WebSVN - FlightCtrl - Path Comparison - /branches/V0.76g-acid/ Rev 1474 and /branches/V0.76g-acid/ Rev 1475

Ignore whitespace Rev 1474 → Rev 1475

 /branches/V0.76g-acid/servoboard/servoboard.c
 ,16 → 12,18
 uint16_t eeprom_pwm_limit[6] EEMEM;
 uint8_t pwm_signal[6];
-uint8_t pwm_neutral_position[6];
-uint8_t pwm_position[6];
-uint16_t pwm_limit[6];
+uint8_t volatile pwm_neutral_position[6];
+uint8_t volatile pwm_position[6];
+uint16_t volatile pwm_limit[6];
 uint8_t pwm_active;
 uint8_t pwm_status = 1;
+#if DEBUG_SIGNAL
+uint8_t volatile display_values = 0;
+#endif
 void pwm_init() {
-        SERVODDR = 0xff;
+        SERVODDR = (1<<SERVO1) | (1<<SERVO2) | (1<<SERVO3) | (1<<SERVO4) | (1<<SERVO5) | (1<<SERVO6);
         set_pwm();
 ,12 → 63,12
 void pwm_check_active() {
         // check if pwm is configured
-        pwm_active  = (pwm_limit[0] != 0xffff) ? (1 << SERVO1) : 0;
-        pwm_active |= (pwm_limit[1] != 0xffff) ? (1 << SERVO2) : 0;
-        pwm_active |= (pwm_limit[2] != 0xffff) ? (1 << SERVO3) : 0;
-        pwm_active |= (pwm_limit[3] != 0xffff) ? (1 << SERVO4) : 0;
-        pwm_active |= (pwm_limit[4] != 0xffff) ? (1 << SERVO5) : 0;
-        pwm_active |= (pwm_limit[5] != 0xffff) ? (1 << SERVO6) : 0;
+        pwm_active  = (pwm_limit[0] != 0xffff) ? (1<<SERVO1) : 0;
+        pwm_active |= (pwm_limit[1] != 0xffff) ? (1<<SERVO2) : 0;
+        pwm_active |= (pwm_limit[2] != 0xffff) ? (1<<SERVO3) : 0;
+        pwm_active |= (pwm_limit[3] != 0xffff) ? (1<<SERVO4) : 0;
+        pwm_active |= (pwm_limit[4] != 0xffff) ? (1<<SERVO5) : 0;
+        pwm_active |= (pwm_limit[5] != 0xffff) ? (1<<SERVO6) : 0;
 }
 ,6 → 91,7
 }
+/*
 void delay(int ms) {
         while(ms--) {
 ,8 → 99,8
         }
 }
+*/
 int main(void) {
         uint8_t blink_counter = 0;
 ,12 → 107,9
         uint8_t blink = 0;
         // intialize
-        DDRD = 0x80;
-        PORTD = 0x80;
+        DDRD = (1<<PD7);
+        PORTD = (1<<PD7);
-        DDRC &= ~0x0f;
-        PORTC |= 0x0f;
         cli();
         uart_init();
         eeprom_init();
 ,13 → 118,16
         set_pwm_neutral();
         sei();
-        // start pwm
-        TCNT1 = 0;
         while(1) {
+                // start pwm
                 cli();
+                TCNT1 = 0;
                 SERVOPORT = pwm_active;
+                // update signals
+                set_pwm();
                 // show status
                 blink_counter++;
 ,7 → 138,7
                 } else {
-                        if (I2C_timeout) {
+                        if (I2C_timeout) {
                                 I2C_timeout--;
                                 if (I2C_timeout == 0) { // no i2c signal
                                         blink = 0;
 ,10 → 163,12
                         }
                 }
-                // wait with high pwm signal
+                // till here the code execution takes less than 70ys, plenty enough time for some more calculations
+                // wait till 300ys are reached
                 while(TCNT1 < 300) ;
-                // check servos setting pwm to low
+                // check servo settings and set pwm to low
                 for(uint8_t i = 0; i < 255; i++) {
                         TCNT0 = 0;
 ,18 → 195,34
                         while (TCNT0 < 60) ;
                 }
-                sei();
                 // set all servos to low
                 SERVOPORT = 0;
-                // update signals
-                set_pwm();
+                // enable interrupts and receive data while waiting till 20ms are reached and the next pulse has to be sent
+                sei();
-                // wait till 20ms are reached
+#if DEBUG_SIGNAL
+                if (display_values) {
+                        cli();
+                        uart_putchar('\r');
+                        for(uint8_t i = 0; i < 6; i++) {
+                                uart_putchar(i+49);
+                                uart_putchar(':');
+                                uart_putchar((pwm_signal[i]/100)%10+48);
+                                uart_putchar((pwm_signal[i]/10)%10+48);
+                                uart_putchar((pwm_signal[i])%10+48);
+                                uart_putchar(' ');
+                        }
+                        sei();
+                }
+#endif
                 while(TCNT1 < 20000) ;
-                TCNT1 = 0;
         }
         return 0;

