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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 28 | walter | 1 | //############################################################################ |
| 51 | walter | 2 | // - PWM CTRL |
| 3 | // - Main |
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| 28 | walter | 4 | // - ATMEGA8 mit 8MHz |
| 5 | // - Nur für den privaten Gebrauch |
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| 6 | // - Keine Garantie auf Fehlerfreiheit |
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| 7 | // - Kommerzielle Nutzung nur mit meiner Zustimmung |
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| 8 | // - walter Meyer @ www.freakware.de |
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| 9 | // - 11.12.2007 |
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| 10 | // - Make sure Fuses are programmed for internal 8 MHz RC Oscilator |
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| 11 | //############################################################################*/ |
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| 12 | |||
| 13 | #include "main.h" |
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| 14 | #include "uart.h" |
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| 15 | #include "twislave.h" |
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| 16 | |||
| 55 | walter | 17 | volatile unsigned int PPM_SIGNAL = 1500; |
| 18 | volatile unsigned char PPM_NEW = 0; |
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| 28 | walter | 19 | volatile unsigned char TMR1OvF = 0; |
| 51 | walter | 20 | volatile unsigned int TMR1MS; |
| 55 | walter | 21 | volatile unsigned char CH0; |
| 22 | volatile unsigned char CH1; |
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| 23 | volatile unsigned char CH2; |
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| 24 | volatile unsigned char CH3; |
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| 25 | volatile unsigned char CH4; |
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| 26 | volatile unsigned char CH5; |
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| 52 | walter | 27 | |
| 56 | walter | 28 | uint16_t EEMEM EEPMIN=0x0000; |
| 29 | uint16_t EEMEM EEPMAX=0xffff; |
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| 30 | uint16_t EEMEM EEPSIG=0xffff; |
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| 52 | walter | 31 | |
| 56 | walter | 32 | |
| 33 | //led kennlinie, (noch nicht implementiert, nur vorbereitet) |
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| 34 | unsigned char kl[256]={ |
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| 35 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 36 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 37 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 38 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 39 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 40 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 41 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 42 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 43 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 44 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 45 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 46 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 47 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 48 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 49 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15, |
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| 50 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15 |
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| 51 | }; |
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| 52 | |||
| 53 | |||
| 54 | |||
| 55 | walter | 55 | /*##############################################################################*/ |
| 28 | walter | 56 | SIGNAL(SIG_OVERFLOW1) |
| 57 | { |
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| 58 | TMR1OvF++; |
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| 59 | } |
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| 60 | |||
| 61 | |||
| 62 | SIGNAL(SIG_INPUT_CAPTURE1) |
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| 63 | { |
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| 64 | static unsigned int pos_ICR; |
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| 65 | static unsigned int ppm; |
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| 66 | |||
| 67 | if ((TCCR1B & (1<<ICES1)) != 0) //rising edge |
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| 68 | { |
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| 69 | TCCR1B &= ~(1<<ICES1); //set falling egde |
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| 70 | TMR1OvF = 0; |
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| 71 | pos_ICR = ICR1; |
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| 72 | } |
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| 73 | else //falling edge |
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| 74 | { |
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| 75 | TCCR1B |= (1<<ICES1); //set rising egde |
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| 76 | ppm = (ICR1 - pos_ICR + (int) TMR1OvF * 65536); |
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| 77 | if ((ppm > 600) && (ppm < 2400)) |
