arduino

Hi,
I have problems with how to define the arduino in x sim. I can't see the com of the arduino in the list!!
if anyone can help I will be very happy.

tnx
hraanan

Hello, there are people sorting the code so you may have to just wait like everyone else at this stage.
:

Make sure you can use the Arduino outside of X-Sim first. The serial port you use outside X-Sim will be the one you select in Profiler (serial interface screen).

I'm currently trying to design an interface with the Arduino Uno.
I'm not using the Arduino IDE Though, Im just coding directly too the Chip with WinAVR.

Mine controls 3 motors, and at the moment just communicates through the USO. I'd be happy to colaborate. As soon as my source is sorted ill be uploading it here.

This is my code so far for the Arduino UNO. (Or just a ATMEGA328P)

It uses PID.C/PID.H downloded from Amtel Webpage and a LCD Library.

At the moment it reads Serial data from USO when used R~a01~~a02~~a03~E
and saves that data to MotorX.DesiredValue
every 10ms it calculates the PWMSpeed using pid_controller.
and it also opens 3 PINS to use Phase Corrected PWM.
(there is quiet a few lines in there desiged for my testing purposes)

Ive got my H-Bridge and Winch Motor on order.. So currently it i untested in real world:

Code:

/*** TMC - Tippett Motion Control
**** Timer 0B - PMW Motor 1
**** Timer 1 - PID Timer Run PID Calculations every PIDDELAY (Currently 2500 for every 10ms)
**** 
****
**** TO control Motors change OCR2B, OCR0B, OCR0A
****
****/

#include <avr/io.h> 
#include <stdio.h>
#include <stdlib.h>
#include <util/delay.h>
#include <avr/interrupt.h>
#include pid.h
#include lcd.h
#include <string.h>

#define NO_OF_POTS 3
#define NO_OF_AXIS 3
#define NO_OF_INPUTS (NO_OF_AXIS * 2)
#define potSensitivity 10

/* UART SERIAL DEFINES */
#define F_CPU 16000000UL
#define BAUD 9600
#define MYUBRR F_CPU/16/BAUD-1
#define PIDDELAY 2500



//Put in header file

void InitPIDTimer(void);
void ADC_Init(int preScaler, int tenBit);

//To Do. make these values editable via lcd and buttons
double K_P = 3;
double K_I = 35;
double K_D = 10;


//TO DO. DELETE THESE VARIABLES
volatile int desiredPosition;
volatile int actualPosition;
volatile uint8_t inputBuffer[NO_OF_INPUTS];

volatile uint8_t position;


struct Motors
{
	uint16_t CurrentPosition;
	uint16_t DesiredPosition;
	struct PID_DATA PidData;
	uint16_t PWMspeed;
	
} Motor1, Motor2, Motor3;


/* ADC METHODS */

// Initate ADC. 
// Input prescaler amount, and 10bit or 8bit results
void ADC_Init(int preScaler, int tenBit)
{
	ADCSRA |= (1 << ADEN);  //Enable ADC
	
	//To Do. Set Different prescalers.
	if (preScaler == 128)
		ADCSRA |= (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0);  //set prescaler to 128
		
		
	if (!tenBit)
		ADMUX |= (1 << ADLAR);  //Left adjust ADC result to allow easy 8 bit reading	
		
	ADMUX |= (1 << REFS0);  //USE AVCC as refernece;
	ADCSRA |= (1 << ADSC);  //start first conversion
}


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

/* PWM Methods */

void PWM_init(void)
{

	/* Init Timer 0A PORT D6 or PORT 6 on Arduino */
    DDRD |= (1 << DDD6);
    // PD6 is now an output

    OCR0A = 100;
    // set PWM for 50% duty cycle


    TCCR0A |= (1 << COM0A1);	
    // set none-inverting mode

    TCCR0A |= (1 << WGM00);  //PWM Phase Corrected 

    TCCR0B |= (1 << CS00);
    // set prescaler to 8 and starts PWM
	
	
		
	/* Init Timer 0B PORT D5 or PORT 5 on Arduino */
	DDRD |= (1 << DDD5);
	OCR0B = 128; // set PWM for 50% duty cycle

	TCCR0A |= (1 << COM0B1);
    // set none-inverting mode

	OCR0B = 128;
	

	/* INIT Timer 2B Port D3 or 3 oon Arduino*/	
	DDRD |= (1 << DDD3);
    // PD6 is now an output
	
    OCR2B = 150;
    // set PWM for 50% duty cycle


    TCCR2A |= (1 << COM2B1) | (1 << WGM20);
    // set none-inverting mode & set PWM Phase correct Mode
	        
    	
	
    TCCR2B |= (1 << CS21);
    // set prescaler to 8 and starts PWM

} 




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

/* SERIAL METHODS */

/* SETUP UART */
void USART_Init( unsigned int ubrr)
{
   /*Set baud rate */
   UBRR0H = (unsigned char)(ubrr>>8);
   UBRR0L = (unsigned char)ubrr;
   
  /*Enable receiver and transmitter */
   UCSR0B = (1<<RXEN0)|(1<<TXEN0);
   
   /* Set frame format: 8data, 1stop bit */
   UCSR0C = (3<<UCSZ00);
   
      /*Turn on Receive Complete Interrupt*/
   UCSR0B |= (1 << RXCIE0);
   
   position = -1;
}



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




void InitPIDTimer()
{
	TCCR1B |= (1 << WGM12); // Configure timer 1 for CTC mode 
	TIMSK1 |= (1 << OCIE1A); // Enable CTC interrupt 
	TCCR1B |= ((1 << CS10) | (1 << CS11)); // Start timer at Fcpu/64
	OCR1A   = PIDDELAY;

