Rev 1459 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1455 | acid | 1 | |
| 2 | |||
| 3 | #include <string.h> |
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| 4 | #include <avr/interrupt.h> |
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| 5 | #include <avr/eeprom.h> |
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| 6 | #include <util/delay.h> |
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| 7 | #include "servoboard.h" |
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| 8 | #include "twislave.h" |
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| 1459 | acid | 9 | #include "uart.h" |
| 1455 | acid | 10 | |
| 11 | |||
| 1461 | acid | 12 | uint8_t eeprom_neutral_pos[6] EEMEM; |
| 13 | uint16_t eeprom_pwm_limit[6] EEMEM; |
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| 1459 | acid | 14 | |
| 1461 | acid | 15 | volatile uint8_t pwm_signal[6]; |
| 16 | volatile uint8_t pwm_neutral_position[6]; |
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| 17 | volatile uint8_t pwm_position[6]; |
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| 18 | volatile uint16_t pwm_limit[6]; |
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| 19 | volatile uint8_t pwm_active; |
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| 1455 | acid | 20 | |
| 21 | |||
| 22 | void pwm_init() { |
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| 23 | |||
| 24 | SERVODDR = 0xff; |
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| 25 | |||
| 26 | set_pwm(); |
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| 27 | |||
| 28 | TCCR1B = (1 << CS11); |
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| 29 | TCCR0 = (1 << CS00); |
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| 30 | |||
| 31 | } |
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| 32 | |||
| 33 | void set_pwm() { |
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| 34 | |||
| 35 | for(uint8_t n = 0; n < 6; n++) { |
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| 36 | pwm_signal[n] = pwm_position[n] - 127 + pwm_neutral_position[n]; |
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| 37 | if (pwm_limit[n] != 0) { |
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| 38 | uint8_t l, h; |
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| 39 | l = pwm_limit[n] & 0xff; |
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| 40 | h = pwm_limit[n] >> 8; |
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| 41 | if (pwm_signal[n] < l) { |
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| 42 | pwm_signal[n] = l; |
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| 43 | } |
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| 44 | if (pwm_signal[n] > h) { |
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| 45 | pwm_signal[n] = h; |
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| 46 | } |
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| 47 | } |
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| 48 | } |
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| 49 | |||
| 50 | } |
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| 51 | |||
| 52 | void set_pwm_neutral() { |
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| 53 | |||
| 54 | for(uint8_t i = 0; i < 6; i++) { |
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| 55 | pwm_position[i] = 127; |
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| 56 | } |
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| 57 | set_pwm(); |
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| 58 | |||
| 59 | } |
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| 60 | |||
| 1461 | acid | 61 | void pwm_check_active() { |
| 62 | |||
| 63 | // check if pwm is configured |
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| 64 | pwm_active = (pwm_limit[0] != 0xffff) ? (1 << SERVO1) : 0; |
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| 65 | pwm_active |= (pwm_limit[1] != 0xffff) ? (2 << SERVO1) : 0; |
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| 66 | pwm_active |= (pwm_limit[2] != 0xffff) ? (3 << SERVO1) : 0; |
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| 67 | pwm_active |= (pwm_limit[3] != 0xffff) ? (4 << SERVO1) : 0; |
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| 68 | pwm_active |= (pwm_limit[4] != 0xffff) ? (5 << SERVO1) : 0; |
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| 69 | pwm_active |= (pwm_limit[5] != 0xffff) ? (6 << SERVO1) : 0; |
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| 70 | |||
| 71 | } |
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| 72 | |||
| 73 | |||
| 1455 | acid | 74 | void eeprom_init() { |
| 75 | |||
| 76 | eeprom_busy_wait(); |
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| 1459 | acid | 77 | eeprom_read_block(&pwm_neutral_position[0], &eeprom_neutral_pos, sizeof(pwm_neutral_position)); |
| 78 | eeprom_read_block(&pwm_limit[0], &eeprom_pwm_limit, sizeof(pwm_limit)); |
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| 1461 | acid | 79 | pwm_check_active(); |
| 1455 | acid | 80 | |
| 81 | } |
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| 82 | |||
| 83 | void eeprom_write() { |
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| 84 | |||
| 85 | cli(); |
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| 1459 | acid | 86 | eeprom_write_block(&pwm_neutral_position[0], &eeprom_neutral_pos, sizeof(pwm_neutral_position)); |
| 87 | eeprom_write_block(&pwm_limit[0], &eeprom_pwm_limit, sizeof(pwm_limit)); |
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| 1455 | acid | 88 | sei(); |
| 89 | |||
| 90 | } |
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| 91 | |||
| 92 | void delay(int ms) { |
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| 93 | |||
| 94 | while(ms--) { |
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| 95 | _delay_ms(1); |