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| 78 | { |
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| 79 | if (ppm > 2100) ppm = 2100; |
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| 80 | if (ppm < 900) ppm = 900; |
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| 55 | walter | 81 | ppm = (PPM_SIGNAL * 3 + ppm) / 4; |
| 82 | PPM_SIGNAL = ppm; |
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| 83 | if (PPM_NEW < 50) PPM_NEW++; |
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| 28 | walter | 84 | } |
| 85 | |||
| 86 | } |
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| 87 | |||
| 88 | } |
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| 89 | |||
| 55 | walter | 90 | /*##############################################################################*/ |
| 28 | walter | 91 | SIGNAL(SIG_OVERFLOW0) |
| 92 | { |
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| 52 | walter | 93 | // this function is called every 32us, |
| 94 | // it is very important that it's execution time is as short as possible |
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| 95 | // currently it's about 20us |
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| 96 | |||
| 97 | static unsigned char counter = 254; |
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| 98 | static unsigned char ms1 = 0; |
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| 55 | walter | 99 | static unsigned char ch0_tmp = 0; |
| 100 | static unsigned char ch1_tmp = 0; |
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| 101 | static unsigned char ch2_tmp = 0; |
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| 102 | static unsigned char ch3_tmp = 0; |
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| 103 | static unsigned char ch4_tmp = 0; |
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| 104 | static unsigned char ch5_tmp = 0; |
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| 28 | walter | 105 | unsigned char PORTB_BAK; |
| 106 | unsigned char PORTD_BAK; |
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| 107 | |||
| 108 | PORTB_BAK = PORTB; |
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| 109 | PORTD_BAK = PORTD; |
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| 110 | |||
| 51 | walter | 111 | if (counter++ == 254) |
| 28 | walter | 112 | { |
| 55 | walter | 113 | PORTB_BAK LEDON (CH0_B | CH1_B | CH2_B); //new cycle, output on |
| 114 | PORTD_BAK LEDON (CH3_D | CH4_D | CH5_D); // |
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| 115 | ch0_tmp = CH0; |
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| 116 | ch1_tmp = CH1; |
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| 117 | ch2_tmp = CH2; |
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| 118 | ch3_tmp = CH3; |
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| 119 | ch4_tmp = CH4; |
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| 120 | ch5_tmp = CH5; |
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| 51 | walter | 121 | counter = 0; |
| 28 | walter | 122 | } |
| 123 | |||
| 55 | walter | 124 | if (ch0_tmp == counter) PORTB_BAK LEDOFF CH0_B; //channel value reached, output off |
| 125 | if (ch1_tmp == counter) PORTB_BAK LEDOFF CH1_B; // |
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| 126 | if (ch2_tmp == counter) PORTB_BAK LEDOFF CH2_B; // |
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| 127 | if (ch3_tmp == counter) PORTD_BAK LEDOFF CH3_D; // |
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| 128 | if (ch4_tmp == counter) PORTD_BAK LEDOFF CH4_D; // |
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| 129 | if (ch5_tmp == counter) PORTD_BAK LEDOFF CH5_D; // |
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| 51 | walter | 130 | |
| 131 | PORTB = PORTB_BAK; |
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| 132 | PORTD = PORTD_BAK; |
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| 54 | walter | 133 | |
| 51 | walter | 134 | if (ms1++ == 32) |
| 28 | walter | 135 | { |
| 51 | walter | 136 | ms1=0; |
| 137 | TMR1MS++; |
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| 28 | walter | 138 | } |
| 51 | walter | 139 | |
| 28 | walter | 140 | |
| 141 | |||
| 142 | |||
| 51 | walter | 143 | } |
| 28 | walter | 144 | |
| 145 | |||
| 55 | walter | 146 | /*##############################################################################*/ |
| 51 | walter | 147 | unsigned int SetDelay (unsigned int t) |
| 148 | { |
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| 55 | walter | 149 | unsigned char hi_byte; |
| 150 | unsigned char lo_byte; |
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| 28 | walter | 151 | |
| 55 | walter | 152 | hi_byte = (TMR1MS >> 8); |
| 153 | lo_byte = (TMR1MS & 0xff); |
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| 154 | if (hi_byte != (TMR1MS >> 8)) hi_byte = (TMR1MS >> 8); |
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| 28 | walter | 155 | |
| 55 | walter | 156 | return(((hi_byte << 8) | lo_byte) + t + 1); |
| 51 | walter | 157 | } |
| 28 | walter | 158 | |
| 159 | |||
| 55 | walter | 160 | /*##############################################################################*/ |
| 51 | walter | 161 | char CheckDelay(unsigned int t) |
| 162 | { |
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| 55 | walter | 163 | unsigned char hi_byte; |
| 164 | unsigned char lo_byte; |
