void DoSpiTx(char port, char *string)
{
SPI_t *Port;
switch(port)
{
case 'c':
Port = (SPI_t*)_SFR_IO_ADDR(SPIC);
break;
case 'd':
Port = (SPI_t*)_SFR_IO_ADDR(SPID);
break;
case 'e':
Port = (SPI_t*)_SFR_IO_ADDR(SPIE);
break;
default:
Error("Illegal port");
return; // if no valid port, return
};
while(*string != 0)
{
Port->DATA = *string++;
if(!(Port->STATUS&(1<<7)))
while(!(Port->STATUS & (1<<7))); // wait for TX complete
Port->STATUS |= (1<<7); // clear TX interrupt flag
};
};
// -----------------------------------------------------------------------------
// init_channels
// -----------------------------------------------------------------------------
inline void init_channels() {
// hardcoded ports and pins
// use _SFR_IO_ADDR(PORTA) + 32 for ports
// and ~(1<<pinnumber) for pins
// servo.stop = base value - (x * 12MHz) / 22
// where x is the time you want added to 400us
SET(PORTD, PD5);
uint8_t i = 0;
for (i = 0; i < 8; ++i) {
servo_channels[i].servo.stopbytes[1] = eeprom_read_byte(i<<1);
servo_channels[i].servo.stopbytes[0] = eeprom_read_byte((i<<1) + 1);
// servo_channels[i].servo.stop = ((ASM1700HI<<8)|(ASM1700LO)) - MIDPULSE;
servo_channels[i].port = _SFR_IO_ADDR(PORTA) + 32;
servo_channels[i].pin = ~(1<<i);
}
for (i = 8; i < SERVO_AMOUNT; ++i) {
servo_channels[i].servo.stopbytes[1] = eeprom_read_byte(i<<1);
servo_channels[i].servo.stopbytes[0] = eeprom_read_byte((i<<1) + 1);
// servo_channels[i].servo.stop = ((ASM1700HI<<8)|(ASM1700LO)) - MIDPULSE;
servo_channels[i].port = _SFR_IO_ADDR(PORTC) + 32;
servo_channels[i].pin = ~(1<<(i - 6));
}
DDRA = 0xFF;
PORTA = 0x00;
DDRC |= (1<<PC2)|(1<<PC3)|(1<<PC4)|(1<<PC5);
PORTC &= ~((1<<PC2)|(1<<PC3)|(1<<PC4)|(1<<PC5));
// servo_channels[0].servo.stop = ((ASM1700HI<<8)|(ASM1700LO)) - 328;
CLR(PORTD, PD5);
// TODO add offsets per pin based on their pos in cycle
}
void DoSpiConfig(char port, unsigned int div)
{
SPI_t *Port;
switch(port)
{
case 'c':
Port = (SPI_t*)_SFR_IO_ADDR(SPIC);
PORTC.DIR |= (1<<4) | (1<<5) | (1<<7);
break;
case 'd':
Port = (SPI_t*)_SFR_IO_ADDR(SPID);
PORTD.DIR |= (1<<4) | (1<<5)| (1<<7);
break;
case 'e':
Port = (SPI_t*)_SFR_IO_ADDR(SPIE);
PORTE.DIR |= (1<<4) | (1<<5)| (1<<7);
break;
default:
Error("Illegal port");
return; // if no valid port, return
};
Port->CTRL = 0x50 | (div & 0x3);
};
ISR (WDT_vect, ISR_NAKED){ //will occur after 4 seconds of displaying the current number.
