WebSVN - Projects - Blame - Rev 65 - /IR-TX-BL/branches/PWM-CTRL

Rev	Author	Line No.	Line
64	walter	1	//############################################################################
		2	// - PWM CTRL
		3	// - Main
		4	// - ATMEGA8 mit 8MHz
		5	// - Nur f�r den privaten Gebrauch
		6	// - Keine Garantie auf Fehlerfreiheit
		7	// - Kommerzielle Nutzung nur mit meiner Zustimmung
		8	// - walter Meyer @ www.freakware.de
		9	// - 11.12.2007
		10	// - Make sure Fuses are programmed for internal 8 MHz RC Oscilator
		11	//############################################################################*/
		12
		13	#include "main.h"
		14	#include "uart.h"
		15	#include "twislave.h"
		16
		17	volatile unsigned int PPM_SIGNAL = 1520;
		18	volatile unsigned char PPM_NEW = 0;
		19	volatile unsigned char TMR1OvF = 0;
		20	volatile unsigned int TMR1MS;
		21	volatile unsigned char CH0;
		22	volatile unsigned char CH1;
		23	volatile unsigned char CH2;
		24	volatile unsigned char CH3;
		25	volatile unsigned char CH4;
		26	volatile unsigned char CH5;
		27
		28	uint16_t EEMEM EEPMIN=0x0000;
		29	uint16_t EEMEM EEPMAX=0xffff;
		30	uint16_t EEMEM EEPSIG=0xffff;
		31
		32
		33	//led kennlinie, (noch nicht implementiert, nur vorbereitet)
		34	unsigned char kl[256]={
		35	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		36	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		37	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		38	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		39	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		40	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		41	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		42	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		43	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		44	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		45	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		46	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		47	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		48	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		49	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,
		50	0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
		51	};
		52
		53
		54
		55	/##############################################################################/
		56	SIGNAL(SIG_OVERFLOW1)
		57	{
		58	TMR1OvF++;
		59	}
		60
		61
		62	SIGNAL(SIG_INPUT_CAPTURE1)
		63	{
		64	static unsigned int pos_ICR;
		65	static unsigned int ppm;
		66
		67	if ((TCCR1B & (1<<ICES1)) != 0) //rising edge
		68	{
		69	TCCR1B &= ~(1<<ICES1); //set falling egde
		70	TMR1OvF = 0;
		71	pos_ICR = ICR1;
		72	}
		73	else //falling edge
		74	{
		75	TCCR1B \|= (1<<ICES1); //set rising egde
		76	ppm = (ICR1 - pos_ICR + (int) TMR1OvF * 65536);
		77	if ((ppm > 600) && (ppm < 2400))
		78	{
		79	if (ppm > 2100) ppm = 2100;
		80	if (ppm < 900) ppm = 900;
		81	ppm = (PPM_SIGNAL * 3 + ppm) / 4;
		82	PPM_SIGNAL = ppm;
		83	if (PPM_NEW < 50) PPM_NEW++;
		84	}
		85
		86	}
		87
		88	}
		89
		90	/##############################################################################/
