void led_wave_on(LED_BLOCK block)
{
switch(block)
{
case LED_PIN_ESC:
timer3PWMCOn();
break;
case LED_PIN_Fx:
timer3PWMAOn();
break;
case LED_PIN_PAD:
timer0PWMOn();
#ifdef KBDMOD_M5
if(!isLED3000)
timer1PWMAOn();
#endif
break;
case LED_PIN_BASE:
timer3PWMBOn();
break;
case LED_PIN_WASD:
timer1PWMCOn();
break;
case LED_PIN_ARROW18:
timer1PWMBOn();
#ifdef KBDMOD_M5
if(isLED3000)
timer1PWMAOn();
#endif
break;
case LED_PIN_VESEL:
timer1PWMAOn();
break;
case LED_PIN_ALL:
timer3PWMCOn();
timer3PWMAOn();
timer3PWMBOn();
timer1PWMCOn();
timer1PWMBOn();
timer1PWMAOn();
timer0PWMOn();
break;
default:
break;
}
}
void init_motors()
{
//off
cbi(PORTD, 4); //motor off
cbi(PORTD, 5); //motor off
cbi(PORTD, 7); //motor off
cbi(PORTB, 3); //motor off
sbi(DDRD, 4); //motor outs
sbi(DDRD, 5); //motor outs
sbi(DDRD, 7); //motor outs
sbi(DDRB, 3); //motor outs
timerInit();
cbi(TIMSK, TOIE0); // disable timer 0 overflow interrupt
cbi(TIMSK, TOIE1); // disable timer 1 overflow interrupt
cbi(TIMSK, TOIE2); // disable timer 2 overflow interrupt
timer0SetPrescaler(TIMER_CLK_DIV1);
timer1SetPrescaler(TIMER_CLK_DIV1);
timer2SetPrescaler(TIMER_CLK_DIV1);
// setup PWM timer 0
OCR0 = 0; // duty cycle 0%
// enable timer0 as PWM phase correct, todo: use fast pwm
sbi(TCCR0,WGM00);
cbi(TCCR0,WGM01);
// turn on channel (OC0) PWM output
// set OC0 as non-inverted PWM
cbi(TCCR0,COM00);
sbi(TCCR0,COM01);
// setup timer 1A/B
timer1PWMInit(8); // pwm 8 bit
timer1PWMASet(0); // duty cycle 0%
timer1PWMBSet(0); // duty cycle 0%
timer1PWMAOn();
timer1PWMBOn();
//setup PWM timer 2
OCR2 = 0; // duty cycle 0%
// enable timer2 as PWM phase correct, todo: use fast pwm
sbi(TCCR2,WGM20);
cbi(TCCR2,WGM21);
// turn on channel (OC0) PWM output
// set OC0 as non-inverted PWM
cbi(TCCR2,COM20);
sbi(TCCR2,COM21);
// enable timer interrupt
sbi(TIMSK, TOIE0); //enable timer 0 overflow interrupt
}
void init(void)
{
// Initialize Timer
timerInit();
// Initialize LCD
lcdInit();
ourLcdControlWrite(1<<LCD_ON_CTRL | 1<<LCD_ON_DISPLAY);
// Initialize UART
uartInit();
uartSetBaudRate(CMU_BAUD);
uartSetRxHandler(packetRcv);
rprintfInit(uartSendByte);
// Initialize PWM
outb(DDRD, 0xFF); // set all port D pins to output
timer1PWMInit(8);
timer1PWMAOn();
timer1PWMBOn();
// Initialize Servos
servoInit();
// Initialize CMU
lcdWriteStr("CMUcam2 init", 0, 0);
cmuInit();
}
void init(void)
{
//Make outputs low
cbi(PWM_PORT, PWM_BIT);
cbi(SD_PORT, PWM_BIT);
//Make outputs outputs
sbi(PWM_DDR, PWM_BIT);
//Pull-up swithces
sbi(ESTOP_PORT, ESTOP_BIT);
sbi(BRAKE_PORT, BRAKE_BIT);
//RGB Outputs
sbi(RGB_DDR, RED);
sbi(RGB_DDR, GREEN);
sbi(RGB_DDR, BLUE);
//RGB Off
sbi(RGB_PORT, RED);
sbi(RGB_PORT, GREEN);
sbi(RGB_PORT, BLUE);
//Initialise the ADC
a2dInit();
//Initialise timer 1
timer1Init();
timer1SetPrescaler(TIMER_CLK_DIV1);
timer1PWMInitICR(TOP_COUNT); //Enable PWM with top count
timer1PWMAOn(); //Turn PWM on
rgb(green);
sei(); //Enable interupts
}