asm(
"sbi %0,%1 \n\t" //This operation won't affect SREG and will make a noticable change to the register
"reti \n\t" //return from interrupt
:
: "I" (_SFR_IO_ADDR(watchdogTimeout)), "I" (watchdogFlagBit)
);
}
void servoTest(void)
{
u08 pos;
u08 channel;
// do some examples
// initialize RC servo system
servoInit();
// setup servo output channel-to-I/Opin mapping
// format is servoSetChannelIO( CHANNEL#, PORT, PIN );
servoSetChannelIO(0, _SFR_IO_ADDR(PORTC), PC0);
servoSetChannelIO(1, _SFR_IO_ADDR(PORTC), PC1);
servoSetChannelIO(2, _SFR_IO_ADDR(PORTC), PC2);
servoSetChannelIO(3, _SFR_IO_ADDR(PORTC), PC3);
// set port pins to output
outb(DDRC, 0x0F);
pos = 0;
#define SPEED_SERVO 1
// spin servos sequentially back and forth between their limits
while(1)
{
for(channel=0; channel<SERVO_NUM_CHANNELS; channel++)
{
for(pos=0; pos<SERVO_POSITION_MAX; pos++)
{
servoSetPosition(channel,pos);
timerPause(SPEED_SERVO);
}
}
for(channel=0; channel<SERVO_NUM_CHANNELS; channel++)
{
for(pos=SERVO_POSITION_MAX; pos>=1; pos--)
{
servoSetPosition(channel,pos);
timerPause(SPEED_SERVO);
}
}
}
}
int DoOutput(char port, unsigned int pin, unsigned int val)
{
PORT_t *Port;
switch(port)
{
case 'a':
Port = (PORT_t*)_SFR_IO_ADDR(PORTA);
break;
case 'b':
Port = (PORT_t*)_SFR_IO_ADDR(PORTB);
break;
case 'c':
Port = (PORT_t*)_SFR_IO_ADDR(PORTC);
break;
case 'd':
Port = (PORT_t*)_SFR_IO_ADDR(PORTD);
break;
case 'e':
Port = (PORT_t*)_SFR_IO_ADDR(PORTE);
break;
case 'f':
Port = (PORT_t*)_SFR_IO_ADDR(PORTF);
break;
default:
return -1; // if no valid port, return
};
};
//! initializes software PWM system
void servoInit(void)
{
u08 channel;
// disble the timer1 output compare A interrupt
cbi(TIMSK, OCIE1A);
// set the prescaler for timer1
timer1SetPrescaler(TIMER_CLK_DIV256);
// attach the software PWM service routine to timer1 output compare A
timerAttach(TIMER1OUTCOMPAREA_INT, servoService);
// enable and clear channels
for(channel=0; channel<SERVO_NUM_CHANNELS; channel++)
{
// set minimum position as default
ServoChannels[channel].duty = SERVO_MIN;
// set default port and pins assignments
ServoChannels[channel].port = _SFR_IO_ADDR(SERVO_DEFAULT_PORT);
//ServoChannels[channel].port = (unsigned char)&SERVO_DEFAULT_PORT;
ServoChannels[channel].pin = (1<<channel);
// set channel pin to output
// THIS IS OBSOLETED BY THE DYNAMIC CHANNEL TO PORT,PIN ASSIGNMENTS
//outb(SERVODDR, inb(SERVODDR) | (1<<channel));
}
// set PosTics
ServoPosTics = 0;
// set PeriodTics
ServoPeriodTics = SERVO_MAX*9;
// set initial interrupt time
u16 OCValue;
// read in current value of output compare register OCR1A
OCValue = inb(OCR1AL); // read low byte of OCR1A
OCValue += inb(OCR1AH)<<8; // read high byte of OCR1A
// increment OCR1A value by nextTics
OCValue += ServoPeriodTics;
// set future output compare time to this new value
outb(OCR1AH, (OCValue>>8)); // write high byte
outb(OCR1AL, (OCValue & 0x00FF)); // write low byte
// enable the timer1 output compare A interrupt
sbi(TIMSK, OCIE1A);
}
int DoInput(char port, unsigned int pin)
{
PORT_t *Port;
switch(port)
{
case 'a':
Port = (PORT_t*)_SFR_IO_ADDR(PORTA);
break;
case 'b':
Port = (PORT_t*)_SFR_IO_ADDR(PORTB);
break;
case 'c':
Port = (PORT_t*)_SFR_IO_ADDR(PORTC);
break;
case 'd':
Port = (PORT_t*)_SFR_IO_ADDR(PORTD);
break;
case 'e':
Port = (PORT_t*)_SFR_IO_ADDR(PORTE);
break;
case 'f':
Port = (PORT_t*)_SFR_IO_ADDR(PORTF);
break;
default:
return -1; // if no valid port, return
};
if(pin > 7) { return -1; };
Port->DIR &= ~(1<<pin); // configure port as input
if(Port->IN & (1<<pin))
return 1;
else
return 0;
};
void shiftDmxOut(int pin, int theByte)
{
int port_to_output[] = {
NOT_A_PORT,
NOT_A_PORT,
_SFR_IO_ADDR(PORTB),
_SFR_IO_ADDR(PORTC),
_SFR_IO_ADDR(PORTD)
};
int portNumber = port_to_output[digitalPinToPort(pin)];
int pinMask = digitalPinToBitMask(pin);
// the first thing we do is to write te pin to high
// it will be the mark between bytes. It may be also
// high from before
_SFR_BYTE(_SFR_IO8(portNumber)) |= pinMask;
delayMicroseconds(10);
// disable interrupts, otherwise the timer 0 overflow interrupt that
// tracks milliseconds will make us delay longer than we want.
