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twimain.c
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twimain.c
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#include <stdint.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <usitwislave.h>
#include "ioports.h"
#include "adc.h"
#include "timer0.h"
#include "pwm_timer1.h"
#include "watchdog.h"
enum
{
WATCHDOG_PRESCALER = WATCHDOG_PRESCALER_2K,
};
typedef enum
{
pwm_mode_none = 0,
pwm_mode_fade_in = 1,
pwm_mode_fade_out = 2,
pwm_mode_fade_in_out_cont = 3,
pwm_mode_fade_out_in_cont = 4
} pwm_mode_t;
typedef struct
{
uint8_t duty;
pwm_mode_t pwm_mode:8;
} pwm_meta_t;
typedef struct
{
uint32_t counter;
} counter_meta_t;
static const ioport_t *ioport;
static const pwmport_t *pwmport;
static pwm_meta_t softpwm_meta[OUTPUT_PORTS];
static pwm_meta_t pwm_meta[PWM_PORTS];
static pwm_meta_t *pwm_slot;
static counter_meta_t counters_meta[COUNTER_PORTS];
static uint8_t slot, dirty, duty, next_duty, diff;
static uint8_t timer0_value, timer0_debug_1, timer0_debug_2;
static uint16_t duty16, diff16;
static void update_static_softpwm_ports(void);
ISR(WDT_vect)
{
dirty = 0;
pwm_slot = &softpwm_meta[0];
for(slot = OUTPUT_PORTS; slot > 0; slot--)
{
duty = pwm_slot->duty;
diff = duty / 10;
if(diff < 3)
diff = 3;
switch(pwm_slot->pwm_mode)
{
case(pwm_mode_fade_in):
case(pwm_mode_fade_in_out_cont):
{
if(duty < (255 - diff))
duty += diff;
else
{
duty = 255;
if(pwm_slot->pwm_mode == pwm_mode_fade_in)
pwm_slot->pwm_mode = pwm_mode_none;
else
pwm_slot->pwm_mode = pwm_mode_fade_out_in_cont;
}
pwm_slot->duty = duty;
dirty = 1;
break;
}
case(pwm_mode_fade_out):
case(pwm_mode_fade_out_in_cont):
{
if(duty > diff)
duty -= diff;
else
{
duty = 0;
if(pwm_slot->pwm_mode == pwm_mode_fade_out)
pwm_slot->pwm_mode = pwm_mode_none;
else
pwm_slot->pwm_mode = pwm_mode_fade_in_out_cont;
}
pwm_slot->duty = duty;
dirty = 1;
break;
}
}
pwm_slot++;
}
if(dirty)
{
update_static_softpwm_ports();
timer0_start();
}
pwm_slot = &pwm_meta[0];
for(slot = 0; slot < PWM_PORTS; slot++)
{
duty16 = pwm_timer1_get_pwm(slot);
diff16 = duty16 / 8;
if(diff16 < 8)
diff16 = 8;
switch(pwm_slot->pwm_mode)
{
case(pwm_mode_fade_in):
case(pwm_mode_fade_in_out_cont):
{
if(duty16 < (1020 - diff16))
duty16 += diff16;
else
{
duty16 = 1020;
if(pwm_slot->pwm_mode == pwm_mode_fade_in)
pwm_slot->pwm_mode = pwm_mode_none;
else
pwm_slot->pwm_mode = pwm_mode_fade_out_in_cont;
}
pwm_timer1_set_pwm(slot, duty16);
break;
}
case(pwm_mode_fade_out):
case(pwm_mode_fade_out_in_cont):
{
if(duty16 > diff16)
duty16 -= diff16;
else
{
duty16 = 0;
if(pwm_slot->pwm_mode == pwm_mode_fade_out)
pwm_slot->pwm_mode = pwm_mode_none;
else
pwm_slot->pwm_mode = pwm_mode_fade_in_out_cont;
}
pwm_timer1_set_pwm(slot, duty16);
break;
}
}
pwm_slot++;
}
watchdog_setup(WATCHDOG_PRESCALER);
}
ISR(TIMER0_COMPA_vect) // timer 0 softpwm overflow
{
pwm_slot = &softpwm_meta[0];
ioport = &output_ports[0];
for(slot = OUTPUT_PORTS; slot > 0; slot--)
{
if(pwm_slot->duty == 0) // pwm duty == 0, port is off, set it off
*ioport->port &= ~_BV(ioport->bit);
else // else set the port on
*ioport->port |= _BV(ioport->bit);
pwm_slot++;
ioport++;
}
}
ISR(TIMER0_COMPB_vect) // timer 0 softpwm trigger
{
timer0_value = timer0_get_counter();
if(timer0_value < 253)
timer0_value += 1;
else
timer0_value = 255;
next_duty = 255;
pwm_slot = &softpwm_meta[0];
ioport = &output_ports[0];
for(slot = OUTPUT_PORTS; slot > 0; slot--)
{
if(pwm_slot->duty <= timer0_value)
