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Rev | Author | Line No. | Line |
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1455 | acid | 1 | |
2 | #include <string.h> |
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3 | #include <avr/interrupt.h> |
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4 | #include <avr/eeprom.h> |
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5 | #include <util/delay.h> |
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6 | #include "servoboard.h" |
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7 | #include "twislave.h" |
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1459 | acid | 8 | #include "uart.h" |
1455 | acid | 9 | |
10 | |||
1461 | acid | 11 | uint8_t eeprom_neutral_pos[6] EEMEM; |
12 | uint16_t eeprom_pwm_limit[6] EEMEM; |
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1459 | acid | 13 | |
1465 | acid | 14 | uint8_t pwm_signal[6]; |
15 | uint8_t pwm_neutral_position[6]; |
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16 | uint8_t pwm_position[6]; |
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17 | uint16_t pwm_limit[6]; |
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18 | uint8_t pwm_active; |
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19 | uint8_t pwm_status = 1; |
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1455 | acid | 20 | |
21 | |||
22 | void pwm_init() { |
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23 | |||
24 | SERVODDR = 0xff; |
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25 | |||
26 | set_pwm(); |
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27 | |||
28 | TCCR1B = (1 << CS11); |
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29 | TCCR0 = (1 << CS00); |
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30 | |||
31 | } |
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32 | |||
33 | void set_pwm() { |
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34 | |||
35 | for(uint8_t n = 0; n < 6; n++) { |
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36 | pwm_signal[n] = pwm_position[n] - 127 + pwm_neutral_position[n]; |
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37 | if (pwm_limit[n] != 0) { |
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38 | uint8_t l, h; |
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39 | l = pwm_limit[n] & 0xff; |
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40 | h = pwm_limit[n] >> 8; |
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41 | if (pwm_signal[n] < l) { |
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42 | pwm_signal[n] = l; |
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43 | } |
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44 | if (pwm_signal[n] > h) { |
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45 | pwm_signal[n] = h; |
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46 | } |
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47 | } |
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48 | } |
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49 | |||
50 | } |
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51 | |||
52 | void set_pwm_neutral() { |
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53 | |||
54 | for(uint8_t i = 0; i < 6; i++) { |
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55 | pwm_position[i] = 127; |
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56 | } |
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57 | set_pwm(); |
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58 | |||
59 | } |
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60 | |||
1461 | acid | 61 | void pwm_check_active() { |
62 | |||
63 | // check if pwm is configured |
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64 | pwm_active = (pwm_limit[0] != 0xffff) ? (1 << SERVO1) : 0; |
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1465 | acid | 65 | pwm_active |= (pwm_limit[1] != 0xffff) ? (1 << SERVO2) : 0; |
66 | pwm_active |= (pwm_limit[2] != 0xffff) ? (1 << SERVO3) : 0; |
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67 | pwm_active |= (pwm_limit[3] != 0xffff) ? (1 << SERVO4) : 0; |
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68 | pwm_active |= (pwm_limit[4] != 0xffff) ? (1 << SERVO5) : 0; |
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69 | pwm_active |= (pwm_limit[5] != 0xffff) ? (1 << SERVO6) : 0; |
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1461 | acid | 70 | |
71 | } |
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72 | |||
73 | |||
1455 | acid | 74 | void eeprom_init() { |
75 | |||
76 | eeprom_busy_wait(); |
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1459 | acid | 77 | eeprom_read_block(&pwm_neutral_position[0], &eeprom_neutral_pos, sizeof(pwm_neutral_position)); |
78 | eeprom_read_block(&pwm_limit[0], &eeprom_pwm_limit, sizeof(pwm_limit)); |
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1461 | acid | 79 | pwm_check_active(); |
1455 | acid | 80 | |
81 | } |
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82 | |||
83 | void eeprom_write() { |
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84 | |||
85 | cli(); |
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1459 | acid | 86 | eeprom_write_block(&pwm_neutral_position[0], &eeprom_neutral_pos, sizeof(pwm_neutral_position)); |
87 | eeprom_write_block(&pwm_limit[0], &eeprom_pwm_limit, sizeof(pwm_limit)); |
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1455 | acid | 88 | sei(); |
89 | |||
90 | } |
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91 | |||
92 | void delay(int ms) { |
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93 | |||
94 | while(ms--) { |
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95 | _delay_ms(1); |
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96 | } |
