attiny-pid's Introduction

ATTiny85 PID Controller

This library provides an I2C controllable ATTiny85 PID controller.

Two pin control

Function	Name	ATTiny85	Olimexino85
SCL	PB2	7	2
SDA	PB0	5	0
MOTOR_UP	PB1¹	6	1
MOTOR_DOWN	PB4²	3	4
SIGNAL_READ	A3	2	3

¹PWM on timer 0; ~500 Hz

²PWM on timer 1; ~1000Hz

Three pin control

Function	Name	ATTiny85	Olimexino85
SCL	PB2	7	2
SDA	PB0	5	0
MOTOR_UP	PB5/#RESET	1	#RST
MOTOR_DOWN	PB4	3	4
MOTOR_SPEED	PB1¹	6	1
SIGNAL_READ	A3	2	3

¹PWM on timer 0; ~500 Hz

The following I2C commands are supported:

	MOTOR_I2C_COMMAND_STOP
	MOTOR_I2C_COMMAND_HALT
	PID_I2C_COMMAND_ENABLE
	PID_I2C_COMMAND_DISABLE
	PID_I2C_COMMAND_RESET
	PID_I2C_COMMAND_SET_VALUE
	PID_I2C_COMMAND_SET_K_P
	PID_I2C_COMMAND_SET_K_I
	PID_I2C_COMMAND_SET_K_D
	PID_I2C_COMMAND_SET_DEAD_BAND

Reading the measurement value:

	// Read from Slave
	Wire.requestFrom(target, (size_t)(sizeof i2cData.parameterValue));

	if (Wire.getError())
	{
		Serial.print("FAIL\n");
	}
	else
	{
		// If no error then read Rx data into buffer and print
		uint8_t len = io::i2cRead(i2cData.parameterValue, true);
		// Serial.printf("read bytes: %d, value: %d\n", len, i2cData.parameterValue);
	}

Example for sending a byte command:

	Wire.beginTransmission(0x4);		  // Slave address
	io::i2cWrite(PID_I2C_COMMAND_ENABLE); // Write string to I2C Tx buffer (incl. string null at end)
	Wire.endTransmission();

	if (Wire.getError())
		...

Example for sending a command with a parameter:

	i2cData.parameterValue = 10;
	Wire.beginTransmission(0x4);		   // Slave address
	io::i2cWrite(PID_I2C_COMMAND_SET_K_P);
	io::i2cWrite(i2cData.parameterValue);
	Wire.endTransmission();

	if (Wire.getError())
		...

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