WebSVN - Projects - Blame - Rev 64 - /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); //
		115	ch0_tmp = CH0;
		116	ch1_tmp = CH1;
		117	ch2_tmp = CH2;
		118	ch3_tmp = CH3;
		119	ch4_tmp = CH4;
		120	ch5_tmp = CH5;
		121	counter = 0;
		122	}
		123
		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; //
		126	if (ch2_tmp == counter) PORTB_BAK LEDOFF CH2_B; //
		127	if (ch3_tmp == counter) PORTD_BAK LEDOFF CH3_D; //
		128	if (ch4_tmp == counter) PORTD_BAK LEDOFF CH4_D; //
		129	if (ch5_tmp == counter) PORTD_BAK LEDOFF CH5_D; //
		130
		131	PORTB = PORTB_BAK;
		132	PORTD = PORTD_BAK;
		133
		134	if (ms1++ == 32)
		135	{
		136	ms1=0;
		137	TMR1MS++;
		138	}
		139
		140
		141
		142
		143	}
		144
		145
		146	/##############################################################################/
		147	unsigned int SetDelay (unsigned int t)
		148	{
		149	unsigned char hi_byte;
		150	unsigned char lo_byte;
		151
		152	hi_byte = (TMR1MS >> 8);
		153	lo_byte = (TMR1MS & 0xff);
		154	if (hi_byte != (TMR1MS >> 8)) hi_byte = (TMR1MS >> 8);
		155
		156	return(((hi_byte << 8) \| lo_byte) + t + 1);
		157	}
		158
		159
		160	/##############################################################################/
		161	char CheckDelay(unsigned int t)
		162	{
		163	unsigned char hi_byte;
		164	unsigned char lo_byte;
		165
		166	hi_byte = (TMR1MS >> 8);
		167	lo_byte = (TMR1MS & 0xff);
		168	if (hi_byte != (TMR1MS >> 8)) hi_byte = (TMR1MS >> 8);
		169
		170	return(((t - ((hi_byte << 8) \| lo_byte)) & 0x8000) >> 9);
		171	}
		172
		173
		174
		175	/##############################################################################/
		176	void StartPWM(void)
		177	{
		178	//Timer 0 Config
		179	TCCR0 = (0<<CS02)\|(0<<CS01)\|(1<<CS00); // (@8MHz) = 1/8us Clk = 256/8 = 32us overflow
		180	TIMSK setbit (1<<TOIE0); // enable Int
		181
		182	}
		183
		184
		185	/##############################################################################/
		186	void StartPPM(void)
		187	{
		188
		189	//Timer1 Config
		190	TCCR1A = (0<<COM1A1)\|(0<<COM1A0)\|(0<<COM1B1)\|(0<<COM1B0)\|
		191	(0<<FOC1A) \|(0<<FOC1B) \|(0<<WGM10) \|(0<<WGM11);
		192	TCCR1B = (1<<ICNC1)\|(1<<ICES1)\|(0<<WGM13)\|
		193	(0<<WGM12)\|(0<<CS12)\|(1<<CS11)\|(0<<CS10); //ICP_POS_FLANKE
		194
		195	// interrupts
		196	TIMSK \|= (1<<TICIE1)\|(1<<TOIE1); //ICP_INT_ENABLE and TIMER1_INT_ENABLE
		197
		198	}
		199
		200
		201	/##############################################################################/
		202	unsigned int GetPPM(void)
		203	{
		204	//this routines seems to be nesseccary, as reading a 16 bit value
		205	//on a 8 bit machine is not atomic, so if an interrupt apears between reading
		206	//low and high byte of the 16 bit value a wrong result is possible
		207
		208	unsigned char temp_hi;
		209	unsigned char temp_lo;
		210