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| 51 | walter | 165 | |
| 55 | walter | 166 | hi_byte = (TMR1MS >> 8); |
| 167 | lo_byte = (TMR1MS & 0xff); |
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| 168 | if (hi_byte != (TMR1MS >> 8)) hi_byte = (TMR1MS >> 8); |
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| 51 | walter | 169 | |
| 55 | walter | 170 | return(((t - ((hi_byte << 8) | lo_byte)) & 0x8000) >> 9); |
| 28 | walter | 171 | } |
| 172 | |||
| 173 | |||
| 174 | |||
| 175 | /*##############################################################################*/ |
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| 51 | walter | 176 | void StartPWM(void) |
| 28 | walter | 177 | { |
| 55 | walter | 178 | //Timer 0 Config |
| 28 | walter | 179 | TCCR0 = (0<<CS02)|(0<<CS01)|(1<<CS00); // (@8MHz) = 1/8us Clk = 256/8 = 32us overflow |
| 180 | TIMSK setbit (1<<TOIE0); // enable Int |
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| 181 | |||
| 182 | } |
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| 183 | |||
| 184 | |||
| 185 | /*##############################################################################*/ |
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| 186 | void StartPPM(void) |
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| 187 | { |
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| 188 | |||
| 55 | walter | 189 | //Timer1 Config |
| 28 | walter | 190 | TCCR1A = (0<<COM1A1)|(0<<COM1A0)|(0<<COM1B1)|(0<<COM1B0)| |
| 191 | (0<<FOC1A) |(0<<FOC1B) |(0<<WGM10) |(0<<WGM11); |
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| 192 | TCCR1B = (1<<ICNC1)|(1<<ICES1)|(0<<WGM13)| |
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| 193 | (0<<WGM12)|(0<<CS12)|(1<<CS11)|(0<<CS10); //ICP_POS_FLANKE |
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| 194 | |||
| 195 | // interrupts |
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| 196 | TIMSK |= (1<<TICIE1)|(1<<TOIE1); //ICP_INT_ENABLE and TIMER1_INT_ENABLE |
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| 197 | |||
| 198 | } |
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| 199 | |||
| 200 | |||
| 52 | walter | 201 | /*##############################################################################*/ |
| 54 | walter | 202 | unsigned int GetPPM(void) |
| 28 | walter | 203 | { |
| 204 | //this routines seems to be nesseccary, as reading a 16 bit value |
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| 205 | //on a 8 bit machine is not atomic, so if an interrupt apears between reading |
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| 206 | //low and high byte of the 16 bit value a wrong result is possible |
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| 207 | |||
| 54 | walter | 208 | unsigned char temp_hi; |
| 209 | unsigned char temp_lo; |
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| 28 | walter | 210 | |
| 55 | walter | 211 | temp_hi = (PPM_SIGNAL >> 8); |
| 212 | temp_lo = (PPM_SIGNAL & 0xff); |
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| 213 | if (temp_hi != (PPM_SIGNAL >> 8)) temp_hi = (PPM_SIGNAL >> 8); |
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| 54 | walter | 214 | return( (temp_hi << 8) | temp_lo); |
| 28 | walter | 215 | |
| 216 | } |
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| 217 | |||
| 218 | |||
| 219 | /*##############################################################################*/ |
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| 220 | // MAIN |
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| 221 | /*##############################################################################*/ |
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| 222 | int main (void) |
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| 223 | { |
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| 54 | walter | 224 | |
| 55 | walter | 225 | #define STEP 256 |
| 226 | #define MUL 1 |
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| 56 | walter | 227 | #define REDUCE 2 |
| 54 | walter | 228 | |
| 56 | walter | 229 | #define EEPSIGNATURE 0x55aa |
| 54 | walter | 230 | |
| 53 | walter | 231 | unsigned int ppm; |
| 55 | walter | 232 | signed int color; |
| 54 | walter | 233 | unsigned int setupdly; |
| 234 | unsigned int ppmtodly; |
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| 55 | walter | 235 | unsigned int flashdly; |
| 236 | unsigned char setup; |
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| 54 | walter | 237 | unsigned int lmax; |
| 238 | unsigned int lmin; |
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| 239 | unsigned int max; |
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| 240 | unsigned int min; |
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| 56 | walter | 241 | signed long temp1; |
| 242 | signed long temp2; |
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| 28 | walter | 243 | |
| 51 | walter | 244 | DDRB = (CH0_B|CH1_B|CH2_B); |
| 245 | PORTB = 0x00; |
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| 246 | |||
| 247 | DDRC = (ledred); |
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| 28 | walter | 248 | PORTC = 0x00; |
| 51 | walter | 249 | |
| 250 | DDRD = (ledgreen|CH3_D|CH4_D|CH5_D); |
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| 28 | walter | 251 | PORTD = 0x00; |
| 252 | |||
| 55 | walter | 253 | CH0 = 0; |
| 254 | CH1 = 0; |
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| 255 | CH2 = 0; |