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| 96 | } |
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| 97 | |||
| 98 | } |
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| 99 | |||
| 100 | |||
| 101 | int main(void) { |
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| 102 | |||
| 1461 | acid | 103 | uint8_t blink_counter = 0; |
| 104 | uint8_t blink = 0; |
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| 105 | |||
| 106 | // intialize |
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| 1456 | acid | 107 | DDRD = 0x80; |
| 108 | PORTD = 0x80; |
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| 1455 | acid | 109 | |
| 110 | DDRC &= ~0x0f; |
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| 111 | PORTC |= 0x0f; |
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| 112 | |||
| 113 | cli(); |
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| 1459 | acid | 114 | uart_init(); |
| 1455 | acid | 115 | eeprom_init(); |
| 1459 | acid | 116 | i2c_init(0x82); |
| 1455 | acid | 117 | pwm_init(); |
| 1456 | acid | 118 | set_pwm_neutral(); |
| 1455 | acid | 119 | sei(); |
| 120 | |||
| 1461 | acid | 121 | // start pwm |
| 1455 | acid | 122 | TCNT1 = 0; |
| 123 | while(1) { |
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| 124 | |||
| 125 | cli(); |
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| 1461 | acid | 126 | SERVOPORT = pwm_active; |
| 127 | |||
| 128 | // show status |
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| 129 | blink_counter++; |
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| 130 | |||
| 131 | if (pwm_active == 0) { // not configured |
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| 132 | |||
| 133 | blink = 50; |
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| 134 | |||
| 135 | } else { |
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| 136 | |||
| 137 | if (I2C_timeout == 0) { // no i2c signal |
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| 138 | blink = 0; |
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| 139 | } else { |
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| 140 | I2C_timeout--; |
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| 141 | blink = 5; |
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| 142 | } |
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| 143 | |||
| 144 | } |
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| 145 | |||
| 146 | if (blink == 0) { |
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| 147 | LED_ON; |
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| 148 | } else if (blink_counter % blink == 0) { |
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| 149 | blink_counter = 1; |
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| 150 | if (LED_IS_ON) { |
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| 151 | LED_OFF; |
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| 152 | } else { |
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| 153 | LED_ON; |
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| 154 | } |
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| 155 | } |
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| 156 | |||
| 157 | // wait with high pwm signal |
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| 1455 | acid | 158 | while(TCNT1 < 300) ; |
| 159 | |||
| 1461 | acid | 160 | // check servos setting pwm to low |
| 1455 | acid | 161 | for(uint8_t i = 0; i < 255; i++) { |
| 162 | |||
| 163 | TCNT0 = 0; |
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| 164 | |||
| 165 | if (i == pwm_signal[0]) { |
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| 166 | SERVOPORT &= ~(1<<SERVO1); |
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| 167 | } |
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| 168 | if (i == pwm_signal[1]) { |
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| 169 | SERVOPORT &= ~(1<<SERVO2); |
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| 170 | } |
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| 171 | if (i == pwm_signal[2]) { |
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| 172 | SERVOPORT &= ~(1<<SERVO3); |
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| 173 | } |
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| 174 | if (i == pwm_signal[3]) { |
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| 175 | SERVOPORT &= ~(1<<SERVO4); |
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| 176 | } |
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| 177 | if (i == pwm_signal[4]) { |
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| 178 | SERVOPORT &= ~(1<<SERVO5); |
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| 179 | } |
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| 180 | if (i == pwm_signal[5]) { |
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| 181 | SERVOPORT &= ~(1<<SERVO6); |
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| 182 | } |
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| 183 | |||
| 184 | while (TCNT0 < 60) ; |
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| 185 | |||
| 186 | } |
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| 187 | sei(); |
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| 188 | |||
| 1461 | acid | 189 | // set all servos to low |
| 1455 | acid | 190 | SERVOPORT = 0; |
| 191 | |||
| 1461 | acid | 192 | // update signals |
| 1455 | acid | 193 | set_pwm(); |
| 194 | |||
| 1461 | acid | 195 | // wait till 20ms are reached |
| 1455 | acid | 196 | while(TCNT1 < 20000) ; |
| 197 | TCNT1 = 0; |
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| 198 | |||
| 199 | } |
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| 200 | |||
| 201 | return 0; |
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| 202 | } |
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| 203 |