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|---|---|---|---|
| 1 | //############################################################################ |
1 | //############################################################################ |
| 2 | // - LED CTRL Main |
2 | // - PWM CTRL |
| - | 3 | // - Main |
|
| 3 | // - ATMEGA8 mit 8MHz |
4 | // - ATMEGA8 mit 8MHz |
| 4 | // - Nur für den privaten Gebrauch |
5 | // - Nur für den privaten Gebrauch |
| 5 | // - Keine Garantie auf Fehlerfreiheit |
6 | // - Keine Garantie auf Fehlerfreiheit |
| 6 | // - Kommerzielle Nutzung nur mit meiner Zustimmung |
7 | // - Kommerzielle Nutzung nur mit meiner Zustimmung |
| 7 | // - walter Meyer @ www.freakware.de |
8 | // - walter Meyer @ www.freakware.de |
| 8 | // - 11.12.2007 |
9 | // - 11.12.2007 |
| 9 | // - Make sure Fuses are programmed for internal 8 MHz RC Oscilator |
10 | // - Make sure Fuses are programmed for internal 8 MHz RC Oscilator |
| 10 | //############################################################################*/ |
11 | //############################################################################*/ |
| 11 | 12 | ||
| 12 | #include "main.h" |
13 | #include "main.h" |
| 13 | #include "uart.h" |
14 | #include "uart.h" |
| 14 | #include "twislave.h" |
15 | #include "twislave.h" |
| 15 | 16 | ||
| 16 | volatile unsigned int ppm_signal = 1500; |
17 | volatile unsigned int ppm_signal = 1500; |
| 17 | volatile unsigned char ppm_new = 0; |
18 | volatile unsigned char ppm_new = 0; |
| 18 | volatile unsigned char TMR1OvF = 0; |
19 | volatile unsigned char TMR1OvF = 0; |
| - | 20 | volatile unsigned int TMR1MS; |
|
| 19 | volatile unsigned char ch0; |
21 | volatile unsigned char ch0; |
| 20 | volatile unsigned char ch1; |
22 | volatile unsigned char ch1; |
| 21 | volatile unsigned char ch2; |
23 | volatile unsigned char ch2; |
| 22 | volatile unsigned char ch3; |
24 | volatile unsigned char ch3; |
| 23 | volatile unsigned char ch4; |
25 | volatile unsigned char ch4; |
| 24 | volatile unsigned char ch5; |
26 | volatile unsigned char ch5; |
| 25 | - | ||
| 26 | - | ||
| - | 27 | unsigned int timer; |
|
| 27 | 28 | ||
| 28 | SIGNAL(SIG_OVERFLOW1) |
29 | SIGNAL(SIG_OVERFLOW1) |
| 29 | { |
30 | { |
| 30 | TMR1OvF++; |
31 | TMR1OvF++; |
| 31 | } |
32 | } |
| 32 | 33 | ||
| 33 | 34 | ||
| 34 | SIGNAL(SIG_INPUT_CAPTURE1) |
35 | SIGNAL(SIG_INPUT_CAPTURE1) |
| 35 | { |
36 | { |
| 36 | static unsigned int pos_ICR; |
37 | static unsigned int pos_ICR; |
| 37 | static unsigned int ppm; |
38 | static unsigned int ppm; |
| 38 | 39 | ||
| 39 | if ((TCCR1B & (1<<ICES1)) != 0) //rising edge |
40 | if ((TCCR1B & (1<<ICES1)) != 0) //rising edge |
| 40 | { |
41 | { |
| 41 | TCCR1B &= ~(1<<ICES1); //set falling egde |
42 | TCCR1B &= ~(1<<ICES1); //set falling egde |
