| 0,0 → 1,128 |
|---|
| /***************************************************************************** |
| * Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net * |
| * * |
| * This program is free software; you can redistribute it and/or modify * |
| * it under the terms of the GNU General Public License as published by * |
| * the Free Software Foundation; either version 2 of the License. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU General Public License * |
| * along with this program; if not, write to the * |
| * Free Software Foundation, Inc., * |
| * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
| * * |
| *****************************************************************************/ |
| |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/pgmspace.h> |
| |
| #include "lcd.h" |
| #include "timer.h" // Keys |
| #include "servo.h" |
| |
| #define SERVO_MIN 313 // 1.0 ms (Servo min) |
| #define SERVO_MAX 625 // 2.0 ms (Servo max) |
| #define SERVO_CENTER 469 // 1.5 ms |
| |
| #define SERVO_PULSE 6250 // 20 ms |
| |
| //***************************************************************************** |
| // |
| ISR(TIMER1_COMPA_vect) |
| { |
| PORTD |= (1 << PD7); |
| } |
| |
| //***************************************************************************** |
| // |
| ISR(TIMER1_COMPB_vect) |
| { |
| PORTD &= ~(1 << PD7); |
| } |
| |
| //***************************************************************************** |
| // |
| void servo_test (void) |
| { |
| uint8_t chg = 0; |
| uint8_t step = 10; |
| |
| DDRD |= (1 << DDD7); // PD7 output |
| |
| TCCR1B = (1 << WGM12) | (1 << CS11) | (1 << CS10); // Prescaler 1/64, CTC mode |
| // 1 step = 3,2 µs (@ 20 MHz) |
| |
| OCR1A = SERVO_PULSE; |
| |
| OCR1B = SERVO_CENTER; |
| |
| TIMSK1 = (1 << OCIE1A) | (1 << OCIE1B); |
| |
| lcd_cls (); |
| |
| lcd_printp (PSTR("Servo Tester"), 0); |
| //lcd_printpns_at (0, 7, PSTR("-1 +1 Exit \x1d\x7c\x1c"), 0); |
| lcd_printpns_at (0, 7, PSTR("-10 +10 Exit \x1d\x7c\x1c"), 0); |
| |
| lcd_frect (SGX, SGY, ((OCR1B - SERVO_MIN) * SMAXGX) / (SERVO_MAX - SERVO_MIN), 10, 1); |
| //write_ndigit_number_u (SMX, SMY, ((OCR1B - SERVO_MIN) * 100) / (SERVO_MAX - SERVO_MIN), 3, 0); // Pulse width in % |
| write_ndigit_number_u_100th(SMX, SMY, (OCR1B * 64) / 200 , 3, 0); // Pulse width in ms |
| |
| do |
| { |
| if ((get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (OCR1B < SERVO_MAX)) |
| { |
| OCR1B += step; |
| if (OCR1B > SERVO_MAX) |
| { |
| OCR1B = SERVO_MAX; |
| } |
| chg++; |
| } |
| else if ((get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (OCR1B > SERVO_MIN)) |
| { |
| lcd_frect (SGX, SGY, ((OCR1B - SERVO_MIN) * SMAXGX) / (SERVO_MAX - SERVO_MIN), 10, 0); |
| OCR1B -= step; |
| if (OCR1B < SERVO_MIN) |
| { |
| OCR1B = SERVO_MIN; |
| } |
| chg++; |
| } |
| else if (get_key_short (1 << KEY_ENTER)) |
| { |
| lcd_frect (SGX, SGY, ((OCR1B - SERVO_MIN) * SMAXGX) / (SERVO_MAX - SERVO_MIN), 10, 0); |
| OCR1B = SERVO_CENTER; |
| chg++; |
| } |
| else if (get_key_long (1 << KEY_ENTER)) |
| { |
| if (step == 1) |
| { |
| step = 10; |
| lcd_printpns_at (0, 7, PSTR("-10 +10 Exit \x1d\x7c\x1c"), 0); |
| } |
| else |
| { |
| step = 1; |
| lcd_printpns_at (0, 7, PSTR("-1 +1 Exit \x1d\x7c\x1c"), 0); |
| } |
| } |
| if (chg) |
| { |
| chg = 0; |
| lcd_frect (SGX, SGY, ((OCR1B - SERVO_MIN) * SMAXGX) / (SERVO_MAX - SERVO_MIN), 10, 1); |
| //write_ndigit_number_u (SMX, SMY, ((OCR1B - SERVO_MIN) * 100) / (SERVO_MAX - SERVO_MIN), 3, 0); // Pulse width in % |
| write_ndigit_number_u_100th(SMX, SMY, (OCR1B * 64) / 200 , 3, 0); // Pulse width in ms |
| } |
| } |
| while (!get_key_press (1 << KEY_ESC)); |
| get_key_press(KEY_ALL); |
| |
| TIMSK1 = 0; |
| } |