		91	SIGNAL(SIG_OVERFLOW0)
		92	{
		93	// this function is called every 32us,
		94	// it is very important that it's execution time is as short as possible
		95	// currently it's about 20us
		96
		97	static unsigned char counter = 254;
		98	static unsigned char ms1 = 0;
		99	static unsigned char ch0_tmp = 0;
		100	static unsigned char ch1_tmp = 0;
		101	static unsigned char ch2_tmp = 0;
		102	static unsigned char ch3_tmp = 0;
		103	static unsigned char ch4_tmp = 0;
		104	static unsigned char ch5_tmp = 0;
		105	unsigned char PORTB_BAK;
		106	unsigned char PORTD_BAK;
		107
		108	PORTB_BAK = PORTB;
		109	PORTD_BAK = PORTD;
		110
		111	if (counter++ == 254)
		112	{
		113	PORTB_BAK LEDON (CH0_B \| CH1_B \| CH2_B); //new cycle, output on
		114	PORTD_BAK LEDON (CH3_D \| CH4_D \| CH5_D); //
65	walter	115
64	walter	116	ch0_tmp = CH0;
		117	ch1_tmp = CH1;
		118	ch2_tmp = CH2;
		119	ch3_tmp = CH3;
		120	ch4_tmp = CH4;
		121	ch5_tmp = CH5;
65	walter	122
64	walter	123	counter = 0;
		124	}
		125
		126	if (ch0_tmp == counter) PORTB_BAK LEDOFF CH0_B; //channel value reached, output off
		127	if (ch1_tmp == counter) PORTB_BAK LEDOFF CH1_B; //
		128	if (ch2_tmp == counter) PORTB_BAK LEDOFF CH2_B; //
		129	if (ch3_tmp == counter) PORTD_BAK LEDOFF CH3_D; //
		130	if (ch4_tmp == counter) PORTD_BAK LEDOFF CH4_D; //
		131	if (ch5_tmp == counter) PORTD_BAK LEDOFF CH5_D; //
		132
		133	PORTB = PORTB_BAK;
		134	PORTD = PORTD_BAK;
		135
		136	if (ms1++ == 32)
		137	{
		138	ms1=0;
		139	TMR1MS++;
		140	}
		141
		142
		143
		144
		145	}
		146
		147
		148	/##############################################################################/
		149	unsigned int SetDelay (unsigned int t)
		150	{
		151	unsigned char hi_byte;
		152	unsigned char lo_byte;
		153
		154	hi_byte = (TMR1MS >> 8);
		155	lo_byte = (TMR1MS & 0xff);
		156	if (hi_byte != (TMR1MS >> 8)) hi_byte = (TMR1MS >> 8);
		157
		158	return(((hi_byte << 8) \| lo_byte) + t + 1);
		159	}
		160
		161
		162	/##############################################################################/
		163	char CheckDelay(unsigned int t)
		164	{
		165	unsigned char hi_byte;
		166	unsigned char lo_byte;
		167
		168	hi_byte = (TMR1MS >> 8);
		169	lo_byte = (TMR1MS & 0xff);
		170	if (hi_byte != (TMR1MS >> 8)) hi_byte = (TMR1MS >> 8);
		171
		172	return(((t - ((hi_byte << 8) \| lo_byte)) & 0x8000) >> 9);
		173	}
		174
		175
		176
		177	/##############################################################################/
		178	void StartPWM(void)
		179	{
		180	//Timer 0 Config
		181	TCCR0 = (0<<CS02)\|(0<<CS01)\|(1<<CS00); // (@8MHz) = 1/8us Clk = 256/8 = 32us overflow
		182	TIMSK setbit (1<<TOIE0); // enable Int
		183
		184	}
		185
		186
		187	/##############################################################################/
		188	void StartPPM(void)
		189	{
		190
		191	//Timer1 Config
		192	TCCR1A = (0<<COM1A1)\|(0<<COM1A0)\|(0<<COM1B1)\|(0<<COM1B0)\|
		193	(0<<FOC1A) \|(0<<FOC1B) \|(0<<WGM10) \|(0<<WGM11);
		194	TCCR1B = (1<<ICNC1)\|(1<<ICES1)\|(0<<WGM13)\|
		195	(0<<WGM12)\|(0<<CS12)\|(1<<CS11)\|(0<<CS10); //ICP_POS_FLANKE
