void init(void) {
unsigned char port_num = 0;
#ifdef USE_OW
uint16_t ram_virt_data_addr;
uint16_t eeprom_perm_data_addr;
#endif
getFuncCode(); //read function codes from eeprom
for (port_num = 0; port_num < GET_VIRT_PORT_COUNT(COUNT_IO_PINS); port_num++) {
initIOport(&(io_pins[port_num])); //first pin initialisation (all configured pins)
//applikation specific initialization
for (int pin = 0; pin < VIRTUAL_PORT_PINCOUNT; pin++) { /* loop over all virtual IO Pins */
switch (io_pins[port_num].pins[pin].function_code) {
#ifdef USE_OW
case PIN_OW_POWER_PARASITE:
case PIN_OW_POWER_EXTERN:
{ //copy rom codes from eeprom to ram
I2C_MAIN_INFO("1-wire[%i;%i]: OW code eeprom -> ram\r\n",port_num,pin);
ram_virt_data_addr = VIRTUAL_DATA_START + (port_num * (VIRTUAL_PORT_PINCOUNT * VIRTUAL_DATA_LENGTH)) + (pin * VIRTUAL_DATA_LENGTH);
eeprom_perm_data_addr = EEPROM_DATA_START + (port_num * (VIRTUAL_PORT_PINCOUNT * EEPROM_DATA_LENGTH)) + (pin * EEPROM_DATA_LENGTH);
I2C_MAIN_DEBUG("ram_virt_data_addr: 0x%x\r\n", ram_virt_data_addr);
I2C_MAIN_DEBUG("eeprom_perm_data_addr: 0x%x\r\n", eeprom_perm_data_addr);
eeprom_read_block (&rxbuffer[ram_virt_data_addr], eeprom_perm_data_addr, OW_ROMCODE_SIZE);
}
break;
#endif
default:
break;
}
}
}
/* set Slave ID */
txbuffer[0] = SLAVE_ID;
txbuffer[1] = SLAVE_ID;
/* copy git version into txbuffer */
strncpy(&txbuffer[VERSION_START], VINFO_GITDESC, VERSION_LENGTH);
txbuffer[VERSION_START + VERSION_LENGTH] = '\0';
I2C_MAIN_INFO("version[%i;%i]\r\n", VERSION_START, VERSION_START+VERSION_LENGTH);
I2C_MAIN_INFO("version:%s\r\n", &txbuffer[VERSION_START]);
/* set IO Pin count */
txbuffer[VIRTUAL_IO_COUNT] = COUNT_IO_PINS;
txbuffer[VIRTUAL_IO_COUNT + 1] = COUNT_IO_PINS;
//### TWI
unsigned char I2C_addi = eeprom_read_byte(0);
I2C_addi = I2C_addi < 128 ? I2C_addi : 0x42;
init_twi_slave(I2C_addi); //TWI als Slave mit Adresse slaveadr starten
I2C_MAIN_INFO("I2C_address:0x%x\r\n", I2C_addi);
I2C_MAIN_INFO("init_done\r\n");
}
int main(void) {
init_uart(); // UART initalisieren und einschalten. Alle n�tigen Schnittstellen-Parameter und -Funktionen werden in rs232.h definiert
init_MD49data(); // set defaults for MD49 data and commands
init_twi_slave(SLAVE_ADRESSE); // Init AVR as Slave with Adresse SLAVE_ADRESSE
sei(); // Interrupts enabled
resetEncoders(); // Reset the encoder values to 0
wdt_enable(WDTO_250MS);
while (1) // mainloop
{
setMD49commands(); // set commands on MD49 corresponding to values stored in i2cdata(0-14)
getMD49data(); // get all data from MD49 and save to corresponding values in i2cdata(15-32)
wdt_reset();
} //end.mainloop
} //end.mainfunction
int main( void )
{
TCCR0A= (0<<WGM01) | (1<<WGM00)|(1<<COM0B1) | (0<<COM0B0);//(1<<COM0A1) | (0<<COM0A0)
TCCR0B=(0<<FOC0A) | (0<<FOC0B) | (0<<WGM02) | (0<<CS02) | (1<<CS01) | (1<<CS00); // --> Siehe Datenblatt s 101 ff
// Achtung PWM am MODUS 3 Setzen
// Meine Frage dazu im Netz // http://www.mikrocontroller.net/topic/281776#2977371
/*Du setzt den Modus 7.
Das ist Fast-PWM mit OCR0A als Top.
Damit fällt OCR0A schon mal als PWM weg, und da OCR0A den gleichen Wert
hat wie OCR0B, wirst du von der PWM auf dem B Kanal nicht viel sehen.
