void uartswSetBaudRate(u32 baudrate)
{
// set timer prescaler
timer1SetPrescaler(TIMER_CLK_DIV1);
// calculate division factor for requested baud rate, and set it
UartswBaudRateDiv = (u16)((F_CPU+(baudrate/2L))/(baudrate*1L));
}
//Main für LCD-Test
int main(void)
{
//u08 a=0;
// initialize our libraries
// initialize the UART (serial port)
// uartInit();
// make all rprintf statements use uart for output
// rprintfInit(uartSendByte);
// turn on and initialize A/D converter
//a2dInit();
// initialize the timer system
timerInit();
// print a little intro message so we know things are working
// rprintf("\r\nWelcome to AVRlib!\r\n");
timer1SetPrescaler(4);
timerAttach(TIMER1OVERFLOW_INT, lcdPrepare);
// initialize LCD
//lcdInit();
// direct printf output to LCD
// rprintfInit(lcdDataWrite);
// print message on LCD
//rprintf("Welcome to AVRlib!");
//DDRC = 0x00;
//PORTC = 0x00;
// display a bargraph of the analog voltages on a2d channels 0,1
while(1)
{
// lcdGotoXY(0,0);
// lcdProgressBar(a2dConvert8bit(0), 255, 20);
// rprintf(" X: %d", a2dConvert8bit(0));
// rprintf(" Sample: %d", a++);
// lcdGotoXY(0,1);
// lcdProgressBar(a2dConvert8bit(1), 255, 20);
// rprintf(" Y: %d", a2dConvert8bit(1));
if(lcdPrepared){
lcdClear();
lcdGotoXY(0,0);
rprintf("0. Zeile");
lcdGotoXY(1,1);
rprintf("1. Zeile %d",'ü');
lcdGotoXY(2,2);
rprintf("2. Zeile");
lcdGotoXY(3,3);
rprintf("3. Zeile");
}
}
return 0;
}
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
}
//! 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);
}
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
}