		196
		197	// interrupts
		198	TIMSK \|= (1<<TICIE1)\|(1<<TOIE1); //ICP_INT_ENABLE and TIMER1_INT_ENABLE
		199
		200	}
		201
		202
		203	/##############################################################################/
		204	unsigned int GetPPM(void)
		205	{
		206	//this routines seems to be nesseccary, as reading a 16 bit value
		207	//on a 8 bit machine is not atomic, so if an interrupt apears between reading
		208	//low and high byte of the 16 bit value a wrong result is possible
		209
		210	unsigned char temp_hi;
		211	unsigned char temp_lo;
		212
		213	temp_hi = (PPM_SIGNAL >> 8);
		214	temp_lo = (PPM_SIGNAL & 0xff);
		215	if (temp_hi != (PPM_SIGNAL >> 8)) temp_hi = (PPM_SIGNAL >> 8);
		216	return( (temp_hi << 8) \| temp_lo);
		217
		218	}
		219
		220
		221	/##############################################################################/
		222	// MAIN
		223	/##############################################################################/
		224	int main (void)
		225	{
		226
		227	#define STEP 256
		228	#define MUL 1
		229	#define REDUCE 2
		230
		231	#define EEPSIGNATURE 0x55aa
		232
		233	#define inimin 1200
		234	#define inimax 1800
		235
		236	unsigned int ppm;
		237	signed int color;
65	walter	238	volatile unsigned int setupdly;
		239	volatile unsigned int ppmtodly;
		240	volatile unsigned int flashdly;
		241
		242	volatile unsigned int dly1;
		243
		244	unsigned char flags;
		245
64	walter	246	unsigned char setup;
		247	unsigned int lmax;
		248	unsigned int lmin;
		249	unsigned int max;
		250	unsigned int min;
65	walter	251	unsigned char temp;
64	walter	252	signed long temp1;
		253	signed long temp2;
		254
65	walter	255	flags = 0;
		256
64	walter	257	DDRB = (CH0_B\|CH1_B\|CH2_B);
		258	PORTB = 0x00;
		259
		260	DDRC = (ledred);
		261	PORTC = 0x00;
		262
		263	DDRD = (ledgreen\|CH3_D\|CH4_D\|CH5_D);
		264	PORTD = 0x00;
		265
65	walter	266	CH0 = 0xFF; //PORTB RGBLED red
		267	CH1 = 0xFF; //PORTB RGBLED green
		268	CH2 = 0xFF; //PORTB RGBLED blue
		269	CH3 = 0;
64	walter	270	CH4 = 0;
		271	CH5 = 0;
		272
		273	lmax = 0x0000;
		274	lmin = 0xffff;
		275
65	walter	276	StartUART();
64	walter	277	StartPPM();
		278	//StartI2C();
		279	StartPWM();
		280	sei();
		281
		282	min = inimin; //default min
		283	max = inimax; //default max
		284
		285	if (eeprom_read_word(&EEPSIG) != EEPSIGNATURE) //check eep if signature is there
		286	{
		287	eeprom_write_word(&EEPMIN, min); //no, write initial min
		288	eeprom_write_word(&EEPMAX, max); //and max values
		289	eeprom_write_word(&EEPSIG, EEPSIGNATURE); //along with eep signature
		290	}
		291	else
		292	{
		293
		294	min = eeprom_read_word(&EEPMIN); //signature ok
		295	max = eeprom_read_word(&EEPMAX); //read min and max
		296	}
		297
		298
		299	setup = 0; //reset setup toggle counter
65	walter	300	temp = (1<<0);
64	walter	301	setupdly = SetDelay(5000);
65	walter	302	ppmtodly = SetDelay(2000);
		303	flashdly = SetDelay(200);
64	walter	304
		305	while (1)
		306	{
		307
		308	if (PPM_NEW > 20) //ppm Signal ok
		309	{
		310	PORTC clrbit ledred;
		311	ppm = GetPPM();