*ioport->port &= ~_BV(ioport->bit);
else
if(pwm_slot->duty < next_duty)
next_duty = pwm_slot->duty;
pwm_slot++;
ioport++;
}
if(next_duty == 255)
{
next_duty = 255;
pwm_slot = &softpwm_meta[0];
for(slot = OUTPUT_PORTS; slot > 0; slot--)
{
if((pwm_slot->duty != 0) && (pwm_slot->duty < next_duty))
next_duty = pwm_slot->duty;
pwm_slot++;
}
if(next_duty == 255)
timer0_stop();
}
timer0_set_trigger(next_duty);
}
ISR(PCINT_vect)
{
uint8_t port[2];
port[0] = *counter_ports[0].port & _BV(counter_ports[0].bit);
port[1] = *counter_ports[1].port & _BV(counter_ports[1].bit);
if(!port[0] && !port[1])
{
counters_meta[0].counter = 0;
counters_meta[1].counter = 0;
return;
}
if(!port[0])
counters_meta[0].counter++;
if(!port[1])
counters_meta[1].counter++;
}
static void update_static_softpwm_ports(void)
{
pwm_slot = &softpwm_meta[0];
ioport = &output_ports[0];
for(slot = OUTPUT_PORTS; slot > 0; slot--)
{
if(pwm_slot->duty == 0)
*ioport->port &= ~_BV(ioport->bit);
else if(pwm_slot->duty == 255)
*ioport->port |= _BV(ioport->bit);
pwm_slot++;
ioport++;
}
}
static void build_reply(uint8_t volatile *output_buffer_length, volatile uint8_t *output_buffer,
uint8_t command, uint8_t error_code, uint8_t reply_length, const uint8_t *reply_string)
{
uint8_t checksum;
uint8_t ix;
output_buffer[0] = 3 + reply_length;
output_buffer[1] = error_code;
output_buffer[2] = command;
for(ix = 0; ix < reply_length; ix++)
output_buffer[3 + ix] = reply_string[ix];
for(ix = 1, checksum = 0; ix < (3 + reply_length); ix++)
checksum += output_buffer[ix];
output_buffer[3 + reply_length] = checksum;
*output_buffer_length = 3 + reply_length + 1;
}
static void twi_callback(uint8_t buffer_size, volatile uint8_t input_buffer_length, const volatile uint8_t *input_buffer,
uint8_t volatile *output_buffer_length, volatile uint8_t *output_buffer)
{
uint8_t input;
uint8_t command;
uint8_t io;
if(input_buffer_length < 1)
return(build_reply(output_buffer_length, output_buffer, 0, 1, 0, 0));
input = input_buffer[0];
command = input & 0xf8;
io = input & 0x07;
switch(command)
{
case(0x00): // short / no-io
{
switch(io)
{
case(0x00): // identify
{
static const uint8_t replystring[] =
{
0x4a, 0xfb,
0x06, 0x01, 0x00,
't', '8', '6', '1', 'a'
};
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(replystring), replystring));
}
case(0x01): // 0x02 read ADC
{
uint8_t value;
value = ADCW;
if(ADCSRA & _BV(ADSC)) // conversion not ready
return(build_reply(output_buffer_length, output_buffer, input, 5, 0, 0));
adc_stop();
uint8_t replystring[2];
replystring[0] = (value & 0xff00) >> 8;
replystring[1] = (value & 0x00ff) >> 0;
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(replystring), replystring));
}
case(0x02): // 0x02 DEBUG read timer0 counter
{
uint8_t value = timer0_get_counter();
return(build_reply(output_buffer_length, output_buffer, input, 0, 1, &value));
}
case(0x03): // 0x03 DEBUG read timer1 counter
{
uint16_t value = pwm_timer1_get_counter();
uint8_t rv[2];
rv[0] = (value & 0xff00) >> 8;
rv[1] = (value & 0x00ff) >> 0;
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(rv), rv));
}
case(0x04): // 0x04 DEBUG read timer1 max
{
uint16_t value = pwm_timer1_get_max();
uint8_t rv[2];
rv[0] = (value & 0xff00) >> 8;
rv[1] = (value & 0x00ff) >> 0;
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(rv), rv));
}
case(0x05): // 0x05 read timer1 prescaler
{
uint8_t value = pwm_timer1_status();
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(value), &value));
}