cli();
// DMX starts with a start-bit that must always be zero
_SFR_BYTE(_SFR_IO8(portNumber)) &= ~pinMask;
// we need a delay of 4us (then one bit is transfered)
// this seems more stable then using delayMicroseconds
asm("nop\n nop\n nop\n nop\n nop\n nop\n nop\n nop\n");
asm("nop\n nop\n nop\n nop\n nop\n nop\n nop\n nop\n");
asm("nop\n nop\n nop\n nop\n nop\n nop\n nop\n nop\n");
asm("nop\n nop\n nop\n nop\n nop\n nop\n nop\n nop\n");
asm("nop\n nop\n nop\n nop\n nop\n nop\n nop\n nop\n");
asm("nop\n nop\n nop\n nop\n nop\n nop\n nop\n nop\n");
for (int i = 0; i < 8; i++)
{
if (theByte & 01)
{
_SFR_BYTE(_SFR_IO8(portNumber)) |= pinMask;
}
else
{
_SFR_BYTE(_SFR_IO8(portNumber)) &= ~pinMask;
}
asm("nop\n nop\n nop\n nop\n nop\n nop\n nop\n nop\n");
asm("nop\n nop\n nop\n nop\n nop\n nop\n nop\n nop\n");
asm("nop\n nop\n nop\n nop\n nop\n nop\n nop\n nop\n");
asm("nop\n nop\n nop\n nop\n nop\n nop\n nop\n nop\n");
asm("nop\n nop\n nop\n nop\n nop\n nop\n nop\n nop\n");
asm("nop\n nop\n nop\n nop\n nop\n nop\n nop\n nop\n");
theByte >>= 1;
}
// the last thing we do is to write the pin to high
// it will be the mark between bytes. (this break is have to be between 8 us and 1 sec)
_SFR_BYTE(_SFR_IO8(portNumber)) |= pinMask;
// reenable interrupts.
sei();
}
constexpr RegisterConfig(volatile uint8_t ®, const uint8_t value) :
_u8RegNr{static_cast<uint8_t>(_SFR_IO_ADDR(reg))}, _u8RegValue{value} {}
void DoUsartTx(char port, unsigned int num, char *string)
{
USART_t *Port;
if(num==0)
{
switch(port)
{
case 'c':
Port = (USART_t*)_SFR_IO_ADDR(USARTC0);
PORTC.DIR |= (1<<3);
break;
case 'd':
Port = (USART_t*)_SFR_IO_ADDR(USARTD0);
PORTD.DIR |= (1<<3);
break;
case 'e':
Port = (USART_t*)_SFR_IO_ADDR(USARTE0);
PORTE.DIR |= (1<<3);
break;
case 'f':
Port = (USART_t*)_SFR_IO_ADDR(USARTF0);
PORTF.DIR |= (1<<3);
break;
default:
Error("Illegal port");
return; // if no valid port, return
};
}
else if(num==1)
{
switch(port)
{
case 'c':
Port = (USART_t*)_SFR_IO_ADDR(USARTC1);
PORTC.DIR |= (1<<7);
break;
case 'd':
Port = (USART_t*)_SFR_IO_ADDR(USARTD1);
PORTD.DIR |= (1<<7);
break;
case 'e':
Port = (USART_t*)_SFR_IO_ADDR(USARTE1);
PORTE.DIR |= (1<<7);
break;
case 'f':
Port = (USART_t*)_SFR_IO_ADDR(USARTF1);
PORTF.DIR |= (1<<7);
break;
default:
Error("Illegal port");
return; // if no valid port, return
};
}
else
{
Error("Illegal port num");
return;
};
while(*string != 0)
{
Port->DATA = *string++;
if(!(Port->STATUS&USART_DREIF_bm))
while(!(Port->STATUS & USART_TXCIF_bm)); // wait for TX complete
Port->STATUS |= USART_TXCIF_bm; // clear TX interrupt flag
};
};
// PD6 12| |17 PB3
// PD7 13| |16 PB2
// PB0 14| |15 PB1
// +----+
#define NUM_PINS 28
#define NUM_PORTS 4
#define PB 2
#define PC 3
#define PD 4
int port_to_mode[NUM_PORTS + 1] = {
NOT_A_PORT,
NOT_A_PORT,
_SFR_IO_ADDR(DDRB),
_SFR_IO_ADDR(DDRC),
_SFR_IO_ADDR(DDRD),
};
int port_to_output[NUM_PORTS + 1] = {
NOT_A_PORT,
NOT_A_PORT,
_SFR_IO_ADDR(PORTB),
_SFR_IO_ADDR(PORTC),
_SFR_IO_ADDR(PORTD),
};
int port_to_input[NUM_PORTS + 1] = {
NOT_A_PORT,
NOT_A_PORT,