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97 | |||
98 | } |
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99 | |||
100 | |||
101 | int main(void) { |
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102 | |||
1461 | acid | 103 | uint8_t blink_counter = 0; |
104 | uint8_t blink = 0; |
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105 | |||
106 | // intialize |
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1456 | acid | 107 | DDRD = 0x80; |
108 | PORTD = 0x80; |
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1455 | acid | 109 | |
110 | DDRC &= ~0x0f; |
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111 | PORTC |= 0x0f; |
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112 | |||
113 | cli(); |
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1459 | acid | 114 | uart_init(); |
1455 | acid | 115 | eeprom_init(); |
1464 | acid | 116 | i2c_init(I2C_ADDRESS); |
1455 | acid | 117 | pwm_init(); |
1456 | acid | 118 | set_pwm_neutral(); |
1455 | acid | 119 | sei(); |
120 | |||
1461 | acid | 121 | // start pwm |
1455 | acid | 122 | TCNT1 = 0; |
123 | while(1) { |
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124 | |||
125 | cli(); |
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1461 | acid | 126 | SERVOPORT = pwm_active; |
127 | |||
128 | // show status |
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129 | blink_counter++; |
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130 | |||
131 | if (pwm_active == 0) { // not configured |
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132 | |||
133 | blink = 50; |
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1465 | acid | 134 | pwm_status = 1; |
1461 | acid | 135 | |
136 | } else { |
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137 | |||
138 | if (I2C_timeout == 0) { // no i2c signal |
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139 | blink = 0; |
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1465 | acid | 140 | pwm_status = 2; |
1461 | acid | 141 | } else { |
142 | I2C_timeout--; |
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1465 | acid | 143 | if (I2C_timeout == 0) { |
144 | set_pwm_neutral(); |
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145 | set_pwm(); |
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146 | } |
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1461 | acid | 147 | blink = 5; |
1465 | acid | 148 | pwm_status = 0; |
1461 | acid | 149 | } |
150 | |||
151 | } |
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152 | |||
153 | if (blink == 0) { |
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154 | LED_ON; |
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155 | } else if (blink_counter % blink == 0) { |
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156 | blink_counter = 1; |
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157 | if (LED_IS_ON) { |
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1464 | acid | 158 | LED_OFF; |
1461 | acid | 159 | } else { |
160 | LED_ON; |
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161 | } |
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162 | } |
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163 | |||
164 | // wait with high pwm signal |
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1455 | acid | 165 | while(TCNT1 < 300) ; |
166 | |||
1461 | acid | 167 | // check servos setting pwm to low |
1455 | acid | 168 | for(uint8_t i = 0; i < 255; i++) { |
169 | |||
170 | TCNT0 = 0; |
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171 | |||
172 | if (i == pwm_signal[0]) { |
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173 | SERVOPORT &= ~(1<<SERVO1); |
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174 | } |
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175 | if (i == pwm_signal[1]) { |
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176 | SERVOPORT &= ~(1<<SERVO2); |
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177 | } |
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178 | if (i == pwm_signal[2]) { |
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179 | SERVOPORT &= ~(1<<SERVO3); |
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180 | } |
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181 | if (i == pwm_signal[3]) { |
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182 | SERVOPORT &= ~(1<<SERVO4); |
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183 | } |
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184 | if (i == pwm_signal[4]) { |
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185 | SERVOPORT &= ~(1<<SERVO5); |
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186 | } |
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187 | if (i == pwm_signal[5]) { |
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188 | SERVOPORT &= ~(1<<SERVO6); |
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189 | } |
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190 | |||
191 | while (TCNT0 < 60) ; |
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192 | |||
193 | } |
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194 | sei(); |
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195 | |||
1461 | acid | 196 | // set all servos to low |
1455 | acid | 197 | SERVOPORT = 0; |
198 | |||
1461 | acid | 199 | // update signals |
1455 | acid | 200 | set_pwm(); |
201 | |||
1461 | acid | 202 | // wait till 20ms are reached |
1455 | acid | 203 | while(TCNT1 < 20000) ; |
204 | TCNT1 = 0; |
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205 | |||
206 | } |
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207 | |||
208 | return 0; |
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209 | } |
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210 |