// initilize pin modes and values in constructor
TLC5940::TLC5940(void) {
// set control pins to outputs and initial values
// gsclk
DDR_GSCLK |= (1 << GSCLK_PIN);
PORT_GSCLK &= ~(1 << GSCLK_PIN);
// sclk
DDR_SCLK |= (1 << SCLK_PIN);
PORT_SCLK &= ~(1 << SCLK_PIN);
// dcprg
DDR_DCPRG |= (1 << DCPRG_PIN);
PORT_DCPRG &= ~(1 << DCPRG_PIN);
// vprg
DDR_VPRG |= (1 << VPRG_PIN);
PORT_VPRG |= (1 << VPRG_PIN);
// xlat
DDR_XLAT |= (1 << XLAT_PIN);
PORT_XLAT &= ~(1 << XLAT_PIN);
// blank
DDR_BLANK |= (1 << BLANK_PIN);
PORT_BLANK |= (1 << BLANK_PIN);
// serial data master out slave in
DDR_MOSI |= (1 << MOSI_PIN);
PORT_MOSI &= ~(1 << MOSI_PIN);
// initialize variables at all leds off for safety
for (uint8_t i=0; i<(16 * TLC5940_N); i++) {
setDC(i, 0);
}
for (uint8_t i=0; i<(16 * TLC5940_N); i++) {
setGS(i, 0);
}
gsFirstCycle = false;
}
void tr_pid(int32_t uleft,int32_t uright, uint8_t dutyref)
{
int32_t mDC[4];
mDC[0] = dutyref + uleft;
mDC[1] = dutyref - uright;
mDC[2] = dutyref - uleft;
mDC[3] = dutyref + uright;
control_effort_limit(mDC);
setDC(mDC);
}
void rev_pid(int32_t ufwd,int32_t uback, uint8_t dutyref)
{
int32_t mDC[4];
mDC[0] = dutyref + ufwd;
mDC[1] = dutyref - ufwd;
mDC[2] = dutyref - uback;
mDC[3] = dutyref + uback;
control_effort_limit(mDC);
setDC(mDC);
}
// give the variables some default values
TLC5940::TLC5940(void) {
// initialize variables at all leds off for safety and dot correction to full brightness
for (uint8_t i=0; i<(16 * TLC5940_N); i++) {
setDC(i, 63);
}
for (uint8_t i=0; i<(16 * TLC5940_N); i++) {
setGS(i, 0);
}
newData = false;
}
void setWaveform(int numSamples, int mode, uint8 *currentWaveform)
{
switch (mode) {
case SQUARE:
setSquare(numSamples, currentWaveform);
break;
case SINE:
setSine(numSamples, currentWaveform);
break;
case TRIANGLE:
setTriangle(numSamples, currentWaveform);
break;
case SAWTOOTH:
setSawtooth(numSamples, currentWaveform);
break;
case DC:
setDC(numSamples, currentWaveform);
break;
}
}