}

void Init(void)
{
	//Setup PID structs
	pid_Init(K_P, K_I, K_D, &Motor1.PidData);
	pid_Init(K_P, K_I, K_D, &Motor2.PidData);
	pid_Init(K_P, K_I, K_D, &Motor3.PidData);
	
  
	/* Init LCD */
	lcd_init(LCD_DISP_ON);
	
	
	/* Setup  ADC */
	//ADC_Init(128, 1);
	
     /*Turn on Receive Complete Interrupt*/
	UCSR0B |= (1 << RXCIE0);

	/*Turn on ADC Interrupt */
	ADCSRA |= (1 << ADIE); 
   
   
	//Turn on PORTB 12 to input
	DDRB &= ~(1 << PINB4);   //set input direction
	
	
	lcd_clrscr();
	lcd_puts(Init Okay);
		   
}

int main(void)
{

	PWM_init();
	
	Init();
	

	
	InitPIDTimer();
	
	
	/* INITALISE SERIAL */
	USART_Init(MYUBRR);
	
	//turn on interrupts	
	sei();

	int LCDCount = 0;
   
	while (1)
	{
		if (LCDCount > 10000)
		{
		
			
			LCDCount = 0;	
			
			char Motor1String[7];
			char Motor2String[7];
		
			
			sprintf(Motor1String,%u , Motor1.DesiredPosition);						
			itoa(Motor1.PWMspeed, Motor2String, 10);
			
			
			
			lcd_clrscr();     /* clear the screen*/  			
			lcd_puts(Motor1String); 
			lcd_gotoxy(0,1);
			lcd_puts(Motor2String);
			
			Motor1.CurrentPosition += Motor1.PWMspeed;
			Motor3.CurrentPosition += Motor3.PWMspeed;
			
		}
		
		LCDCount++;
		
	}
	
	
	
}



/* INTERRUPTS */

//Timer 1A Interrupt

/*Every 10ms Calcualte the PWM value via pid_controller in pid.c*/
ISR(TIMER1_COMPA_vect)
{			   		
			Motor1.PWMspeed = pid_Controller(Motor1.DesiredPosition, Motor1.CurrentPosition, &Motor1.PidData);										
			Motor2.PWMspeed = pid_Controller(Motor2.DesiredPosition, Motor2.CurrentPosition, &Motor2.PidData);										
			Motor3.PWMspeed = pid_Controller(Motor3.DesiredPosition, Motor3.CurrentPosition, &Motor3.PidData);						
} 




//SERIAL INTERRUPT
ISR (USART_RX_vect)
{	
	
	int input = UDR0;
	
	if (input == 'R')
	{	
		position = 0;				
	}
	else if ((input != 'E') && (position > -1))
	{
	
		if (position < NO_OF_INPUTS)
		{
			inputBuffer[position] = input;
			position++;
		}
		else
		{
			//error; ignore and restart
			position = -1;
		}
		
	}
	else if (input == 'E')
	{		
		if (position == 5)
		{
			/* Correct Packet Count Recevied. Commit Values */
			Motor1.DesiredPosition = (inputBuffer[0] << 8) | inputBuffer[1];
			Motor2.DesiredPosition = (inputBuffer[2] << 8) | inputBuffer[3];
			Motor3.DesiredPosition = (inputBuffer[4] << 8) | inputBuffer[5];	
		}
		
		position = -1;
	}
	
}



//ADC INTERRUPT
ISR(ADC_vect) 
{ 
	

	switch (ADMUX)
	{
		case 0x40:				
		if ((Motor1.DesiredPosition > ADC + potSensitivity) || (Motor1.DesiredPosition < ADC - potSensitivity))
		{			
			Motor1.DesiredPosition = ADC;
		}					
		ADMUX = 0x41;
		break;
		
		
		case 0x41:
		if ((Motor2.DesiredPosition > ADC + potSensitivity) || (Motor2.DesiredPosition < ADC - potSensitivity))
		{			
			Motor2.DesiredPosition = ADC;
		}
				
		ADMUX = 0x42;
		break;
		
		case 0x42:
		if ((Motor3.DesiredPosition > ADC + potSensitivity) || (Motor3.DesiredPosition < ADC - potSensitivity))
		{			
			Motor3.DesiredPosition = ADC;
		}
			
		ADMUX = 0x40;
		break;		
	
	}
	
	ADCSRA |= (1 << ADSC);  //next conversion
	
} 

When I checked my device manager in my control panel, beside the Arduino it was stated COM7. So, In the profiler, I typed in COM7.

I am using 6 linear actuators (hydraulic). So using 6 axis . Is it possible for me to send data to arduino for each axis in the order I want from X-sim and then program the arduino to receive it in that format ?

thanks

Hi,

Yes, this is done in the USO. It wont show the comport in the USO but if you read the fine print under there you just need to enter a comport like //.//COM7 (from memory, it may not be exactly that, just read the text to get the format) Arduino comports WONT show up in the drop down box, but you just type in it..

Then You just decide what format you want to send it in (i think you may need to send it as Decimal if you want to use the Arduino Librarys.. But I send it as Binary) then just set up the format you want to send it ~a01~~a02~~a03~~a04~~a05~~a06~ will just send all axis one after another, no checksum, you need to decide whats best for you, weather you want a check sum or a start character and end character or whatever.

then you just setup the arduino to listen to the serial. easy pezy.