Merge branch 'jorge-dev'

RPI_SmartServo/Makefile

@@ -1,5 +1,6 @@
 CC = gcc
 CFLAGS =-Wall -lwiringPi -lrt -lpthread
+RM := rm -rf
 
 OBJECTS = pwm.o pid.o adc.o registers.o main.o ads1115.o i2c.o timer.o service.o server.o rpiservo.o
 OUT = SmartServo
@@ -43,4 +44,5 @@ main.o: main.c
 	$(CC) $(CFLAGS) -c $< -o $@
 
 clean:
-	rm *o hello
+	-$(RM) *.o all
+.PHONY: all clean dependents

RPI_SmartServo/config.h

@@ -40,9 +40,12 @@
 /**
  *  TIMER configuration.
  */
-#define CONFIG_TIMER 100000000 //100ms
+//#define CONFIG_TIMER 100000000 //100ms
 //#define CONFIG_TIMER  10000000 //10ms
-
+#define CONFIG_TIMER  50000000 //50ms Good
+//#define CONFIG_TIMER  30000000 //30ms Falla
+//#define CONFIG_TIMER  40000000 //40ms Falla
+//#define CONFIG_TIMER  45000000 //45ms Falla
 /**
  *  Debugger configuration.
  */
@@ -155,8 +158,10 @@
 #define CONFIG_PID_MIN_OUTPUT          (-CONFIG_PID_MAX_OUTPUT)
 // Default PID values
 #define CONFIG_DEFAULT_PID_DEADBAND    0x01
-#define CONFIG_DEFAULT_PID_PGAIN       0x0028
-#define CONFIG_DEFAULT_PID_DGAIN       0x0023
+#define CONFIG_DEFAULT_PID_PGAIN       0x0015
+#define CONFIG_DEFAULT_PID_DGAIN       0x0000
+//#define CONFIG_DEFAULT_PID_PGAIN       0x0028
+//#define CONFIG_DEFAULT_PID_DGAIN       0x0023
 #define CONFIG_DEFAULT_PID_IGAIN       0x0000
 // Max and min seek values
 #define CONFIG_DEFAULT_MIN_SEEK        0x0001

Timer/src/Makefile

@@ -0,0 +1,24 @@
+CC = gcc
+CFLAGS =-Wall -lwiringPi -lrt -lpthread
+
+OBJECTS = ads1115.o i2c.o Timer.o
+OUT = TimerADS1115
+
+
+#all: target -> This is the default target for makefiles.
+all : $(OBJECTS)	
+	$(CC) $(CFLAGS) -o $(OUT) $(OBJECTS)
+
+
+ads1115.o: ads1115.c
+	$(CC) $(CFLAGS) -c $< -o $@
+
+i2c.o: i2c.c
+	$(CC) $(CFLAGS) -c $< -o $@
+
+Timer.o: Timer.c
+	$(CC) $(CFLAGS) -c $< -o $@
+
+
+clean:
+	rm *o hello