 /branches/V0.76g-acid/servoboard/servoboard.h
 ,14 → 1,15
-#define VERSION                 "0.32"
+#define VERSION                 "0.40"
+#define DEBUG_SIGNAL    1
-extern uint8_t pwm_position[6];
-extern uint8_t pwm_neutral_position[6];
-extern uint16_t pwm_limit[6];
-extern uint8_t pwm_active;
-extern uint8_t pwm_status;
+extern volatile uint8_t pwm_position[6];
+extern volatile uint8_t pwm_neutral_position[6];
+extern volatile uint16_t pwm_limit[6];
+#if DEBUG_SIGNAL
+extern volatile uint8_t display_values;
+#endif
 void set_pwm();
 void set_pwm_neutral();
 void pwm_check_active();
 ,14 → 29,15
 #define SERVO5          PB4
 #define SERVO6          PB5
 //#define STK500
 #ifdef STK500
-#define LED_OFF         PORTD |= 0x80;
-#define LED_ON          PORTD &= ~0x80
-#define LED_IS_ON       !(PORTD & 0x80)
+#define LED_OFF         PORTD |= (1<<PD7);
+#define LED_ON          PORTD &= ~(1<<PD7)
+#define LED_IS_ON       !(PORTD & (1<<PD7))
 #else
-#define LED_ON          PORTD |= 0x80;
-#define LED_OFF         PORTD &= ~0x80
-#define LED_IS_ON       (PORTD & 0x80)
+#define LED_ON          PORTD |= (1<<PD7);
+#define LED_OFF         PORTD &= ~(1<<PD7)
+#define LED_IS_ON       (PORTD & (1<<PD7))
 #endif

 /branches/V0.76g-acid/servoboard/servoboard.hex
 ,360 → 1,368
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 :00000001FF

 /branches/V0.76g-acid/servoboard/twislave.c
 ,7 → 8,7
 uint8_t I2C_RXBuffer[32];
 uint8_t Byte_Counter = 0;
-uint8_t I2C_timeout = 0;
+volatile uint8_t I2C_timeout = 0;
 void i2c_init(uint8_t adr)
 {

 /branches/V0.76g-acid/servoboard/twislave.h
 ,7 → 1,7
 #ifndef _TWI_SLAVE_H_
 #define _TWI_SLAVE_H_
-extern uint8_t I2C_timeout;
+extern volatile uint8_t I2C_timeout;
 extern void i2c_init(uint8_t adr);

