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

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

• torydebra
• fafux