Timer/src/Timer.c

@@ -0,0 +1,167 @@
+/*
+ ============================================================================
+ Name        : Timer.c
+ Author      : Jorge
+ Version     :
+ Copyright   : Your copyright notice
+ Description : Hello World in C, Ansi-style
+ ============================================================================
+ */
+
+#include <time.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <stdio.h>
+#include <unistd.h>
+#include "ads1115.h"
+
+#define CLOCKID CLOCK_REALTIME
+#define SIG SIGRTMIN
+
+#define errExit(msg)    do { perror(msg); exit(EXIT_FAILURE); \
+                        } while (0)
+
+
+sigset_t mask;
+
+void ADC_handler(int sig, siginfo_t *si, void *uc) {
+	static int cont=0;
+	// POSITION (Potenciometer)
+	uint16_t pos = ADS1115_readADC_singleEnded(POSITION_CHANNEL);
+        uint16_t temp = ADS1115_readADC_singleEnded(TEMP_CHANNEL);
+        uint16_t battery = ADS1115_readADC_singleEnded(BATTERY_CHANNEL);
+        uint16_t current = ADS1115_readADC_singleEnded(CURRENT_CHANNEL);
+
+        printf("ADS1115 pos: %d, temp: %d, battery: %d, current: %d \n", pos, temp, battery, current); 
+
+
+	printf("handler %i \n", cont);
+//	printf("Time: %d seconds\n", (double)clock());
+	cont++;
+}
+
+/**
+*
+*   Create the timer.
+*
+*   @param freq_nanosecs nanoseconds value.
+*
+*   @return	None.
+*
+*   @note		None.
+*
+*/
+void TIMER_create(long long freq_nanosecs)
+{
+  timer_t timerid;
+
+	struct sigevent sev;
+  struct itimerspec its;
+
+   /* Create the timer */
+
+   	sev.sigev_notify = SIGEV_SIGNAL;
+    sev.sigev_signo = SIG;
+    sev.sigev_value.sival_ptr = &timerid;
+
+	if (timer_create(CLOCKID, &sev, &timerid) == -1)
+        errExit("timer_create");
+#ifdef CONFIG_DEBUGGER
+  printf("timer ID is 0x%lx\n", (long) timerid);
+#endif
+  its.it_value.tv_sec = freq_nanosecs / 1000000000;
+  its.it_value.tv_nsec = freq_nanosecs % 1000000000;
+  its.it_interval.tv_sec = its.it_value.tv_sec;
+  its.it_interval.tv_nsec = its.it_value.tv_nsec;
+
+  if (timer_settime(timerid, 0, &its, NULL) == -1)
+         errExit("timer_settime");
+}
+
+/**
+*
+*   Timer signal handler.
+*
+*   @return None.
+*
+*   @note   None.
+*
+*/
+void TIMER_signalHandler()
+{
+	struct sigaction sa;
+
+	/* Establish handler for timer signal */
+#ifdef CONFIG_DEBUGGER
+  printf("Establishing handler for signal %d\n", SIG);
+#endif
+  sa.sa_flags = SA_SIGINFO;
+  sa.sa_sigaction = ADC_handler;
+  sigemptyset(&sa.sa_mask);
+
+  if (sigaction(SIG, &sa, NULL) == -1)
+        errExit("sigaction");
+}
+/**
+*
+*   Timer signal block.
+*
+*   @return None.
+*
+*   @note   None.
+*
+*/
+void TIMER_signalBlock()
+{
+    /* Block timer signal temporarily */
+#ifdef CONFIG_DEBUGGER
+   	printf("Blocking signal %d\n", SIG);
+#endif
+    sigemptyset(&mask);
+    sigaddset(&mask, SIG);
+
+    if (sigprocmask(SIG_SETMASK, &mask, NULL) == -1)
+        errExit("sigprocmask");
+}
+/**
+*
+*   Timer signal unblock.
+*
+*   @return None.
+*
+*   @note   None.
+*
+*/
+void TIMER_signalUnblock()
+{
+	   /* Unlock the timer signal, so that timer notification
+       can be delivered */
+#ifdef CONFIG_DEBUGGER
+   printf("Unblocking signal %d\n", SIG);
+#endif
+    if (sigprocmask(SIG_UNBLOCK, &mask, NULL) == -1)
+        errExit("sigprocmask");
+}
+
+
+
+int main(void) {
+
+	long long freq_nanosecs= 10000000;//10ms
+//	long long freq_nanosecs= 100000000;//100ms
+//	long long freq_nanosecs= 1000000000;//1s
+
+	ADS1115_init(ADS1115_ADDRESS);
+	//Establish handler for timer signal.
+	TIMER_signalHandler();
+	//Block timer signal temporarily
+	TIMER_signalBlock(&mask);
+	//Timer Create
+	TIMER_create(freq_nanosecs);
+	//Unlock the timer signal
+	TIMER_signalUnblock(&mask);
+
+	while(1){
+
+	}
+}