*/
OCR0A = 0x7f; // zum einstellen des Tastverhältnisses
OCR0B = 0x7f; // zum einstellen des Tastverhältnisses
DDRD = (1<<PD5)|(1<<PD7)|(1<<PD6);//PD6 und PD5 wo OC0A und OC0B anliegen (Ausgabe der PWM) // PD7 für M1 dir
DDRB = (1<<PB0)|(1<<PB2)|(1<<PB7); //PB 1 ist Ausgang M1D1 --> D1 // PB2 ist für D2
DDRC |= (1<<PC0);
// Laut Wahheitstabele und Schaltung muss EN -> H / D1-> L / D2 -> H / IN1-> H / IN2 -> L
// I2C Initialisieren
init_twi_slave(SLAVE_ADRESSE); //TWI als Slave mit Adresse slaveadr starten
init_hall_counters();
sei();
i2cdata[0] = 0x13;
i2cdata[1] = 0x22;
i2cdata[2] = 0xFE;
Check = 0;
while(1){
if((hall_counter_1 > 400) | (hall_counter_2 > 400))
{
TCCR0A = 0x00;
TCCR0B=0x00;
Check = 0;
}
else{}
PORTD = (1<<PD7);
PORTB = (1<<PB2)|(1<<PB7); // D2 - PIN
//PORTB &= ~(1<<PB0);
PORTC = (1<<PC0); // EN - PIN }
}
return 0;
}
void start_twi_slave(uint8_t slave_address_in, uint8_t use_sleep,
void (*data_callback_in)(uint8_t input_buffer_length, const uint8_t *input_buffer,
uint8_t *output_buffer_length, uint8_t *output_buffer),
void (*idle_callback_in)(void))
{
uint8_t call_datacallback = 0;
slave_address = slave_address_in;
data_callback = data_callback_in;
idle_callback = idle_callback_in;
input_buffer_length = 0;
output_buffer_length = 0;
output_buffer_current = 0;
ss_state = ss_state_idle;
init_twi_slave(slave_address_in);
for (;;) {
if(idle_callback) {
idle_callback();
}
if (ss_state == ss_state_new_data) {
call_datacallback = 1;
}
if(call_datacallback) {
output_buffer_length = 0;
output_buffer_current = 0;
data_callback(input_buffer_length, input_buffer, &output_buffer_length, output_buffer);
input_buffer_length = 0;
call_datacallback = 0;
ss_state = ss_state_idle;
}
}
}
int main(void){
// 12 PB0 LASER_R ---- NICHT MEHR ----
// 11 PD7 LASER (Laser)
// 10 PD6 HAPTIK OC0A Timer0 8 Bit (Haptik)
// 9 PD5 LED_FRONT_B OC0B Timer0 8 Bit
// 13 PB1 IR_CLOCK_- OC1A Timer1 16 Bit
// 14 PB2 LED_FRONT_G OC1B Timer1 16 Bit
// 15 PB3 LED_FRONT_R OC2A Timer2 8 Bit
// 1 PD3 LED_FRONT_W OC2B Timer2 8 Bit
// 24 PC1 LDR ADC1
// 25 PC2 V_BATT ADC2
// 2 PD4 BUTTON_3
// 7 PB6 BUTTON_2
// 8 PB7 BUTTON_1
// 12 PB0 ONOFF
cli();
//set pins
DDRB |= (1 << DDB1) | (1 << DDB2) | (1 << DDB3); //OUTPUT
DDRD |= (1 << DDD3) | (1 << DDD5) | (1 << DDD6) | (1 << DDD7); //OUTPUT
DDRB &= ~(1 << PB6) & ~(1 << PB7); //INPUT
PORTB |= (1 << PB6) | (1 << PB7); //input pullup
DDRD &= ~(1 << PD4); //INPUT
PORTD |= (1 << PD4); //input pullup
//ausschalten
//DDRB |= (1 << DDB0); //OUTPUT
//PORTB &= ~(1 << DDB0); //LOW
//init Timers for PWM:
//https://sites.google.com/site/qeewiki/books/avr-guide/pwm-on-the-atmega328
//WGM* s157: fast pwm without ctc
//CS* s158: _BV(CS20) = prescaler 1 (gilt für a und b)
//PWM_fequency = clock_speed / [Prescaller_value * (1 + TOP_Value) ] = 8000000/(1*(1+210)) = 37.915 kHz
//Timer 0: Mode 3: Fast PWM, TOP: 0xFF, Update of OCRx: Bottom, TOV1 Flag set on: TOP, Prescaler: 1, Set OC0x on Compare Match
TCCR0A = _BV(COM0B0) | _BV(COM0A0) | _BV(COM0B1) | _BV(COM0A1) | _BV(WGM00) | _BV(WGM01);
TCCR0B = _BV(CS00);
//TIMSK0 |= (1<<TOIE0); //Overflow Interrupt for count millis
//Timer 2: Mode 3: Fast PWM, TOP: 0xFF, Update of OCRx: Bottom, TOV1 Flag set on: TOP, Prescaler: 1, Set OC2x on Compare Match
TCCR2A = _BV(COM2B0) | _BV(COM2A0) | _BV(COM2B1) | _BV(COM2A1) | _BV(WGM20) | _BV(WGM21);
TCCR2B = _BV(CS20);