| 42 | TMR1OvF = 0; |
43 | TMR1OvF = 0; |
| 43 | pos_ICR = ICR1; |
44 | pos_ICR = ICR1; |
| 44 | } |
45 | } |
| 45 | else //falling edge |
46 | else //falling edge |
| 46 | { |
47 | { |
| 47 | TCCR1B |= (1<<ICES1); //set rising egde |
48 | TCCR1B |= (1<<ICES1); //set rising egde |
| 48 | ppm = (ICR1 - pos_ICR + (int) TMR1OvF * 65536); |
49 | ppm = (ICR1 - pos_ICR + (int) TMR1OvF * 65536); |
| 49 | if ((ppm > 600) && (ppm < 2400)) |
50 | if ((ppm > 600) && (ppm < 2400)) |
| 50 | { |
51 | { |
| 51 | if (ppm > 2100) ppm = 2100; |
52 | if (ppm > 2100) ppm = 2100; |
| 52 | if (ppm < 900) ppm = 900; |
53 | if (ppm < 900) ppm = 900; |
| 53 | ppm = (ppm_signal * 7 + ppm) / 8; |
54 | ppm = (ppm_signal * 7 + ppm) / 8; |
| 54 | ppm_signal = ppm; |
55 | ppm_signal = ppm; |
| 55 | ppm_new = 1; |
56 | ppm_new = 1; |
| 56 | } |
57 | } |
| 57 | 58 | ||
| 58 | } |
59 | } |
| 59 | 60 | ||
| 60 | } |
61 | } |
| 61 | 62 | ||
| 62 | 63 | ||
| 63 | 64 | ||
| 64 | 65 | ||
| 65 | 66 | ||
| 66 | SIGNAL(SIG_OVERFLOW0) |
67 | SIGNAL(SIG_OVERFLOW0) |
| 67 | { |
68 | { |
| 68 | static unsigned char counter; |
69 | static unsigned char counter; |
| - | 70 | static unsigned char ms1; |
|
| 69 | unsigned char PORTB_BAK; |
71 | unsigned char PORTB_BAK; |
| 70 | unsigned char PORTD_BAK; |
72 | unsigned char PORTD_BAK; |
| 71 | 73 | ||
| 72 | PORTB_BAK = PORTB; |
74 | PORTB_BAK = PORTB; |
| 73 | PORTD_BAK = PORTD; |
75 | PORTD_BAK = PORTD; |
| 74 | - | ||
| 75 | 76 | ||
| 76 | if (counter == 0) |
77 | if (counter++ == 254) |
| 77 | { |
78 | { |
| 78 | PORTB_BAK clrbit (CH0_B | CH1_B | CH2_B); |
79 | PORTB_BAK LEDON (CH0_B | CH1_B | CH2_B); |
| - | 80 | PORTD_BAK LEDON (CH3_D | CH4_D | CH5_D); |
|
| 79 | PORTD_BAK clrbit (CH3_D | CH4_D | CH5_D); |
81 | counter = 0; |
| - | 82 | } |
|
| - | 83 | ||
| - | 84 | if (ch0 == counter) PORTB_BAK LEDOFF CH0_B; |
|
| - | 85 | if (ch1 == counter) PORTB_BAK LEDOFF CH1_B; |
|
| - | 86 | if (ch2 == counter) PORTB_BAK LEDOFF CH2_B; |
|
| - | 87 | if (ch3 == counter) PORTD_BAK LEDOFF CH3_D; |
|
| - | 88 | if (ch4 == counter) PORTD_BAK LEDOFF CH4_D; |
|
| - | 89 | if (ch5 == counter) PORTD_BAK LEDOFF CH5_D; |
|
| - | 90 | ||
| 80 | } |
91 | PORTB = PORTB_BAK; |
| 81 | - | ||
| 82 | - | ||
| 83 | if (ch0 == 255) |
- | |
| 84 | { |
- | |
| 85 | PORTB_BAK setbit CH0_B; |
92 | PORTD = PORTD_BAK; |
| 86 | } |
- | |
| 87 | if (ch0 == counter) |
- | |
| 88 | { |
93 | |
| 89 | PORTB_BAK setbit CH0_B; |
- | |
| 90 | } |
94 | if (ms1++ == 32) |
| 91 | if (ch0 == 0) |
95 | { |
| - | 96 | ms1=0; |
|
| 92 | { |
97 | TMR1MS++; |
| 93 | PORTB_BAK clrbit CH0_B; |
98 | } |
| 94 | } |
99 | |
| 95 | 100 | ||
| 96 | 101 | ||
| - | 102 | ||
| 97 | 103 | } |
|
| 98 | 104 | ||
| 99 | 105 | ||
| 100 | - | ||
| 101 | if (ch1 == counter) |
- | |
| 102 | { |
- | |
| 103 | PORTB_BAK setbit CH1_B; |