case(0x06): // 0x06 DEBUG read timer0 entry / exit counter values
{
uint8_t value[2];
value[0] = timer0_debug_1;
value[1] = timer0_debug_2;
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(value), value));
}
case(0x07): // extended command
{
return(build_reply(output_buffer_length, output_buffer, input, 7, 0, 0));
}
default:
{
return(build_reply(output_buffer_length, output_buffer, input, 7, 0, 0));
}
}
break;
}
case(0x10): // 0x10 read counter
case(0x20): // 0x20 read / reset counter
{
if(io >= COUNTER_PORTS)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
uint32_t counter = counters_meta[io].counter;
if(command == 0x20)
counters_meta[io].counter = 0;
uint8_t replystring[4];
replystring[0] = (counter & 0xff000000) >> 24;
replystring[1] = (counter & 0x00ff0000) >> 16;
replystring[2] = (counter & 0x0000ff00) >> 8;
replystring[3] = (counter & 0x000000ff) >> 0;
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(replystring), replystring));
}
case(0x30): // read input
{
uint8_t value;
if(io >= INPUT_PORTS)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
value = !!(*input_ports[io].port & (1 << input_ports[io].bit));
return(build_reply(output_buffer_length, output_buffer, input, 0, 1, &value));
}
case(0x40): // write output / softpwm
{
if(input_buffer_length < 2)
return(build_reply(output_buffer_length, output_buffer, input, 4, 0, 0));
if(io >= OUTPUT_PORTS)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
softpwm_meta[io].duty = input_buffer[1];
update_static_softpwm_ports();
timer0_start();
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(softpwm_meta), (uint8_t *)softpwm_meta));
}
case(0x50): // read output / softpwm
{
if(io >= OUTPUT_PORTS)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
duty = softpwm_meta[io].duty;
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(duty), &duty));
}
case(0x60): // write softpwm mode
{
if(input_buffer_length < 2)
return(build_reply(output_buffer_length, output_buffer, input, 4, 0, 0));
if(io >= OUTPUT_PORTS)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
uint8_t mode = input_buffer[1];
if(mode > 3)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
softpwm_meta[io].pwm_mode = input_buffer[1];
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(softpwm_meta), (uint8_t *)softpwm_meta));
}
case(0x70): // read softpwm mode
{
if(io >= OUTPUT_PORTS)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
uint8_t mode;
mode = softpwm_meta[io].pwm_mode;
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(mode), &mode));
}
case(0x80): // write pwm
{
if(input_buffer_length < 3)
return(build_reply(output_buffer_length, output_buffer, input, 4, 0, 0));
if(io >= PWM_PORTS)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
uint16_t value;
value = input_buffer[1];
value <<= 8;
value |= input_buffer[2];
pwm_timer1_set_pwm(io, value);
return(build_reply(output_buffer_length, output_buffer, input, 0, 0, 0));
}
case(0x90): // read pwm
{
if(io >= PWM_PORTS)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
uint16_t value = pwm_timer1_get_pwm(io);
uint8_t reply[2];
reply[0] = (value & 0xff00) >> 8;
reply[1] = (value & 0x00ff) >> 0;
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(reply), reply));
}
case(0xa0): // write pwm mode
{
if(input_buffer_length < 2)
return(build_reply(output_buffer_length, output_buffer, input, 4, 0, 0));
if(io >= PWM_PORTS)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
uint8_t mode = input_buffer[1];
