Rev 1456 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1455 | acid | 1 | |
| 2 | |||
| 3 | #include <string.h> |
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| 4 | #include <avr/interrupt.h> |
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| 5 | #include <avr/eeprom.h> |
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| 6 | #include <util/delay.h> |
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| 7 | #include "servoboard.h" |
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| 8 | #include "twislave.h" |
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| 1459 | acid | 9 | #include "uart.h" |
| 1455 | acid | 10 | |
| 11 | |||
| 12 | uint8_t eeprom_neutral_pos[6] EEMEM = { 127, 127, 127, 127, 127, 127 }; |
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| 13 | uint16_t eeprom_pwm_limit[6] EEMEM = { 0, 0, 0, 0, 0, 0 }; |
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| 1459 | acid | 14 | |
| 15 | uint8_t pwm_signal[6]; |
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| 1455 | acid | 16 | uint8_t pwm_counter = 0; |
| 1459 | acid | 17 | uint8_t pwm_neutral_position[6]; |
| 18 | uint8_t pwm_position[6]; |
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| 1455 | acid | 19 | uint16_t pwm_limit[6]; |
| 20 | |||
| 21 | |||
| 22 | |||
| 23 | void pwm_init() { |
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| 24 | |||
| 25 | SERVODDR = 0xff; |
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| 26 | |||
| 27 | set_pwm(); |
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| 28 | |||
| 29 | TCCR1B = (1 << CS11); |
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| 30 | TCCR0 = (1 << CS00); |
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| 31 | |||
| 32 | } |
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| 33 | |||
| 34 | void set_pwm() { |
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| 35 | |||
| 36 | for(uint8_t n = 0; n < 6; n++) { |
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| 37 | pwm_signal[n] = pwm_position[n] - 127 + pwm_neutral_position[n]; |
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| 38 | if (pwm_limit[n] != 0) { |
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| 39 | uint8_t l, h; |
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| 40 | l = pwm_limit[n] & 0xff; |
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| 41 | h = pwm_limit[n] >> 8; |
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| 42 | if (pwm_signal[n] < l) { |
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| 43 | pwm_signal[n] = l; |
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| 44 | } |
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| 45 | if (pwm_signal[n] > h) { |
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| 46 | pwm_signal[n] = h; |
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| 47 | } |
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| 48 | } |
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| 49 | } |
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| 50 | |||
| 51 | } |
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| 52 | |||
| 53 | void set_pwm_neutral() { |
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| 54 | |||
| 55 | for(uint8_t i = 0; i < 6; i++) { |
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| 56 | pwm_position[i] = 127; |
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| 57 | } |
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| 58 | set_pwm(); |
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| 59 | |||
| 60 | } |
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| 61 | |||
| 62 | void eeprom_init() { |
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| 63 | |||
| 64 | eeprom_busy_wait(); |
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| 1459 | acid | 65 | eeprom_read_block(&pwm_neutral_position[0], &eeprom_neutral_pos, sizeof(pwm_neutral_position)); |
| 66 | eeprom_read_block(&pwm_limit[0], &eeprom_pwm_limit, sizeof(pwm_limit)); |
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| 1455 | acid | 67 | |
| 68 | } |
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| 69 | |||
| 70 | void eeprom_write() { |
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| 71 | |||
| 72 | cli(); |
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| 1459 | acid | 73 | eeprom_write_block(&pwm_neutral_position[0], &eeprom_neutral_pos, sizeof(pwm_neutral_position)); |
| 74 | eeprom_write_block(&pwm_limit[0], &eeprom_pwm_limit, sizeof(pwm_limit)); |
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| 1455 | acid | 75 | sei(); |
| 76 | |||
| 77 | } |
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| 78 | |||
| 79 | void delay(int ms) { |
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| 80 | |||
| 81 | while(ms--) { |
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| 82 | _delay_ms(1); |
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| 83 | } |
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| 84 | |||
| 85 | } |
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| 86 | |||
| 87 | |||
| 88 | int main(void) { |
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| 89 | |||
| 1456 | acid | 90 | DDRD = 0x80; |
| 91 | PORTD = 0x80; |
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| 1455 | acid | 92 | |
| 93 | DDRC &= ~0x0f; |
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| 94 | PORTC |= 0x0f; |
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| 95 | |||
| 96 | cli(); |
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| 1459 | acid | 97 | uart_init(); |
| 1455 | acid | 98 | eeprom_init(); |
| 1459 | acid | 99 | i2c_init(0x82); |
| 1455 | acid | 100 | pwm_init(); |
| 1456 | acid | 101 | set_pwm_neutral(); |
| 1455 | acid | 102 | sei(); |
| 103 | |||
| 104 | TCNT1 = 0; |
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| 105 | while(1) { |
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| 106 | |||
| 107 | cli(); |
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| 108 | SERVOPORT = 0xff; |
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| 109 | while(TCNT1 < 300) ; |
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| 110 | |||
| 111 | for(uint8_t i = 0; i < 255; i++) { |
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| 112 | |||
| 113 | TCNT0 = 0; |
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| 114 | |||
| 115 | if (i == pwm_signal[0]) { |
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| 116 | SERVOPORT &= ~(1<<SERVO1); |
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| 117 | } |
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| 118 | if (i == pwm_signal[1]) { |
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| 119 | SERVOPORT &= ~(1<<SERVO2); |
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| 120 | } |
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| 121 | if (i == pwm_signal[2]) { |
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| 122 | SERVOPORT &= ~(1<<SERVO3); |
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| 123 | } |
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| 124 | if (i == pwm_signal[3]) { |
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| 125 | SERVOPORT &= ~(1<<SERVO4); |
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| 126 | } |
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| 127 | if (i == pwm_signal[4]) { |
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| 128 | SERVOPORT &= ~(1<<SERVO5); |
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| 129 | } |
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| 130 | if (i == pwm_signal[5]) { |
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| 131 | SERVOPORT &= ~(1<<SERVO6); |
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| 132 | } |
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| 133 | |||
| 134 | while (TCNT0 < 60) ; |
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| 135 | |||
| 136 | } |
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| 137 | sei(); |
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| 138 | |||
| 139 | SERVOPORT = 0; |
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| 140 | |||
| 141 | set_pwm(); |
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| 142 | |||
| 143 | while(TCNT1 < 20000) ; |
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| 144 | TCNT1 = 0; |
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| 145 | |||
| 146 | } |
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| 147 | |||
| 148 | return 0; |
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| 149 | } |
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| 150 |