Rev 1455 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1455 | acid | 1 | |
| 2 | #define F_CPU 8000000UL |
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| 3 | |||
| 4 | #include <string.h> |
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| 5 | #include <avr/interrupt.h> |
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| 6 | #include <avr/eeprom.h> |
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| 7 | #include <util/delay.h> |
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| 8 | #include "servoboard.h" |
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| 9 | #include "twislave.h" |
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| 10 | |||
| 11 | |||
| 12 | #define SERVODDR DDRB |
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| 13 | #define SERVOPORT PORTB |
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| 14 | #define SERVO1 PB0 |
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| 15 | #define SERVO2 PB1 |
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| 16 | #define SERVO3 PB2 |
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| 17 | #define SERVO4 PB3 |
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| 18 | #define SERVO5 PB4 |
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| 19 | #define SERVO6 PB5 |
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| 20 | |||
| 21 | |||
| 22 | uint8_t pwm_neutral_programming_mode = 0; |
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| 23 | uint8_t eeprom_neutral_pos[6] EEMEM = { 127, 127, 127, 127, 127, 127 }; |
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| 24 | uint16_t eeprom_pwm_limit[6] EEMEM = { 0, 0, 0, 0, 0, 0 }; |
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| 25 | uint8_t pwm_signal[6] = { 0, 0, 0, 0, 0, 0 }; |
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| 26 | uint8_t pwm_counter = 0; |
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| 27 | uint8_t pwm_neutral_position[6] = { 127, 127, 127, 127, 127, 127 }; |
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| 28 | uint8_t pwm_position[6] = { 127, 127, 127, 127, 127, 127 }; |
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| 29 | uint16_t pwm_limit[6]; |
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| 30 | |||
| 31 | |||
| 32 | |||
| 33 | void pwm_init() { |
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| 34 | |||
| 35 | SERVODDR = 0xff; |
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| 36 | |||
| 37 | set_pwm(); |
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| 38 | |||
| 39 | TCCR1B = (1 << CS11); |
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| 40 | TCCR0 = (1 << CS00); |
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| 41 | |||
| 42 | } |
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| 43 | |||
| 44 | void set_pwm() { |
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| 45 | |||
| 46 | for(uint8_t n = 0; n < 6; n++) { |
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| 47 | pwm_signal[n] = pwm_position[n] - 127 + pwm_neutral_position[n]; |
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| 48 | if (pwm_limit[n] != 0) { |
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| 49 | uint8_t l, h; |
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| 50 | l = pwm_limit[n] & 0xff; |
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| 51 | h = pwm_limit[n] >> 8; |
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| 52 | if (pwm_signal[n] < l) { |
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| 53 | pwm_signal[n] = l; |
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| 54 | } |
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| 55 | if (pwm_signal[n] > h) { |
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| 56 | pwm_signal[n] = h; |
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| 57 | } |
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| 58 | } |
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| 59 | } |
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| 60 | |||
| 61 | } |
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| 62 | |||
| 63 | void set_pwm_neutral() { |
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| 64 | |||
| 65 | for(uint8_t i = 0; i < 6; i++) { |
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| 66 | pwm_position[i] = 127; |
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| 67 | } |
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| 68 | set_pwm(); |
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| 69 | |||
| 70 | } |
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| 71 | |||
| 72 | void eeprom_init() { |
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| 73 | |||
| 74 | /* |
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| 75 | eeprom_busy_wait(); |
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| 76 | for(uint8_t i = 0; i < 6; i++) { |
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| 77 | pwm_neutral_position[i] = eeprom_read_byte(&eeprom_neutral_pos[i]); |
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| 78 | pwm_limit[i] = eeprom_read_byte(&eeprom_pwm_limit[i]); |
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| 79 | } |
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| 80 | */ |
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| 81 | |||
| 82 | pwm_neutral_position[0] = 0b10101000; |
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| 83 | pwm_neutral_position[1] = 0b01101101; |
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| 84 | pwm_neutral_position[2] = 0b10000000; |
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| 85 | pwm_neutral_position[3] = 0b10010101; |
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| 86 | pwm_neutral_position[4] = 0; |
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| 87 | pwm_neutral_position[5] = 127; |
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| 88 | |||
| 89 | pwm_limit[0] = 0; |
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| 90 | pwm_limit[1] = 0; |
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| 91 | pwm_limit[2] = 0; |
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| 92 | pwm_limit[3] = 0b1011001101110101; |
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| 93 | pwm_limit[4] = 0; |
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| 94 | pwm_limit[5] = 0; |
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| 95 | |||
| 96 | } |
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| 97 | |||
| 98 | void eeprom_write() { |
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| 99 | |||
| 100 | cli(); |
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| 101 | for(uint8_t i = 0; i < 6; i++) { |
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| 102 | eeprom_write_byte(&eeprom_neutral_pos[i], pwm_position[i]); |
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| 103 | eeprom_write_byte(&eeprom_pwm_limit[i], pwm_limit[i]); |
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| 104 | } |
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| 105 | sei(); |
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| 106 | |||
| 107 | } |
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| 108 | |||
| 109 | void delay(int ms) { |
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| 110 | |||
| 111 | while(ms--) { |
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| 112 | _delay_ms(1); |