		312	ppmtodly = SetDelay(500); //reset timeout
		313	if (lmax < ppm) lmax=ppm; //update impulse max
		314	if (lmin > ppm) lmin=ppm; //and min boundarys
		315	}
		316	else
		317	{
		318	PORTC setbit ledred; //ppm signal not ok
		319	ppm = min; //set ppm to minimum
		320	}
		321
		322
		323	if (CheckDelay(ppmtodly)) //timeout
		324	{
		325	ppmtodly = SetDelay(5000);
		326	PPM_NEW = 0; //set ppm signal not ok
		327	}
		328
		329
		330	if (setup < 6)
		331	{
		332	if ((ppm > 1600) && ((setup&1)==0)) setup++; //
		333	if ((ppm < 1400) && ((setup&1)==1)) setup++; //
		334
		335	if (CheckDelay(flashdly))
		336	{
65	walter	337	CH0 = (temp & (1<<0)) * 255;
		338	CH1 = (temp & (1<<1)) * 255;
		339	CH2 = (temp & (1<<2)) * 255;
		340	CH3 = (temp & (1<<3)) * 255;
		341	CH4 = (temp & (1<<4)) * 255;
		342	CH5 = (temp & (1<<5)) * 255;
		343	temp <<= 1;
		344	if (temp == (1<<6)) temp = (1<<0);
		345
		346	/*
		347	CH0 = CH0 ^ 0xff; //invert brightness
64	walter	348	CH1 = CH1 ^ 0xff;
		349	CH2 = CH2 ^ 0xff;
65	walter	350	CH3 = CH3 ^ 0xff;
		351	CH4 = CH4 ^ 0xff;
		352	CH5 = CH5 ^ 0xff;
		353	*/
		354
		355	flashdly = SetDelay(100);
64	walter	356	}
		357	}
		358
		359	if (setup == 6) //if stick is toggled 6 times
		360	{ //within setup timeout
		361	PORTD setbit ledgreen; //store ppm min and max
		362	setupdly = SetDelay(3000); //for 2000ms
		363	eeprom_write_word(&EEPMIN, lmin); //in eeprom
		364	eeprom_write_word(&EEPMAX, lmax);
		365	min = lmin;
		366	max = lmax;
		367	setup = 7; //enter PWM toggle mode
		368
		369	}
		370
		371
		372	if (setup == 7)
		373	{
		374	if (CheckDelay(flashdly)) //each 25ms toggle PWM's
		375	{
65	walter	376	CH0 = CH0 ^ 0xff; //invert brightness
64	walter	377	CH1 = CH1 ^ 0xff;
		378	CH2 = CH2 ^ 0xff;
65	walter	379	CH3 = CH3 ^ 0xff;
		380	CH4 = CH4 ^ 0xff;
		381	CH5 = CH5 ^ 0xff;
		382
64	walter	383	flashdly = SetDelay(25);
		384	}
		385
		386	}
		387
65	walter	388	if ((CheckDelay(setupdly)) && setup < 8) //setup timeout reached
64	walter	389	{
		390	setup = 8; //lockdown setup
		391	PORTD clrbit ledgreen;
65	walter	392	CH0 = 0; //start CH3
		393	CH1 = 85; //CH4
		394	CH2 = 170; //and CH4 with about 120� phase shift
		395
		396	flags = 0;
		397	dly1 = SetDelay(100);
64	walter	398	}
		399
		400
		401	if (setup == 8)
		402	{
		403
65	walter	404
		405	/************************************************************************************/
		406	/* control CH3, CH4 and CH5 (RGB LED) */
		407	/************************************************************************************/
		408
		409	temp1 = ((long)STEP * 7 * 40000) / ((max-REDUCE) - (min+REDUCE));
64	walter	410	temp2 = (((int)ppm - ((int)min+REDUCE)) * temp1);
65	walter	411	color = temp2 / 40000;
64	walter	412
		413	if (color < 0) color = 0;
65	walter	414	if (color > ((STEP7)+1)) color = ((STEP7)+1);
64	walter	415
		416
		417	//printf("p %u ",ppm);
		418	//printf("pm %u ",(min+REDUCE));
		419	//printf("t1 %li ",temp1);
		420	//printf("t2 %li ",temp2);
		421	//printf("c %i\n ",color);
		422
		423
65	walter	424	// Farbablauf: off > red > purple > blue > cyan > green > yellow > white