if(mode > 3)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
pwm_meta[io].pwm_mode = input_buffer[1];
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(pwm_meta), (uint8_t *)pwm_meta));
}
case(0xb0): // read pwm mode
{
if(io >= PWM_PORTS)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
uint8_t mode;
mode = pwm_meta[io].pwm_mode;
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(mode), &mode));
}
case(0xc0): // start adc conversion
{
if(io > 1)
return(build_reply(output_buffer_length, output_buffer, input, 3, 0, 0));
adc_start(io);
return(build_reply(output_buffer_length, output_buffer, input, 0, 0, 0));
}
case(0xf0): // twi stats
{
uint8_t replystring[2];
uint16_t stats;
switch(io)
{
case(0x00): // disable
{
usi_twi_enable_stats(0);
return(build_reply(output_buffer_length, output_buffer, input, 0, 0, 0));
}
case(0x01): // enable
{
usi_twi_enable_stats(1);
return(build_reply(output_buffer_length, output_buffer, input, 0, 0, 0));
}
case(0x02): // read start conditions
{
stats = usi_twi_stats_start_conditions();
break;
}
case(0x03): // read stop conditions
{
stats = usi_twi_stats_stop_conditions();
break;
}
case(0x04): // read error conditions
{
stats = usi_twi_stats_error_conditions();
break;
}
case(0x05): // read overflow conditions
{
stats = usi_twi_stats_overflow_conditions();
break;
}
case(0x06): // read local frames
{
stats = usi_twi_stats_local_frames();
break;
}
case(0x07): // read idle calls
{
stats = usi_twi_stats_idle_calls();
break;
}
}
replystring[0] = (stats & 0xff00) >> 8;
replystring[1] = (stats & 0x00ff) >> 0;
return(build_reply(output_buffer_length, output_buffer, input, 0, sizeof(replystring), replystring));
}
default:
{
return(build_reply(output_buffer_length, output_buffer, input, 2, 0, 0));
}
}
return(build_reply(output_buffer_length, output_buffer, input, 2, 0, 0));
}
int main(void)
{
PCMSK0 = _BV(PCINT6); // PCINT on pa6
PCMSK1 = _BV(PCINT14); // PCINT on pb6
GIMSK = _BV(PCIE1); // enable PCINT
PRR = (0 << 7) |
(0 << 6) | // reserved
(0 << 5) |
(0 << 4) |
(0 << PRTIM1) | // timer1
(0 << PRTIM0) | // timer0
(0 << PRUSI) | // usi
(0 << PRADC); // adc / analog comperator
uint8_t slot;
DDRA = 0;
DDRB = 0;
for(slot = 0; slot < OUTPUT_PORTS; slot++)
*output_ports[slot].ddr |= _BV(output_ports[slot].bit);
for(slot = 0; slot < PWM_PORTS; slot++)
*pwm_ports[slot].ddr |= _BV(pwm_ports[slot].bit);
for(slot = 0; slot < OUTPUT_PORTS; slot++)
{
softpwm_meta[slot].duty = 0;
softpwm_meta[slot].pwm_mode = pwm_mode_none;
}
for(slot = 0; slot < PWM_PORTS; slot++)
pwm_meta[slot].pwm_mode = pwm_mode_none;
for(slot = 0; slot < COUNTER_PORTS; slot++)
counters_meta[slot].counter = 0;
for(slot = 0; slot < OUTPUT_PORTS; slot++)
{
ioport = &output_ports[slot];
*ioport->port |= _BV(ioport->bit);
_delay_ms(50);
}
for(slot = 0; slot < OUTPUT_PORTS; slot++)
{
ioport = &output_ports[slot];
*ioport->port &= ~_BV(ioport->bit);
_delay_ms(50);
}
for(slot = 0; slot < PWM_PORTS; slot++)
{
pwmport = &pwm_ports[slot];
*pwmport->port |= _BV(pwmport->bit);
_delay_ms(50);
}
for(slot = 0; slot < PWM_PORTS; slot++)
{
pwmport = &pwm_ports[slot];
*pwmport->port &= ~_BV(pwmport->bit);
_delay_ms(50);
}
adc_init();
// 8 mhz / 256 / 256 = 122 Hz
timer0_init(TIMER0_PRESCALER_256);
timer0_set_max(0xff);
// 8 mhz / 32 / 1024 = 244 Hz
pwm_timer1_init(PWM_TIMER1_PRESCALER_32);
pwm_timer1_set_max(0x3ff);
pwm_timer1_start();
watchdog_setup(WATCHDOG_PRESCALER);
watchdog_start();
usi_twi_slave(0x02, 1, twi_callback, 0);
return(0);
}