 /branches/V0.76g-acid/servoboard/uart.c
 ,9 → 10,8
 uint8_t rx_buffer[RX_BUFFER_SZ];
 //uint8_t tx_buffer[TX_BUFFER_SZ];
 uint8_t rx_pos, tx_pos;
-uint8_t current_servo = 0;
+uint8_t current_servo = 1;
 void uart_init() {
         rx_pos = 0;
 ,24 → 31,29
 }
+void display_cur_servo(uint8_t i) {
+        printf("SERVO %d NEUTRAL %d LIMIT %d-%d\n", i + 1, pwm_neutral_position[i], (pwm_limit[i] & 0xff), (pwm_limit[i] >> 8));
+}
 ISR(USART_RXC_vect) {
+        uint8_t i = UDR;
         if (rx_pos < RX_BUFFER_SZ) {
-                uint8_t i = UDR;
-                if (i == '+') {
-                        if (pwm_neutral_position[current_servo - 1] < 255) {
-                                pwm_neutral_position[current_servo - 1]++;
+                if (i == '+' || i == '-') {
+                        if (i == '+') {
+                                if (pwm_neutral_position[current_servo] < 255) {
+                                        pwm_neutral_position[current_servo]++;
+                                }
+                        } else if (i == '-') {
+                                if (pwm_neutral_position[current_servo] > 0) {
+                                        pwm_neutral_position[current_servo]--;
+                                }
                         }
-                        printf("SERVO %d VALUE %d\n", current_servo, pwm_neutral_position[current_servo - 1]);
+                        display_cur_servo(current_servo);
                         return;
-                } else if (i == '-') {
-                        if (pwm_neutral_position[current_servo - 1] > 0) {
-                                pwm_neutral_position[current_servo - 1]--;
-                        }
-                        printf("SERVO %d VALUE %d\n", current_servo, pwm_neutral_position[current_servo - 1]);
-                        return;
                 }
                 uart_putchar(i);
 ,34 → 66,26
                         rx_pos = 0;
                         if (!strcasecmp(rx_buffer, "HELP")) {
-                                printf("DISPLAY                 Display servo settings\n"
-                                       "EXPORT                  Export srvo settings\n"
-                                           "SET s=n[,l,u]           Set servo settings\n"
-                                           "                            s = servo number (1-6)\n"
-                                           "                            n = neutral position (0-255)\n"
-                                           "                            l = lower limit (0-255)\n"
-                                           "                            u = upper limit (0-255)\n"
-                                           "CUR n                   Set current servo. + = increase, - = decrease value\n"
-                                           "LOAD                    Load settings from eeprom\n"
-                                           "SAVE                    Write settings to eeprom\n");
+                                printf("DISPLAY         Display servo settings\n"
+                                           "SET s=n[,l,u]   Set servo settings\n"
+                                           "                   s = servo number (1-6)\n"
+                                           "                   n = neutral position (0-255)\n"
+                                           "                   l = lower limit (0-255)\n"
+                                           "                   u = upper limit (0-255)\n"
+                                           "CUR n           Set current servo. + = increase, - = decrease value\n"
+                                           "SETLL           Set lower limit to servo position\n"
+                                           "SETUL           Set upper limit\n"
+                                           "LOAD            Load settings from eeprom\n"
+                                           "SAVE            Write settings to eeprom\n");
                         } else if (!strcasecmp(rx_buffer, "DISPLAY")) {
                                 for(i = 0; i < 6; i++) {
-                                        printf("SERVO %d, NEUTRAL %d, LIMIT %d-%d\n",
-                                                (i + 1),
-                                                (pwm_neutral_position[i]),
-                                                (pwm_limit[i] & 0xff),
-                                                (pwm_limit[i] >> 8)
-                                        );
+                                        display_cur_servo(i);
                                 }
-                        } else if (!strcasecmp(rx_buffer, "EXPORT")) {
-                                for(i = 0; i < 6; i++) {
-                                        printf("SET %d=%d,%d,%d\n",
-                                                (i + 1),
-                                                (pwm_neutral_position[i]),
-                                                (pwm_limit[i] & 0xff),
-                                                (pwm_limit[i] >> 8)
-                                        );
-                                }
+#if DEBUG_SIGNAL
+                        } else if (!strcasecmp(rx_buffer, "TV")) {
+                                display_values = !display_values;
+                                printf("\n");
+#endif
                         } else if (!strcasecmp(rx_buffer, "LOAD")) {
                                 eeprom_init();
                         } else if (!strcasecmp(rx_buffer, "SAVE")) {
 ,11 → 94,11
                                 char *s, *t;
                                 s = strtok_r(rx_buffer, " ", &t);
                                 if (s) {
-                                        s = strtok_r(NULL, "", &t);
+                                        s = strtok_r(NULL, ",", &t);
                                         if (s) {
-                                                i = atoi(s) + 1;
+                                                i = atoi(s);
                                                 if (i >= 1 && i <= 6) {
-                                                        current_servo = i;
+                                                        current_servo = i - 1;
                                                         printf("CURRENT SERVO %d\n", i);
                                                 } else {
                                                         printf("Invalid servo\n");
 ,6 → 105,24
                                                 }
                                         }
                                 }
+                        } else if (!strcasecmp(rx_buffer, "SETLL")) {
+                                uint8_t l, h;
+                                l = pwm_neutral_position[current_servo];
+                                h = (pwm_limit[current_servo] >> 8);
+                                if (h < l) {
+                                        h = l;
+                                }
+                                pwm_limit[current_servo] = (h << 8) | l;
+                                display_cur_servo(current_servo);
+                        } else if (!strcasecmp(rx_buffer, "SETUL")) {
+                                uint8_t l, h;
+                                h = pwm_neutral_position[current_servo];
+                                l = (pwm_limit[current_servo] & 0xff);
+                                if (l > h) {
+                                        l = h;
+                                }
+                                pwm_limit[current_servo] = (h << 8) | l;
+                                display_cur_servo(current_servo);
                         } else if (!strncasecmp(rx_buffer, "SET ", 4)) {
                                 char *s, *t;
                                 uint8_t servo;
 ,6 → 178,7
         } else {
                 printf("Receive buffer full.\n");
+                rx_pos = 0;
         }

Subversion Repositories FlightCtrl

Compare Revisions

Ignore whitespace Rev 1474 → Rev 1475