- | |
| 104 | } |
- | |
| 105 | if (ch2 == counter) |
- | |
| 106 | { |
- | |
| 107 | PORTB_BAK setbit CH2_B; |
- | |
| 108 | } |
- | |
| 109 | if (ch3 == counter) |
- | |
| 110 | { |
- | |
| 111 | PORTD_BAK setbit CH3_D; |
- | |
| 112 | } |
106 | |
| 113 | if (ch4_BAK == counter) |
107 | unsigned int SetDelay (unsigned int t) |
| 114 | { |
108 | { |
| 115 | PORTD setbit CH4_D; |
- | |
| 116 | } |
- | |
| 117 | if (ch5_BAK == counter) |
- | |
| 118 | { |
109 | unsigned char temp_hi; |
| 119 | PORTD setbit CH5_D; |
- | |
| 120 | } |
- | |
| 121 | } |
- | |
| 122 | - | ||
| 123 | - | ||
| 124 | - | ||
| 125 | } |
- | |
| 126 | - | ||
| - | 110 | unsigned char temp_lo; |
|
| - | 111 | ||
| - | 112 | temp_hi = (TMR1MS >> 8); |
|
| 127 | 113 | temp_lo = (TMR1MS & 0xff); |
|
| 128 | - | ||
| 129 | 114 | if (temp_hi != (TMR1MS >> 8)) temp_hi = (TMR1MS >> 8); |
|
| - | 115 | ||
| 130 | counter++; |
116 | return(((temp_hi << 8) | temp_lo) + t + 1); |
| - | 117 | ||
| - | 118 | } |
|
| - | 119 | ||
| - | 120 | ||
| - | 121 | char CheckDelay(unsigned int t) |
|
| - | 122 | { |
|
| - | 123 | unsigned char temp_hi; |
|
| - | 124 | unsigned char temp_lo; |
|
| - | 125 | ||
| 131 | 126 | temp_hi = (TMR1MS >> 8); |
|
| 132 | PORTB = PORTB_BAK; |
127 | temp_lo = (TMR1MS & 0xff); |
| 133 | PORTD = PORTD_BAK; |
128 | if (temp_hi != (TMR1MS >> 8)) temp_hi = (TMR1MS >> 8); |
| 134 | 129 | ||
| 135 | 130 | return(((t - ((temp_hi << 8) | temp_lo)) & 0x8000) >> 9); |
|
| 136 | } |
131 | |
| 137 | 132 | } |
|
| 138 | 133 | ||
| 139 | 134 | ||
| 140 | 135 | ||
| 141 | 136 | ||
| 142 | /*##############################################################################*/ |
137 | /*##############################################################################*/ |
| 143 | void StartPWM(unsigned char txbyte) |
138 | void StartPWM(void) |
| 144 | { |
139 | { |
| 145 | //Timer 0 Config for getting right timing for IR Pattern |
140 | //Timer 0 Config for getting right timing for IR Pattern |
| 146 | TCCR0 = (0<<CS02)|(0<<CS01)|(1<<CS00); // (@8MHz) = 1/8us Clk = 256/8 = 32us overflow |
141 | TCCR0 = (0<<CS02)|(0<<CS01)|(1<<CS00); // (@8MHz) = 1/8us Clk = 256/8 = 32us overflow |
| 147 | TIMSK setbit (1<<TOIE0); // enable Int |
142 | TIMSK setbit (1<<TOIE0); // enable Int |
| 148 | 143 | ||
| 149 | } |
144 | } |
| 150 | 145 | ||
| 151 | 146 | ||
| 152 | 147 | ||
| 153 | - | ||
| 154 | - | ||
| 155 | - | ||
| 156 | 148 | ||
| 157 | /*##############################################################################*/ |
149 | /*##############################################################################*/ |
| 158 | void StartPPM(void) |
150 | void StartPPM(void) |
| 159 | { |
151 | { |
| 160 | 152 | ||
| 161 | //global timer1 Config |
153 | //global timer1 Config |
