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Rev | Author | Line No. | Line |
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1455 | acid | 1 | |
2 | #include <string.h> |
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3 | #include <avr/interrupt.h> |
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4 | #include <avr/eeprom.h> |
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5 | #include <util/delay.h> |
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6 | #include "servoboard.h" |
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7 | #include "twislave.h" |
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1459 | acid | 8 | #include "uart.h" |
1455 | acid | 9 | |
10 | |||
1461 | acid | 11 | uint8_t eeprom_neutral_pos[6] EEMEM; |
12 | uint16_t eeprom_pwm_limit[6] EEMEM; |
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1459 | acid | 13 | |
1465 | acid | 14 | uint8_t pwm_signal[6]; |
1475 | acid | 15 | uint8_t volatile pwm_neutral_position[6]; |
16 | uint8_t volatile pwm_position[6]; |
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17 | uint16_t volatile pwm_limit[6]; |
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1465 | acid | 18 | uint8_t pwm_active; |
19 | uint8_t pwm_status = 1; |
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1475 | acid | 20 | #if DEBUG_SIGNAL |
21 | uint8_t volatile display_values = 0; |
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22 | #endif |
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1455 | acid | 23 | |
24 | void pwm_init() { |
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25 | |||
1475 | acid | 26 | SERVODDR = (1<<SERVO1) | (1<<SERVO2) | (1<<SERVO3) | (1<<SERVO4) | (1<<SERVO5) | (1<<SERVO6); |
1455 | acid | 27 | |
28 | set_pwm(); |
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29 | |||
30 | TCCR1B = (1 << CS11); |
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31 | TCCR0 = (1 << CS00); |
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32 | |||
33 | } |
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34 | |||
35 | void set_pwm() { |
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36 | |||
37 | for(uint8_t n = 0; n < 6; n++) { |
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38 | pwm_signal[n] = pwm_position[n] - 127 + pwm_neutral_position[n]; |
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39 | if (pwm_limit[n] != 0) { |
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40 | uint8_t l, h; |
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41 | l = pwm_limit[n] & 0xff; |
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42 | h = pwm_limit[n] >> 8; |
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43 | if (pwm_signal[n] < l) { |
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44 | pwm_signal[n] = l; |
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45 | } |
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46 | if (pwm_signal[n] > h) { |
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47 | pwm_signal[n] = h; |
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48 | } |
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49 | } |
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50 | } |
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51 | |||
52 | } |
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53 | |||
54 | void set_pwm_neutral() { |
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55 | |||
56 | for(uint8_t i = 0; i < 6; i++) { |
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57 | pwm_position[i] = 127; |
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58 | } |
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59 | set_pwm(); |
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60 | |||
61 | } |
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62 | |||
1461 | acid | 63 | void pwm_check_active() { |
64 | |||
65 | // check if pwm is configured |
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1475 | acid | 66 | pwm_active = (pwm_limit[0] != 0xffff) ? (1<<SERVO1) : 0; |
67 | pwm_active |= (pwm_limit[1] != 0xffff) ? (1<<SERVO2) : 0; |
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68 | pwm_active |= (pwm_limit[2] != 0xffff) ? (1<<SERVO3) : 0; |
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69 | pwm_active |= (pwm_limit[3] != 0xffff) ? (1<<SERVO4) : 0; |
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70 | pwm_active |= (pwm_limit[4] != 0xffff) ? (1<<SERVO5) : 0; |
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71 | pwm_active |= (pwm_limit[5] != 0xffff) ? (1<<SERVO6) : 0; |
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1461 | acid | 72 | |
73 | } |
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74 | |||
75 | |||
1455 | acid | 76 | void eeprom_init() { |
77 | |||
78 | eeprom_busy_wait(); |
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1459 | acid | 79 | eeprom_read_block(&pwm_neutral_position[0], &eeprom_neutral_pos, sizeof(pwm_neutral_position)); |
80 | eeprom_read_block(&pwm_limit[0], &eeprom_pwm_limit, sizeof(pwm_limit)); |
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1461 | acid | 81 | pwm_check_active(); |
1455 | acid | 82 | |
83 | } |
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84 | |||
85 | void eeprom_write() { |
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86 | |||
87 | cli(); |
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1459 | acid | 88 | eeprom_write_block(&pwm_neutral_position[0], &eeprom_neutral_pos, sizeof(pwm_neutral_position)); |
89 | eeprom_write_block(&pwm_limit[0], &eeprom_pwm_limit, sizeof(pwm_limit)); |
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1455 | acid | 90 | sei(); |
91 | |||
92 | } |
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93 | |||
1475 | acid | 94 | /* |
1455 | acid | 95 | void delay(int ms) { |
96 | |||
97 | while(ms--) { |
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98 | _delay_ms(1); |
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99 | } |
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100 | |||
101 | } |
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1475 | acid | 102 | */ |
1455 | acid | 103 | |
104 | int main(void) { |
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105 | |||
1461 | acid | 106 | uint8_t blink_counter = 0; |
107 | uint8_t blink = 0; |
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108 | |||
109 | // intialize |