64	walter	425	if ((color >= (STEP * 0)) && (color < (STEP * 1)))
		426	{
65	walter	427	CH3 = MUL * ((color - (STEP * 0))); //fade in red > red (red only)
		428	CH4 = 0;
		429	CH5 = 0;
64	walter	430	}
		431	if ((color >= (STEP * 1)) && (color < (STEP * 2)))
		432	{
65	walter	433	CH3 = ((STEP-1) * MUL);
		434	CH4 = 0;
		435	CH5 = MUL * ((color - (STEP * 1))); //fade in blue > purple (red + blue)
64	walter	436	}
		437	if ((color >= (STEP * 2)) && (color < (STEP * 3)))
		438	{
65	walter	439	CH3 = MUL * ((STEP - 1) - (color - (STEP * 2))); //fade out red > blue (blue only)
		440	CH4 = 0;
		441	CH5 = ((STEP-1) * MUL);
64	walter	442	}
		443	if ((color >= (STEP * 3)) && (color < (STEP * 4)))
		444	{
65	walter	445	CH3 = 0;
		446	CH4 = MUL * ((color - (STEP * 3))); //fade in green > cyan (blue + green)
		447	CH5 = ((STEP-1) * MUL);
64	walter	448	}
		449	if ((color >= (STEP * 4)) && (color < (STEP * 5)))
		450	{
65	walter	451	CH3 = 0;
		452	CH4 = ((STEP-1) * MUL);
		453	CH5 = MUL * ((STEP - 1) - (color - (STEP * 4))); //fade out blue > green (green only)
64	walter	454	}
		455	if ((color >= (STEP * 5)) && (color < (STEP * 6)))
		456	{
65	walter	457	CH3 = MUL * ((color - (STEP * 5))); //fade in red > yellow (green + red)
		458	CH4 = ((STEP-1) * MUL);
		459	CH5 = 0;
64	walter	460	}
65	walter	461	if ((color >= (STEP * 6)) && (color < (STEP * 7)))
64	walter	462	{
65	walter	463	CH3 = ((STEP-1) * MUL);
		464	CH4 = ((STEP-1) * MUL);
		465	CH5 = MUL * ((color - (STEP * 1))); //fade in blue > purple (red + blue)
64	walter	466	}
65	walter	467
		468	if (color >= (STEP * 7))
		469	{
		470	CH3 = ((STEP-1) * MUL);
		471	CH4 = ((STEP-1) * MUL);
		472	CH5 = ((STEP-1) * MUL);
		473	}
		474
		475	/************************************************************************************/
		476	/* control CH0, CH1 and CH2 */
		477	/************************************************************************************/
		478
		479	if (CheckDelay(dly1)) //timeout reached ?
		480	{
		481
		482	if ((flags & (1<<0))==0) //check if up or down
		483	{
		484	if (CH0++ == 254) //run CH0 up to 255
		485	{
		486	flags setbit (1<<0); //255 reached next time go down
		487
		488	}
		489	}
		490	else //run down
		491	{
		492	if (CH0-- == 1) //run CH0 down to 0
		493	{
		494	flags clrbit (1<<0); //0 reached next time go up
		495	}
		496
		497	}
		498
		499
		500	if ((flags & (1<<1))==0) //same for CH1
		501	{
		502	if (CH1++ == 254)
		503	{
		504	flags setbit (1<<1);
		505	}
		506	}
		507	else
		508	{
		509	if (CH1-- == 1)
		510	{
		511	flags clrbit (1<<1);
		512	}
		513
		514	}
		515
		516
		517	if ((flags & (1<<2))==0) //and same for CH2
		518	{
		519	if (CH2++ == 254)
		520	{
		521	flags setbit (1<<2);
		522	}
		523	}
		524	else
		525	{
		526	if (CH2-- == 1)
		527	{
		528	flags clrbit (1<<2);
		529	}
		530
		531	}
		532
		533
		534	dly1 = SetDelay(1); //set next timeout in 25ms
		535
		536	// printf("ch3:%i\n",CH0);
		537	}
		538
64	walter	539	}
		540
		541	}
		542
		543	}
		544

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