		211	temp_hi = (PPM_SIGNAL >> 8);
		212	temp_lo = (PPM_SIGNAL & 0xff);
		213	if (temp_hi != (PPM_SIGNAL >> 8)) temp_hi = (PPM_SIGNAL >> 8);
		214	return( (temp_hi << 8) \| temp_lo);
		215
		216	}
		217
		218
		219	/##############################################################################/
		220	// MAIN
		221	/##############################################################################/
		222	int main (void)
		223	{
		224
		225	#define STEP 256
		226	#define MUL 1
		227	#define REDUCE 2
		228
		229	#define EEPSIGNATURE 0x55aa
		230
		231	#define inimin 1200
		232	#define inimax 1800
		233
		234	unsigned int ppm;
		235	signed int color;
		236	unsigned int setupdly;
		237	unsigned int ppmtodly;
		238	unsigned int flashdly;
		239	unsigned char setup;
		240	unsigned int lmax;
		241	unsigned int lmin;
		242	unsigned int max;
		243	unsigned int min;
		244	signed long temp1;
		245	signed long temp2;
		246
		247	DDRB = (CH0_B\|CH1_B\|CH2_B);
		248	PORTB = 0x00;
		249
		250	DDRC = (ledred);
		251	PORTC = 0x00;
		252
		253	DDRD = (ledgreen\|CH3_D\|CH4_D\|CH5_D);
		254	PORTD = 0x00;
		255
		256	CH0 = 0;
		257	CH1 = 0;
		258	CH2 = 0;
		259	CH3 = 0;
		260	CH4 = 0;
		261	CH5 = 0;
		262
		263	lmax = 0x0000;
		264	lmin = 0xffff;
		265
		266	// StartUART();
		267	StartPPM();
		268	//StartI2C();
		269	StartPWM();
		270	sei();
		271
		272	min = inimin; //default min
		273	max = inimax; //default max
		274
		275	if (eeprom_read_word(&EEPSIG) != EEPSIGNATURE) //check eep if signature is there
		276	{
		277	eeprom_write_word(&EEPMIN, min); //no, write initial min
		278	eeprom_write_word(&EEPMAX, max); //and max values
		279	eeprom_write_word(&EEPSIG, EEPSIGNATURE); //along with eep signature
		280	}
		281	else
		282	{
		283
		284	min = eeprom_read_word(&EEPMIN); //signature ok
		285	max = eeprom_read_word(&EEPMAX); //read min and max
		286	}
		287
		288
		289	setup = 0; //reset setup toggle counter
		290	setupdly = SetDelay(5000);
		291	ppmtodly = SetDelay(5000);
		292	flashdly = SetDelay(1000);
		293
		294	while (1)
		295	{
		296
		297	if (PPM_NEW > 20) //ppm Signal ok
		298	{
		299	PORTC clrbit ledred;
		300	ppm = GetPPM();
		301	ppmtodly = SetDelay(500); //reset timeout
		302	if (lmax < ppm) lmax=ppm; //update impulse max
		303	if (lmin > ppm) lmin=ppm; //and min boundarys
		304	}
		305	else
		306	{
		307	PORTC setbit ledred; //ppm signal not ok
		308	ppm = min; //set ppm to minimum
		309	}
		310
		311
		312	if (CheckDelay(ppmtodly)) //timeout
		313	{
		314	ppmtodly = SetDelay(5000);
		315	PPM_NEW = 0; //set ppm signal not ok
		316	}
		317
		318
		319	if (setup < 6)
		320	{
		321	if ((ppm > 1600) && ((setup&1)==0)) setup++; //
		322	if ((ppm < 1400) && ((setup&1)==1)) setup++; //
		323
		324	if (CheckDelay(flashdly))
		325	{
		326	CH0 = CH0 ^ 0xff;
		327	CH1 = CH1 ^ 0xff;
		328	CH2 = CH2 ^ 0xff;
