/EmbeddedSystemRobEng2018-19

Projects with MPLAB-X in C language for Embedded System course of Robotics Engineering 2018/19

Primary LanguageC

EmbeddedSystemRobEng2018-19

Laboratiories with MPLAB-X in C language for Embedded System course of Robotics Engineering 2018/19

The board used is a Microchip dsPIC30F4011 with pickit3 programmer.
Note: only the mains are uploaded on Github, all the other stuff built automatically by the IDE are omitted.

Final project: Board to control autonomous catamaran

Specifications here

board photo

Features:

  • Receive Reference [100ms]

  • Refreshing PWM [100ms]

  • Acquire Temperature [100ms]

  • Send Temperature (MCTERM) [1s]

  • Send Feedback Message MCFBK [200ms]

  • Blink Led for status (Control mode or timeout mode) [1s]

  • Check/Read message of type MLSAT [100ms]

  • S5/S6 button linked to interrupt to enter Safe mode

  • Write on LCD :

    • Status (each time status change)
    • Temperature (each time it send temp (4th task))
    • Write references applied (each time pwm is refreshed (2nd task))

  • Send MCACK message to pc through UART

Details

  • Scheduler with heartbit of 100ms to manage all the task
  • Five Tasks:
    • Read/process message arrived from UART
      • If references arrives, update PWM signals to control the motors
    • Acquire Temperature from sensor
    • Average last 10 temperature readings and send the mean to the UART
    • Send a feedback FBK message
    • Blink D3 and D4 leds to indicate correct running and timeout state
    • Task to write correctly on the LCD display
  • Three Interrupts:
    • To save incoming bytes from UART in a buffer (if registers are full)
    • On S5 and S6 buttons, to immediately enter in safe mode
    • On a timer, to check if 5 seconds passed without references, to enter in timeout mode
  • Peripherals used:
    • D3 D4 leds
    • S4 S5 buttons
    • LCD display controlled throught SPI
    • UART to send and receive messages
    • PWM to generate signals (different duty cicle ratio) to control the motors
    • Temperature Sensor
    • Two timers: one for scheduler, one for check timeout mode

Laboratories:

  • LAB1: Use of leds and buttons
  • LAB2: Timers
  • LAB3: Interrupts
  • LAB4: use of display: SPI
  • LAB5: UART to conect the board with the outside (a pc in our case)
  • LAB6: ADC : analog to digital converter
  • LAB7: PWM : generate a pulse width modulated signal to control the velocity of a servomotor.

Contributors