0'; // ASCIIへ
data = data / 10; // 次の桁へ
}
}
//引数のアナロポートのA2D変換(10bit仕様) 2014/1/2
//PICC v9.81のsamplesフォルダ内のa2demo.cのプログラムを参考にアレンジ
unsigned int read_a2d(unsigned char channel) {
channel &= 0b00011111; //truncate channel to 5 bits
ADCON0 &= 0b10000011; //clear current channel select
ADCON0 |= (channel << 2); //apply the new channel select
__delay_us(5); // アナログ変換情報が設定されるまで5μ秒待つ
ADCON0bits.GO_nDONE = 1; // initiate conversion on the selected channel
while (ADCON0bits.GO_nDONE) continue;
return (ADRESH << 8) | ADRESL;
}
//待ち時間が変数設定できるarg_delay_ms()関数を定義
//（__delay_ms()は引数に変数設定が出来ない為）
void arg_delay_ms(unsigned int x) {
while(x) {
__delay_ms(1);
x--;
}
}
//-------- i2cで１byteデータを送信する -----------------------
// 以下の引数が必要
// addr ： Slaveのアドレス
// cont ： Slaveへ制御コード
// data ： 送信するデータ
// NACKやBus衝突などの対応は行っていない
// -----------------------------------------------------------
void i2cByteWrite(char addr, char cont, char data){
SSPCON2bits.SEN = 1; // Start condition 開始
while(SSPCON2bits.SEN); // Start condition 確認
i2cTxData(addr); // アドレス送信
i2cTxData(cont); // 制御コード送信
i2cTxData(data); // データ送信
SSP1IF = 0; // 終了フラグクリア
SSPCON2bits.PEN = 1; // Stop condition 開始
while(SSPCON2bits.PEN); // Stop condition 確認
}
//-------- SSPBUFに１文字保存し送信終了を待つ -----------------
void i2cTxData(char data){
SSP1IF = 0; // 終了フラグクリア
SSPBUF = data; // データセット
while(!SSP1IF); // 送信終了待ち
}
//-------- １文字表示 --------------------------------------
void LCD_dat(char chr){
i2cByteWrite(0xA0, 0x80, chr);
__delay_us(60); // 60μsec
}
//-------- コマンド出力 --------------------------------------
void LCD_cmd(char cmd){
i2cByteWrite(0xA0, 0x00, cmd);
if(cmd & 0xFC) // 上位６ビットに１がある命令
__delay_us(60); // 60usec
else
__delay_ms(3); // 3msec ClearおよびHomeコマンド
}
//-------- 全消去 ------------------------------------------------
void LCD_clr(void){
LCD_cmd(0x01); //Clearコマンド出力
}
//-------- カーソル位置指定 --------------------------------------
void LCD_posyx(char ypos, char xpos){
unsigned char pcode;
switch(ypos & 0x03){ // 縦位置を取得
case 0: pcode=0x80;break; // 1行目
case 1: pcode=0xC0;break; // 2行目
case 2: pcode=0x94;break; // 3行目
case 3: pcode=0xD4;break; // 4行目
}
LCD_cmd(pcode += xpos); // 横位置を加える
}
//-------- 文字列出力 -----------------------------------------
void LCD_str(char *str){
while(*str) //文字列の終わり(00)まで継続
LCD_dat(*str++); //文字出力しポインタ＋１
}
//-------- Rom 文字列出力 ------------------------------------
void LCD_ROMstr(const char *str){
while(*str) //文字列の終わり(00)まで継続
LCD_dat(*str++); //文字出力しポインタ＋１
}
//-------- １６進文字変換表示 --------------------------------
void LCD_hex(char c){
const char hexch[] ="0123456789ABCDEF";
LCD_dat(hexch[c >> 4]); //上位4bit表示
LCD_dat(hexch[c & 0xF]); //下位4bit表示
}
//-------- 初期化 --------------------------------------
void LCD_int(void){
__delay_ms(100); // 電源安定するまでの時間
LCD_cmd(0x38); // 8bit 2行 表示命令モード
LCD_cmd(0x0C); // Display on Cursor=0 Blink=0
LCD_cmd(0x06); // Entry Inc/Dec=1 Shift=0
LCD_cmd(0x01); // Clear Display
}
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