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1475 | acid | 110 | DDRD = (1<<PD7); |
111 | PORTD = (1<<PD7); |
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1455 | acid | 112 | |
113 | cli(); |
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1459 | acid | 114 | uart_init(); |
1455 | acid | 115 | eeprom_init(); |
1464 | acid | 116 | i2c_init(I2C_ADDRESS); |
1455 | acid | 117 | pwm_init(); |
1456 | acid | 118 | set_pwm_neutral(); |
1455 | acid | 119 | sei(); |
120 | |||
121 | while(1) { |
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122 | |||
1475 | acid | 123 | // start pwm |
1455 | acid | 124 | cli(); |
1475 | acid | 125 | TCNT1 = 0; |
1461 | acid | 126 | SERVOPORT = pwm_active; |
127 | |||
1475 | acid | 128 | // update signals |
129 | set_pwm(); |
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130 | |||
1461 | acid | 131 | // show status |
132 | blink_counter++; |
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133 | |||
134 | if (pwm_active == 0) { // not configured |
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135 | |||
136 | blink = 50; |
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1465 | acid | 137 | pwm_status = 1; |
1461 | acid | 138 | |
139 | } else { |
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140 | |||
1475 | acid | 141 | if (I2C_timeout) { |
1461 | acid | 142 | I2C_timeout--; |
1466 | acid | 143 | if (I2C_timeout == 0) { // no i2c signal |
144 | blink = 0; |
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145 | pwm_status = 2; |
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1465 | acid | 146 | set_pwm_neutral(); |
147 | set_pwm(); |
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148 | } |
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1461 | acid | 149 | blink = 5; |
1465 | acid | 150 | pwm_status = 0; |
1461 | acid | 151 | } |
152 | |||
153 | } |
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154 | |||
155 | if (blink == 0) { |
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156 | LED_ON; |
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157 | } else if (blink_counter % blink == 0) { |
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158 | blink_counter = 1; |
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159 | if (LED_IS_ON) { |
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1464 | acid | 160 | LED_OFF; |
1461 | acid | 161 | } else { |
162 | LED_ON; |
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163 | } |
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164 | } |
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165 | |||
1475 | acid | 166 | // till here the code execution takes less than 70ys, plenty enough time for some more calculations |
167 | |||
168 | // wait till 300ys are reached |
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1455 | acid | 169 | while(TCNT1 < 300) ; |
170 | |||
1475 | acid | 171 | // check servo settings and set pwm to low |
1455 | acid | 172 | for(uint8_t i = 0; i < 255; i++) { |
173 | |||
174 | TCNT0 = 0; |
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175 | |||
176 | if (i == pwm_signal[0]) { |
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177 | SERVOPORT &= ~(1<<SERVO1); |
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178 | } |
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179 | if (i == pwm_signal[1]) { |
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180 | SERVOPORT &= ~(1<<SERVO2); |
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181 | } |
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182 | if (i == pwm_signal[2]) { |
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183 | SERVOPORT &= ~(1<<SERVO3); |
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184 | } |
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185 | if (i == pwm_signal[3]) { |
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186 | SERVOPORT &= ~(1<<SERVO4); |
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187 | } |
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188 | if (i == pwm_signal[4]) { |
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189 | SERVOPORT &= ~(1<<SERVO5); |
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190 | } |
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191 | if (i == pwm_signal[5]) { |
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192 | SERVOPORT &= ~(1<<SERVO6); |
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193 | } |
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194 | |||
195 | while (TCNT0 < 60) ; |
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196 | |||
197 | } |
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198 | |||
1461 | acid | 199 | // set all servos to low |
1455 | acid | 200 | SERVOPORT = 0; |
201 | |||
1475 | acid | 202 | // enable interrupts and receive data while waiting till 20ms are reached and the next pulse has to be sent |
203 | sei(); |
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1455 | acid | 204 | |
1475 | acid | 205 | #if DEBUG_SIGNAL |
206 | if (display_values) { |
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207 | |||
208 | cli(); |
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209 | uart_putchar('\r'); |
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210 | for(uint8_t i = 0; i < 6; i++) { |
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211 | uart_putchar(i+49); |
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212 | uart_putchar(':'); |
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213 | uart_putchar((pwm_signal[i]/100)%10+48); |
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214 | uart_putchar((pwm_signal[i]/10)%10+48); |
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215 | uart_putchar((pwm_signal[i])%10+48); |
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216 | uart_putchar(' '); |
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217 | } |
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218 | sei(); |
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219 | |||
220 | } |
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221 | #endif |
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222 | |||
1455 | acid | 223 | while(TCNT1 < 20000) ; |
224 | |||
1475 | acid | 225 | |
1455 | acid | 226 | } |
227 | |||
228 | return 0; |
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229 | } |
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230 |