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| 113 | } |
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| 114 | |||
| 115 | } |
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| 116 | |||
| 117 | |||
| 118 | int main(void) { |
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| 119 | |||
| 1456 | acid | 120 | #define PROGRAMMINGMODE 0 |
| 121 | #if PROGRAMMINGMODE |
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| 1455 | acid | 122 | uint8_t current_servo = 0; |
| 123 | uint8_t keyrate = 0; |
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| 1456 | acid | 124 | #endif |
| 1455 | acid | 125 | |
| 1456 | acid | 126 | DDRD = 0x80; |
| 127 | PORTD = 0x80; |
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| 1455 | acid | 128 | |
| 129 | DDRC &= ~0x0f; |
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| 130 | PORTC |= 0x0f; |
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| 131 | |||
| 132 | cli(); |
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| 133 | eeprom_init(); |
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| 134 | InitIC2_Slave(0x82); |
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| 135 | pwm_init(); |
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| 1456 | acid | 136 | set_pwm_neutral(); |
| 1455 | acid | 137 | sei(); |
| 138 | |||
| 139 | #if PROGRAMMINGMODE |
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| 1456 | acid | 140 | DDRD = 0xff; |
| 141 | PORTD = 0xff; |
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| 1455 | acid | 142 | if (!(PINC & 0x01)) { |
| 143 | pwm_neutral_programming_mode = 1; |
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| 144 | PORTD = ~(1 << current_servo); |
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| 145 | delay(1000); |
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| 146 | } |
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| 147 | #endif |
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| 148 | |||
| 149 | TCNT1 = 0; |
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| 150 | while(1) { |
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| 151 | |||
| 152 | cli(); |
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| 153 | SERVOPORT = 0xff; |
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| 154 | while(TCNT1 < 300) ; |
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| 155 | |||
| 156 | for(uint8_t i = 0; i < 255; i++) { |
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| 157 | |||
| 158 | TCNT0 = 0; |
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| 159 | |||
| 160 | if (i == pwm_signal[0]) { |
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| 161 | SERVOPORT &= ~(1<<SERVO1); |
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| 162 | } |
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| 163 | if (i == pwm_signal[1]) { |
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| 164 | SERVOPORT &= ~(1<<SERVO2); |
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| 165 | } |
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| 166 | if (i == pwm_signal[2]) { |
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| 167 | SERVOPORT &= ~(1<<SERVO3); |
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| 168 | } |
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| 169 | if (i == pwm_signal[3]) { |
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| 170 | SERVOPORT &= ~(1<<SERVO4); |
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| 171 | } |
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| 172 | if (i == pwm_signal[4]) { |
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| 173 | SERVOPORT &= ~(1<<SERVO5); |
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| 174 | } |
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| 175 | if (i == pwm_signal[5]) { |
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| 176 | SERVOPORT &= ~(1<<SERVO6); |
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| 177 | } |
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| 178 | |||
| 179 | while (TCNT0 < 60) ; |
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| 180 | |||
| 181 | } |
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| 182 | sei(); |
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| 183 | |||
| 184 | SERVOPORT = 0; |
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| 185 | |||
| 186 | set_pwm(); |
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| 187 | |||
| 188 | while(TCNT1 < 20000) ; |
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| 189 | TCNT1 = 0; |
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| 190 | |||
| 191 | #if PROGRAMMINGMODE |
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| 192 | |||
| 193 | if (pwm_neutral_programming_mode) { |
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| 194 | |||
| 195 | if (keyrate == 0) { |
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| 196 | |||
| 197 | if (!(PINC & 0x01)) { |
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| 198 | if (pwm_position[current_servo] < 255) { |
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| 199 | pwm_position[current_servo]++; |
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| 200 | keyrate = 5; |
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| 201 | set_pwm(); |
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| 202 | } |
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| 203 | } |
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| 204 | if (!(PINC & 0x02)) { |
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| 205 | if (pwm_position[current_servo] > 0) { |
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| 206 | pwm_position[current_servo]--; |
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| 207 | keyrate = 5; |
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| 208 | set_pwm(); |
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| 209 | } |
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| 210 | } |
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| 211 | if (!(PINC & 0x04)) { |
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| 212 | current_servo++; |
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| 213 | current_servo %= 6; |
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| 214 | PORTD = ~(1 << current_servo); |
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| 215 | keyrate = 25; |
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| 216 | } |
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| 217 | if (!(PINC & 0x08)) { |
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| 218 | //keyrate = 50; |
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| 219 | PORTD = ~pwm_position[current_servo]; |
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| 220 | } |
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| 221 | |||
| 222 | } else { |
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| 223 | keyrate--; |
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| 224 | } |
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| 225 | |||
| 226 | } |
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| 227 | #endif |
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| 228 | |||
| 229 | } |
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| 230 | |||
| 231 | return 0; |
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| 232 | } |
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| 233 |