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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 730 | woggle | 1 | /***************************************************************************** |
| 2 | * Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net * |
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| 3 | * * |
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| 4 | * This program is free software; you can redistribute it and/or modify * |
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| 5 | * it under the terms of the GNU General Public License as published by * |
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| 6 | * the Free Software Foundation; either version 2 of the License. * |
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| 7 | * * |
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| 8 | * This program is distributed in the hope that it will be useful, * |
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| 9 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 10 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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| 11 | * GNU General Public License for more details. * |
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| 12 | * * |
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| 13 | * You should have received a copy of the GNU General Public License * |
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| 14 | * along with this program; if not, write to the * |
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| 15 | * Free Software Foundation, Inc., * |
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| 16 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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| 17 | * * |
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| 18 | *****************************************************************************/ |
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| 19 | |||
| 20 | #include <avr/io.h> |
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| 21 | #include <avr/interrupt.h> |
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| 22 | #include <avr/pgmspace.h> |
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| 23 | |||
| 24 | #include "lcd.h" |
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| 25 | #include "timer.h" // Keys |
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| 26 | #include "servo.h" |
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| 27 | |||
| 28 | #define SERVO_MIN 313 // 1.0 ms (Servo min) |
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| 29 | #define SERVO_MAX 625 // 2.0 ms (Servo max) |
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| 30 | #define SERVO_CENTER 469 // 1.5 ms |
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| 31 | |||
| 32 | #define SERVO_PULSE 6250 // 20 ms |
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| 33 | |||
| 34 | //***************************************************************************** |
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| 35 | // |
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| 36 | ISR(TIMER1_COMPA_vect) |
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| 37 | { |
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| 38 | PORTD |= (1 << PD7); |
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| 39 | } |
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| 40 | |||
| 41 | //***************************************************************************** |
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| 42 | // |
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| 43 | ISR(TIMER1_COMPB_vect) |
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| 44 | { |
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| 45 | PORTD &= ~(1 << PD7); |
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| 46 | } |
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| 47 | |||
| 48 | //***************************************************************************** |
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| 49 | // |
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| 50 | void servo_test (void) |
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| 51 | { |
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| 52 | uint8_t chg = 0; |
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| 53 | uint8_t step = 10; |
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| 54 | |||
| 55 | DDRD |= (1 << DDD7); // PD7 output |
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| 56 | |||
| 57 | TCCR1B = (1 << WGM12) | (1 << CS11) | (1 << CS10); // Prescaler 1/64, CTC mode |
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| 58 | // 1 step = 3,2 µs (@ 20 MHz) |
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| 59 | |||
| 60 | OCR1A = SERVO_PULSE; |
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| 61 | |||
| 62 | OCR1B = SERVO_CENTER; |
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| 63 | |||
| 64 | TIMSK1 = (1 << OCIE1A) | (1 << OCIE1B); |
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| 65 | |||
| 66 | lcd_cls (); |
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| 67 | |||
| 68 | lcd_printp (PSTR("Servo Tester"), 0); |
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| 69 | //lcd_printpns_at (0, 7, PSTR("-1 +1 Exit \x1d\x7c\x1c"), 0); |
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| 70 | lcd_printpns_at (0, 7, PSTR("-10 +10 Exit \x1d\x7c\x1c"), 0); |
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| 71 | |||
| 72 | lcd_frect (SGX, SGY, ((OCR1B - SERVO_MIN) * SMAXGX) / (SERVO_MAX - SERVO_MIN), 10, 1); |
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| 73 | //write_ndigit_number_u (SMX, SMY, ((OCR1B - SERVO_MIN) * 100) / (SERVO_MAX - SERVO_MIN), 3, 0); // Pulse width in % |
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| 74 | write_ndigit_number_u_100th(SMX, SMY, (OCR1B * 64) / 200 , 3, 0); // Pulse width in ms |
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| 75 | |||
| 76 | do |
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| 77 | { |
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| 78 | if ((get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (OCR1B < SERVO_MAX)) |
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| 79 | { |
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| 80 | OCR1B += step; |
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| 81 | if (OCR1B > SERVO_MAX) |
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| 82 | { |
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| 83 | OCR1B = SERVO_MAX; |
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| 84 | } |
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| 85 | chg++; |
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| 86 | } |
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| 87 | else if ((get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (OCR1B > SERVO_MIN)) |
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| 88 | { |
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| 89 | lcd_frect (SGX, SGY, ((OCR1B - SERVO_MIN) * SMAXGX) / (SERVO_MAX - SERVO_MIN), 10, 0); |
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| 90 | OCR1B -= step; |
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| 91 | if (OCR1B < SERVO_MIN) |
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| 92 | { |
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| 93 | OCR1B = SERVO_MIN; |
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| 94 | } |
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| 95 | chg++; |
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| 96 | } |
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| 97 | else if (get_key_short (1 << KEY_ENTER)) |
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| 98 | { |
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| 99 | lcd_frect (SGX, SGY, ((OCR1B - SERVO_MIN) * SMAXGX) / (SERVO_MAX - SERVO_MIN), 10, 0); |
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| 100 | OCR1B = SERVO_CENTER; |
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| 101 | chg++; |
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| 102 | } |
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| 103 | else if (get_key_long (1 << KEY_ENTER)) |
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| 104 | { |
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| 105 | if (step == 1) |
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| 106 | { |
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| 107 | step = 10; |
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| 108 | lcd_printpns_at (0, 7, PSTR("-10 +10 Exit \x1d\x7c\x1c"), 0); |
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| 109 | } |
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| 110 | else |
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| 111 | { |
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| 112 | step = 1; |
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| 113 | lcd_printpns_at (0, 7, PSTR("-1 +1 Exit \x1d\x7c\x1c"), 0); |
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| 114 | } |
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| 115 | } |
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| 116 | if (chg) |
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| 117 | { |
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| 118 | chg = 0; |
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| 119 | lcd_frect (SGX, SGY, ((OCR1B - SERVO_MIN) * SMAXGX) / (SERVO_MAX - SERVO_MIN), 10, 1); |
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| 120 | //write_ndigit_number_u (SMX, SMY, ((OCR1B - SERVO_MIN) * 100) / (SERVO_MAX - SERVO_MIN), 3, 0); // Pulse width in % |
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| 121 | write_ndigit_number_u_100th(SMX, SMY, (OCR1B * 64) / 200 , 3, 0); // Pulse width in ms |
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| 122 | } |
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| 123 | } |
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| 124 | while (!get_key_press (1 << KEY_ESC)); |
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| 125 | get_key_press(KEY_ALL); |
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| 126 | |||
| 127 | TIMSK1 = 0; |
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| 128 | } |