//Timer 1: Mode 14: Fast PWM, inverting mode, Top: ICR1, Update of OCR1x: Bottom, TOV1 Flag set on: TOP, Prescaler: 1
//https://docs.google.com/spreadsheets/d/1HadMDsU0MGo1LXUr1gKNFrfe4wX_Bq9kbVIwOvD3chk
TCCR1A = _BV(COM1B0) | _BV(COM1A0) | _BV(COM1B1) | _BV(COM1A1) | _BV(WGM11);
TCCR1B = _BV(CS10) | _BV(WGM12) | _BV(WGM13);
//IR carrier frequency to 37.915 kHz:
ICR1 = 210;
//IR carrier frequency duty cycle to 50%:
IR_CLOCK_DUTY_CYCLE = ICR1-ICR1/2;
//switch off all light
LED_FRONT_R=255;
LED_FRONT_G=ICR1;
LED_FRONT_B=255;
LED_FRONT_W=255;
HAPTIK=255; //haptik
//PORTB |= (1 << PB0); //an
//i2c init
init_twi_slave(I2C_BUS_ADRESS<<1);
//UART init
UBRR0H = UBRR_VAL >> 8;
UBRR0L = UBRR_VAL & 0xFF;
UCSR0B |= _BV(TXEN0) | _BV(RXEN0) | _BV(RXCIE0); //UART RX, TX und RX-Interrupt einschalten
UCSR0C = (1<<UCSZ01) | (1<<UCSZ00); //Asynchron 8N1
sei(); // enable Interrupts global
uint32_t laser_duration_counter=0;
uint32_t vibrate_duration_counter=0;
uint32_t muzzle_flash_duration_counter=0;
uint32_t muzzle_flash_duration_counter_max=0; //fürs ausfaden
uint16_t ir_delay=0;
uint8_t ir_count=255;
// return links*256 + rechts
uint16_t battt = 12345;
misc_buffer.v_bat_l = battt>>8;
misc_buffer.v_bat_r = battt;
while(1){
/* // ---------------- blinken + buttons (gedrueckt halten) + ir shoot ----------------
LED_FRONT_R = 255-1-taster(&PINB, BUTTON_1)*100;
LED_FRONT_G = ICR1-map8(2, 0, 255, 0, ICR1); //0 bis ICR1
LED_FRONT_B = 255-1-taster(&PINB, BUTTON_2)*100;
LED_FRONT_W = 255-1-taster(&PIND, BUTTON_3)*100;
laser(1); //laser
HAPTIK = 255-50; //haptik
_delay_ms(255);
_delay_ms(255);
_delay_ms(255);
LED_FRONT_R = 255-0;
LED_FRONT_G = ICR1-map8(0, 0, 255, 0, ICR1); //0 bis ICR1
LED_FRONT_B = 255-0;
LED_FRONT_W = 255-0;
laser(0); //laser
HAPTIK = 255-0; //haptik
_delay_ms(255);
_delay_ms(255);
_delay_ms(255);
shoot_buffer.playerid = 42;
shoot_buffer.damage = 123;
shoot_buffer.enable = 1;
uint8_t array[] = {shoot_buffer.playerid, shoot_buffer.damage};
USART_Transmit(shoot_buffer.playerid); //IR_TX: PlayerID
USART_Transmit(shoot_buffer.damage); //IR_TX: Schaden
USART_Transmit(crc8(array, 2)); //IR_TX: crc8 checksum
*/
// ---------------- pew ----------------
uint8_t brightness = 80;
if(taster(&PINB, BUTTON_1)){
if(taster(&PINB, BUTTON_2) && !taster(&PIND, BUTTON_3)){
LED_FRONT_R = 255-brightness;
LED_FRONT_G = ICR1-map8(0, 0, 255, 0, ICR1);
LED_FRONT_B = 255-0;
LED_FRONT_W = 255-0;
_delay_ms(20);
laser(1);
}else if(!taster(&PINB, BUTTON_2) && taster(&PIND, BUTTON_3)){
LED_FRONT_R = 255-0;
LED_FRONT_G = ICR1-map8(brightness, 0, 255, 0, ICR1);
LED_FRONT_B = 255-0;
LED_FRONT_W = 255-0;
_delay_ms(20);
laser(1);
}else if(taster(&PINB, BUTTON_2) && taster(&PIND, BUTTON_3)){
LED_FRONT_R = 255-brightness;
LED_FRONT_G = ICR1-map8(brightness, 0, 255, 0, ICR1);
LED_FRONT_B = 255-brightness;
LED_FRONT_W = 255-brightness;
_delay_ms(20);
laser(1);
}else{
LED_FRONT_R = 255-0;
LED_FRONT_G = ICR1-map8(0, 0, 255, 0, ICR1);
LED_FRONT_B = 255-brightness;
LED_FRONT_W = 255-0;
_delay_ms(20);
laser(1);
}
_delay_ms(30);
LED_FRONT_R = 255-0;
LED_FRONT_G = ICR1-map8(0, 0, 255, 0, ICR1);
LED_FRONT_B = 255-0;
LED_FRONT_W = 255-0;
_delay_ms(200);
laser(0);
_delay_ms(255);
}
/* // ---- buttons ----
laser_buffer.laser = taster(&PINB, BUTTON_1);
led_front_buffer.r = taster(&PINB, BUTTON_2)*255;
led_front_buffer.b = taster(&PIND, BUTTON_3)*255;
*/
}
}