| 162 | TCCR1A = (0<<COM1A1)|(0<<COM1A0)|(0<<COM1B1)|(0<<COM1B0)| |
154 | TCCR1A = (0<<COM1A1)|(0<<COM1A0)|(0<<COM1B1)|(0<<COM1B0)| |
| 163 | (0<<FOC1A) |(0<<FOC1B) |(0<<WGM10) |(0<<WGM11); |
155 | (0<<FOC1A) |(0<<FOC1B) |(0<<WGM10) |(0<<WGM11); |
| 164 | TCCR1B = (1<<ICNC1)|(1<<ICES1)|(0<<WGM13)| |
156 | TCCR1B = (1<<ICNC1)|(1<<ICES1)|(0<<WGM13)| |
| 165 | (0<<WGM12)|(0<<CS12)|(1<<CS11)|(0<<CS10); //ICP_POS_FLANKE |
157 | (0<<WGM12)|(0<<CS12)|(1<<CS11)|(0<<CS10); //ICP_POS_FLANKE |
| 166 | 158 | ||
| 167 | // interrupts |
159 | // interrupts |
| 168 | TIMSK |= (1<<TICIE1)|(1<<TOIE1); //ICP_INT_ENABLE and TIMER1_INT_ENABLE |
160 | TIMSK |= (1<<TICIE1)|(1<<TOIE1); //ICP_INT_ENABLE and TIMER1_INT_ENABLE |
| 169 | 161 | ||
| 170 | } |
162 | } |
| 171 | 163 | ||
| 172 | 164 | ||
| 173 | 165 | ||
| 174 | int GetPPM(void) |
166 | int GetPPM(void) |
| 175 | { |
167 | { |
| 176 | //this routines seems to be nesseccary, as reading a 16 bit value |
168 | //this routines seems to be nesseccary, as reading a 16 bit value |
| 177 | //on a 8 bit machine is not atomic, so if an interrupt apears between reading |
169 | //on a 8 bit machine is not atomic, so if an interrupt apears between reading |
| 178 | //low and high byte of the 16 bit value a wrong result is possible |
170 | //low and high byte of the 16 bit value a wrong result is possible |
| 179 | 171 | ||
| 180 | unsigned char intmask; |
172 | unsigned char intmask; |
| 181 | unsigned int ppm_temp; |
173 | unsigned int ppm_temp; |
| 182 | 174 | ||
| 183 | intmask = TIMSK; //backup interupt enable bits |
175 | intmask = TIMSK; //backup interupt enable bits |
| 184 | TIMSK &= ~(1<<TICIE1); //disable ppm interrupt |
176 | TIMSK &= ~(1<<TICIE1); //disable ppm interrupt |
| 185 | ppm_temp = ppm_signal; |
177 | ppm_temp = ppm_signal; |
| 186 | TIMSK = intmask; //restore interupt enable bits |
178 | TIMSK = intmask; //restore interupt enable bits |
| 187 | return(ppm_temp); //return ppm_signal |
179 | return(ppm_temp); //return ppm_signal |
| 188 | 180 | ||
| 189 | } |
181 | } |
| 190 | 182 | ||
| 191 | 183 | ||
| 192 | /*##############################################################################*/ |
184 | /*##############################################################################*/ |
| 193 | // MAIN |
185 | // MAIN |
| 194 | /*##############################################################################*/ |
186 | /*##############################################################################*/ |
| 195 | int main (void) |
187 | int main (void) |
| 196 | { |
188 | { |
| - | 189 | unsigned int i; |
|
| - | 190 | unsigned char colorState; |
|
| - | 191 | unsigned char nextcolorState; |
|
| 197 | - | ||
| 198 | DDRC = (1<<ledred); |
- | |
| 199 | PORTC = 0x00; |
- | |
| 200 | DDRD = (1<<ledgreen); |
- | |
| 201 | PORTD = 0x00; |
192 | |