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| 256 | CH3 = 0; |
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| 257 | CH4 = 0; |
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| 258 | CH5 = 0; |
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| 28 | walter | 259 | |
| 54 | walter | 260 | lmax = 0x0000; |
| 261 | lmin = 0xffff; |
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| 262 | |||
| 263 | StartUART(); |
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| 28 | walter | 264 | StartPPM(); |
| 51 | walter | 265 | //StartI2C(); |
| 28 | walter | 266 | StartPWM(); |
| 267 | sei(); |
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| 268 | |||
| 56 | walter | 269 | if (eeprom_read_word(&EEPSIG) != EEPSIGNATURE) //check eep if signature is there |
| 54 | walter | 270 | { |
| 55 | walter | 271 | min = 1100; //default min |
| 272 | max = 1900; //default max |
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| 56 | walter | 273 | eeprom_write_word(&EEPMIN, min); //no, write initial min |
| 274 | eeprom_write_word(&EEPMAX, max); //and max values |
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| 275 | eeprom_write_word(&EEPSIG, EEPSIGNATURE); //along with eep signature |
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| 54 | walter | 276 | } |
| 277 | else |
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| 278 | { |
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| 56 | walter | 279 | min = eeprom_read_word(&EEPMIN); //signature ok |
| 280 | max = eeprom_read_word(&EEPMAX); //read min and max |
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| 54 | walter | 281 | } |
| 51 | walter | 282 | |
| 55 | walter | 283 | setup = 0; //reset setup toggle counter |
| 56 | walter | 284 | setupdly = SetDelay(5000); |
| 54 | walter | 285 | ppmtodly = SetDelay(5000); |
| 56 | walter | 286 | flashdly = SetDelay(1000); |
| 28 | walter | 287 | |
| 288 | while (1) |
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| 289 | { |
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| 51 | walter | 290 | |
| 55 | walter | 291 | if (PPM_NEW > 20) //ppm Signal ok |
| 54 | walter | 292 | { |
| 293 | PORTC clrbit ledred; |
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| 55 | walter | 294 | ppm = GetPPM(); |
| 295 | ppmtodly = SetDelay(500); //reset timeout |
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| 296 | if (lmax < ppm) lmax=ppm; //update impulse max |
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| 297 | if (lmin > ppm) lmin=ppm; //and min boundarys |
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| 54 | walter | 298 | } |
| 299 | else |
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| 300 | { |
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| 55 | walter | 301 | PORTC setbit ledred; //ppm signal not ok |
| 302 | ppm = min; //set ppm to minimum |
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| 54 | walter | 303 | } |
| 304 | |||
| 55 | walter | 305 | |
| 306 | if (CheckDelay(ppmtodly)) //timeout |
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| 54 | walter | 307 | { |
| 55 | walter | 308 | ppmtodly = SetDelay(5000); |
| 309 | PPM_NEW = 0; //set ppm signal not ok |
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| 310 | } |
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| 311 | |||
| 312 | |||
| 313 | if (setup < 6) |
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| 314 | { |
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| 315 | if ((ppm > 1600) && ((setup&1)==0)) setup++; // |
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| 316 | if ((ppm < 1400) && ((setup&1)==1)) setup++; // |
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| 317 | |||
| 56 | walter | 318 | if (CheckDelay(flashdly)) |
| 55 | walter | 319 | { |
| 320 | CH0 = CH0 ^ 0xff; |
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| 321 | CH1 = CH1 ^ 0xff; |
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| 322 | CH2 = CH2 ^ 0xff; |
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| 323 | flashdly = SetDelay(250); |
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| 324 | } |
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| 54 | walter | 325 | } |
| 28 | walter | 326 | |
| 55 | walter | 327 | if (setup == 6) //if stick is toggled 6 times |
| 328 | { //within setup timeout |
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| 329 | PORTD setbit ledgreen; //store ppm min and max |
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| 56 | walter | 330 | setupdly = SetDelay(3000); //for 2000ms |
| 331 | eeprom_write_word(&EEPMIN, lmin); //in eeprom |
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| 332 | eeprom_write_word(&EEPMAX, lmax); |
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| 55 | walter | 333 | min = lmin; |
| 54 | walter | 334 | max = lmax; |
| 56 | walter | 335 | setup = 7; //enter PWM toggle mode |
| 55 | walter | 336 | |
| 56 | walter | 337 | } |
| 338 | |||
| 339 | |||
| 340 | if (setup == 7) |
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| 341 | { |
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| 342 | if (CheckDelay(flashdly)) //each 25ms toggle PWM's |
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| 55 | walter | 343 | { |
| 344 | CH0 = CH0 ^ 0xff; |
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| 345 | CH1 = CH1 ^ 0xff; |
