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