		329	flashdly = SetDelay(250);
		330	}
		331	}
		332
		333	if (setup == 6) //if stick is toggled 6 times
		334	{ //within setup timeout
		335	PORTD setbit ledgreen; //store ppm min and max
		336	setupdly = SetDelay(3000); //for 2000ms
		337	eeprom_write_word(&EEPMIN, lmin); //in eeprom
		338	eeprom_write_word(&EEPMAX, lmax);
		339	min = lmin;
		340	max = lmax;
		341	setup = 7; //enter PWM toggle mode
		342
		343	}
		344
		345
		346	if (setup == 7)
		347	{
		348	if (CheckDelay(flashdly)) //each 25ms toggle PWM's
		349	{
		350	CH0 = CH0 ^ 0xff;
		351	CH1 = CH1 ^ 0xff;
		352	CH2 = CH2 ^ 0xff;
		353	flashdly = SetDelay(25);
		354	}
		355
		356	}
		357
		358	if (CheckDelay(setupdly)) //setup timeout reached
		359	{
		360	setup = 8; //lockdown setup
		361	PORTD clrbit ledgreen;
		362	}
		363
		364
		365	if (setup == 8)
		366	{
		367
		368
		369
		370	temp1 = ((long)STEP * 6 * 20000) / ((max-REDUCE) - (min+REDUCE));
		371	temp2 = (((int)ppm - ((int)min+REDUCE)) * temp1);
		372	color = temp2 / 20000;
		373
		374	if (color < 0) color = 0;
		375	if (color > ((STEP6)+1)) color = ((STEP6)+1);
		376
		377
		378	//printf("p %u ",ppm);
		379	//printf("pm %u ",(min+REDUCE));
		380	//printf("t1 %li ",temp1);
		381	//printf("t2 %li ",temp2);
		382	//printf("c %i\n ",color);
		383
		384
		385	// Farbablauf: rot > Violett > blau > tuerkis > gruen > gelb >
		386	if ((color >= (STEP * 0)) && (color < (STEP * 1)))
		387	{
		388	CH0 = MUL * ((color - (STEP * 0))); //fade in red > red (red only)
		389	CH1 = 0;
		390	CH2 = 0;
		391	}
		392	if ((color >= (STEP * 1)) && (color < (STEP * 2)))
		393	{
		394	CH0 = ((STEP-1) * MUL);
		395	CH1 = 0;
		396	CH2 = MUL * ((color - (STEP * 1))); //fade in blue > purple (red + blue)
		397	}
		398	if ((color >= (STEP * 2)) && (color < (STEP * 3)))
		399	{
		400	CH0 = MUL * ((STEP - 1) - (color - (STEP * 2))); //fade out red > blue (blue only)
		401	CH1 = 0;
		402	CH2 = ((STEP-1) * MUL);
		403	}
		404	if ((color >= (STEP * 3)) && (color < (STEP * 4)))
		405	{
		406	CH0 = 0;
		407	CH1 = MUL * ((color - (STEP * 3))); //fade in green > cyan (blue + green)
		408	CH2 = ((STEP-1) * MUL);
		409	}
		410	if ((color >= (STEP * 4)) && (color < (STEP * 5)))
		411	{
		412	CH0 = 0;
		413	CH1 = ((STEP-1) * MUL);
		414	CH2 = MUL * ((STEP - 1) - (color - (STEP * 4))); //fade out blue > green (green only)
		415	}
		416	if ((color >= (STEP * 5)) && (color < (STEP * 6)))
		417	{
		418	CH0 = MUL * ((color - (STEP * 5))); //fade in red > yellow (green + red)
		419	CH1 = ((STEP-1) * MUL);
		420	CH2 = 0;
		421	}
		422	if (color >= (STEP * 6))
		423	{
		424	CH0 = ((STEP-1) * MUL); //fade in red > yellow (green + red)
		425	CH1 = ((STEP-1) * MUL);
		426	CH2 = 0;
		427	}
		428	}
		429
		430
		431	}
		432
		433	}
		434

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