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| 346 | CH2 = CH2 ^ 0xff; |
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| 347 | flashdly = SetDelay(25); |
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| 348 | } |
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| 56 | walter | 349 | |
| 54 | walter | 350 | } |
| 55 | walter | 351 | |
| 352 | if (CheckDelay(setupdly)) //setup timeout reached |
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| 54 | walter | 353 | { |
| 56 | walter | 354 | setup = 8; //lockdown setup |
| 54 | walter | 355 | PORTD clrbit ledgreen; |
| 356 | } |
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| 53 | walter | 357 | |
| 56 | walter | 358 | printf("ppm: %d / min: %d / max: %d\n",ppm,min,max); |
| 54 | walter | 359 | |
| 55 | walter | 360 | |
| 361 | |||
| 56 | walter | 362 | if (setup == 8) |
| 51 | walter | 363 | { |
| 54 | walter | 364 | |
| 56 | walter | 365 | temp1 = (STEP * (signed long)30000 * (signed long)6) / ((max-REDUCE) - (min+REDUCE)); |
| 55 | walter | 366 | temp2 = ((ppm - (min+REDUCE)) * temp1); |
| 56 | walter | 367 | color = temp2 / 30000; |
| 54 | walter | 368 | |
| 55 | walter | 369 | if (color < 0) color = 0; |
| 370 | if (color > (STEP * 6)) color = (STEP * 6); |
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| 371 | |||
| 56 | walter | 372 | printf("color: %d\n",color); |
| 373 | |||
| 55 | walter | 374 | // Farbablauf: rot > Violett > blau > tuerkis > gruen > gelb > |
| 375 | if ((color >= (STEP * 0)) && (color < (STEP * 1))) |
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| 376 | { |
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| 377 | CH0 = MUL * ((color - (STEP * 0))); //fade in red > red (red only) |
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| 378 | CH1 = 0; |
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| 379 | CH2 = 0; |
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| 380 | } |
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| 381 | if ((color >= (STEP * 1)) && (color < (STEP * 2))) |
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| 382 | { |
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| 383 | CH0 = ((STEP-1) * MUL); |
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| 384 | CH1 = 0; |
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| 385 | CH2 = MUL * ((color - (STEP * 1))); //fade in blue > purple (red + blue) |
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| 386 | } |
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| 387 | if ((color >= (STEP * 2)) && (color < (STEP * 3))) |
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| 388 | { |
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| 389 | CH0 = MUL * ((STEP - 1) - (color - (STEP * 2))); //fade out red > blue (blue only) |
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| 390 | CH1 = 0; |
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| 391 | CH2 = ((STEP-1) * MUL); |
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| 392 | } |
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| 393 | if ((color >= (STEP * 3)) && (color < (STEP * 4))) |
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| 394 | { |
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| 395 | CH0 = 0; |
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| 396 | CH1 = MUL * ((color - (STEP * 3))); //fade in green > cyan (blue + green) |
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| 397 | CH2 = ((STEP-1) * MUL); |
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| 398 | } |
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| 399 | if ((color >= (STEP * 4)) && (color < (STEP * 5))) |
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| 400 | { |
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| 401 | CH0 = 0; |
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| 402 | CH1 = ((STEP-1) * MUL); |
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| 403 | CH2 = MUL * ((STEP - 1) - (color - (STEP * 4))); //fade out blue > green (green only) |
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| 404 | } |
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| 405 | if ((color >= (STEP * 5)) && (color < (STEP * 6))) |
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| 406 | { |
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| 407 | CH0 = MUL * ((color - (STEP * 5))); //fade in red > yellow (green + red) |
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| 408 | CH1 = ((STEP-1) * MUL); |
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| 409 | CH2 = 0; |
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| 410 | } |
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| 411 | if (color >= (STEP * 6)) |
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| 412 | { |
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| 413 | CH0 = ((STEP-1) * MUL); //fade in red > yellow (green + red) |
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| 414 | CH1 = ((STEP-1) * MUL); |
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| 415 | CH2 = 0; |
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| 416 | } |
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| 417 | } |
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| 51 | walter | 418 | |
| 419 | |||
| 28 | walter | 420 | } |
| 421 | |||
| 422 | } |
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| 52 | walter | 423 |