| 202 | DDRB = (1<<1)|(1<<2)|(1<<3); |
193 | DDRB = (CH0_B|CH1_B|CH2_B); |
| - | 194 | PORTB = 0x00; |
|
| - | 195 | ||
| - | 196 | DDRC = (ledred); |
|
| - | 197 | PORTC = 0x00; |
|
| - | 198 | ||
| 203 | PORTB = 0x00; |
199 | DDRD = (ledgreen|CH3_D|CH4_D|CH5_D); |
| 204 | 200 | PORTD = 0x00; |
|
| 205 | 201 | ||
| 206 | ch0 = 0; |
202 | ch0 = 0; |
| 207 | ch1 = 0; |
203 | ch1 = 0; |
| 208 | ch2 = 0; |
204 | ch2 = 0; |
| 209 | ch3 = 0; |
205 | ch3 = 0; |
| 210 | ch4 = 0; |
206 | ch4 = 0; |
| 211 | ch5 = 0; |
207 | ch5 = 0; |
| 212 | 208 | ||
| 213 | //StartUART(); |
209 | //StartUART(); |
| 214 | StartPPM(); |
210 | StartPPM(); |
| 215 | StartI2C(); |
211 | //StartI2C(); |
| 216 | StartPWM(); |
212 | StartPWM(); |
| 217 | sei(); |
213 | sei(); |
| - | 214 | ||
| - | 215 | ||
| - | 216 | //rot > Violett > Blau > Türkis > Grün > Gelb > |
|
| - | 217 | ||
| - | 218 | ||
| 218 | 219 | colorState = 0; |
|
| 219 | 220 | ||
| 220 | while (1) |
221 | while (1) |
| 221 | { |
222 | { |
| - | 223 | ||
| 222 | //printf("%d ",ppm_signal); |
224 | //printf("%d ",ppm_signal); |
| - | 225 | ||
| - | 226 | for (i=0; i<=255; i++) |
|
| - | 227 | { |
|
| - | 228 | switch(colorState) |
|
| - | 229 | { |
|
| - | 230 | case 0: |
|
| - | 231 | ch0 = i; //fade in (ch0) red |
|
| - | 232 | nextcolorState = 2; |
|
| - | 233 | break; |
|
| - | 234 | ||
| - | 235 | case 2: |
|
| - | 236 | ch1 = i; //fade in (ch1) blue to get purple (red + blue) |
|
| - | 237 | nextcolorState = 4; |
|
| - | 238 | break; |
|
| - | 239 | ||
| - | 240 | case 4: |
|
| - | 241 | ch0 = 255 - i; //fade out (ch0) red to get pure blue |
|
| - | 242 | nextcolorState = 6; |
|
| - | 243 | break; |
|
| - | 244 | ||
| - | 245 | case 6: |
|
| - | 246 | ch2 = i; //fade in (ch2) green to get cyan (blue + green) |
|
| - | 247 | nextcolorState = 8; |
|
| - | 248 | break; |
|
| - | 249 | ||
| - | 250 | case 8: |
|
| - | 251 | ch1 = 255 - i; //fade out (ch1) blue to get pure green |
|
| - | 252 | nextcolorState = 10; |
|
| - | 253 | break; |
|
| - | 254 | ||
| - | 255 | case 10: |
|
| - | 256 | ch0 = i; //fade in (ch0) red to get yellow (green + red) |
|
| - | 257 | nextcolorState = 12; |
|
| - | 258 | break; |
|
| - | 259 | ||
| - | 260 | case 12: |
|
| - | 261 | ch2 = 255 - i; //fade out (ch2) green to get pure red |
|
| - | 262 | nextcolorState = 0; |
|
| - | 263 | break; |
|
| - | 264 | } |
|
| - | 265 | ||
| - | 266 | ||
| - | 267 | timer = SetDelay(1); |
|
| - | 268 | while (!CheckDelay(timer)); |
|
| - | 269 | } |
|
| - | 270 | ||
| - | 271 | colorState = nextcolorState; |
|
| - | 272 | timer = SetDelay(3); |
|
| - | 273 | while (!CheckDelay(timer)); |
|
| 223 | - | ||
| 224 | - | ||
| 225 | 274 | ||
| 226 | 275 | ||
| 227 | } |
276 | } |
| 228 | 277 | ||
| 229 | 278 | ||
| 230 | } |
279 | } |
| 231 | 280 | ||