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