static void initISR(timer16_Sequence_t timer)
{
#if defined (_useTimer1)
if(timer == _timer1) {
TCCR1A = 0; // normal counting mode
TCCR1B = _BV(CS11); // set prescaler of 8
TCNT1 = 0; // clear the timer count
#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
TIFR |= _BV(OCF1A); // clear any pending interrupts;
TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt
#else
// here if not ATmega8 or ATmega128
TIFR1 |= _BV(OCF1A); // clear any pending interrupts;
TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt
#endif
#if defined(WIRING)
timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
#endif
}
#endif
#if defined (_useTimer3)
if(timer == _timer3) {
TCCR3A = 0; // normal counting mode
TCCR3B = _BV(CS31); // set prescaler of 8
TCNT3 = 0; // clear the timer count
#if defined(__AVR_ATmega128__)
TIFR |= _BV(OCF3A); // clear any pending interrupts;
ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt
#else
TIFR3 = _BV(OCF3A); // clear any pending interrupts;
TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt
#endif
#if defined(WIRING)
timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only
#endif
}
#endif
#if defined (_useTimer4)
if(timer == _timer4) {
TCCR4A = 0; // normal counting mode
TCCR4B = _BV(CS41); // set prescaler of 8
TCNT4 = 0; // clear the timer count
TIFR4 = _BV(OCF4A); // clear any pending interrupts;
TIMSK4 = _BV(OCIE4A) ; // enable the output compare interrupt
}
#endif
#if defined (_useTimer5)
if(timer == _timer5) {
TCCR5A = 0; // normal counting mode
TCCR5B = _BV(CS51); // set prescaler of 8
TCNT5 = 0; // clear the timer count
TIFR5 = _BV(OCF5A); // clear any pending interrupts;
TIMSK5 = _BV(OCIE5A) ; // enable the output compare interrupt
}
#endif
}
//! enable and initialize the software uart
void uartswInit(void)
{
// initialize the buffers
uartswInitBuffers();
// initialize the ports
sbi(UARTSW_TX_DDR, UARTSW_TX_PIN);
cbi(UARTSW_RX_DDR, UARTSW_RX_PIN);
cbi(UARTSW_RX_PORT, UARTSW_RX_PIN);
// initialize baud rate
uartswSetBaudRate(9600);
// setup the transmitter
UartswTxBusy = FALSE;
// disable OC2 interrupt
cbi(TIMSK, OCIE2);
// attach TxBit service routine to OC2
timerAttach(TIMER2OUTCOMPARE_INT, uartswTxBitService);
// setup the receiver
UartswRxBusy = FALSE;
// disable OC0 interrupt
cbi(TIMSK, OCIE0);
// attach RxBit service routine to OC0
timerAttach(TIMER0OUTCOMPARE_INT, uartswRxBitService);
// INT2 trigger on rising edge
sbi(EICRA, ISC20);
// enable INT2 interrupt
sbi(EIMSK, INT2);
// turn on interrupts
sei();
}
//! enable and initialize the software uart
void uartswInit(void)
{
// initialize the buffers
uartswInitBuffers();
// initialize the ports
sbi(UARTSW_TX_DDR, UARTSW_TX_PIN);
cbi(UARTSW_RX_DDR, UARTSW_RX_PIN);
cbi(UARTSW_RX_PORT, UARTSW_RX_PIN);
// initialize baud rate
uartswSetBaudRate(9600);
// setup the transmitter
UartswTxBusy = FALSE;
// disable OC1A interrupt
cbi(TIMSK, OCIE1A);
// attach TxBit service routine to OC1A
timerAttach(TIMER1OUTCOMPAREA_INT, uartswTxBitService);
// setup the receiver
UartswRxBusy = FALSE;
// disable OC1B interrupt
cbi(TIMSK, OCIE1B);
// attach RxBit service routine to OC1B
timerAttach(TIMER1OUTCOMPAREB_INT, uartswRxBitService);
// attach RxBit service routine to ICP
timerAttach(TIMER1INPUTCAPTURE_INT, uartswRxBitService);
// trigger on rising edge
sbi(TCCR1B, ICES1);
// enable ICP interrupt
sbi(TIMSK, TICIE1);
// turn on interrupts
sei();
}
void Servo253::start()
{
//digitalWrite(48, HIGH);
timer2Init();
// disble timer2 output compare interrupt
TIMSK &= ~_BV(OCIE2);
// set the prescaler for timer2
timer2SetPrescaler(TIMER_CLK_DIV1024);
//timer2SetPrescaler(TIMER_CLK_DIV256);
// attach the software PWM service routine to timer2 output compare
timerAttach(TIMER2OUTCOMPARE_INT, service);
///TIMER2_OVF_vect
// update output compare register
OCR2 += SERVO_PERIOD;
// enable the timer2 output compare interrupt
TIMSK |= _BV(OCIE2);
// reset position ticks
_positionTicks = 0;
// reset current servo
_current = -1;
}
void spyglassTest(void)
{
// initializing Spyglass interface and I2C bus
rprintf("Initializing Spyglass communication...");
spyglassInit();
spyglassLcdInit();
rprintf("Done!\r\n");
rprintf("Printing 'Hello World!' message to spyglass LCD.\r\n");
rprintfInit(spyglassLcdWriteChar);
spyglassLcdGotoXY(0,0);
rprintfProgStrM("Hello World!");
rprintfInit(uartSendByte);
timerPause(1000);
// initialize systick timer
rprintf("Initializing Periodic Timer\r\n");
timer2SetPrescaler(TIMERRTC_CLK_DIV1024);
// attach the 'systickHandler' so that it gets called every time Timer2 overflows
timerAttach(TIMER2OVERFLOW_INT, systickHandler);
rprintf("Starting local command prompt. Type '?' to get help.\r\n");
rprintf("cmd>");
while(1)
{
serviceLocal();
}
}
// enable and initialize the software uart
void uartswInit(void)
{
// initialize the buffers
uartswInitBuffers();
// initialize the ports
sbi(UARTSW_TX_DDR, UARTSW_TX_PIN);
#ifdef UARTSW_INVERT
cbi(UARTSW_TX_PORT, UARTSW_TX_PIN);
#else
sbi(UARTSW_TX_PORT, UARTSW_TX_PIN);
#endif
cbi(UARTSW_RX_DDR, UARTSW_RX_PIN);
#ifdef UARTSW_INVERT
cbi(UARTSW_RX_PORT, UARTSW_RX_PIN);
#else
sbi(UARTSW_RX_PORT, UARTSW_RX_PIN);
#endif
// initialize baud rate
uartswSetBaudRate(9600);
// setup the transmitter
UartswTxBusy = FALSE;
// disable OC0A interrupt
cbi(TIMSK0, OCIE0A);
// attach TxBit service routine to OC0A
timerAttach(TIMER0OUTCOMPAREA_INT, uartswTxBitService);
// setup the receiver
UartswRxBusy = FALSE;
// disable 0C0B interrupt
cbi(TIMSK0, OCIE0B);
// attach RxBit service routine to OC0B
timerAttach(TIMER0OUTCOMPAREB_INT, uartswRxBitService);
// INT1 trigger on rising/falling edge
#ifdef UARTSW_INVERT
sbi(EICRA, ISC11);
sbi(EICRA, ISC10);
#else
sbi(EICRA, ISC11);
cbi(EICRA, ISC10);
#endif
// enable INT1 interrupt
sbi(EIMSK, INT1);
// turn on interrupts
sei();
}
//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 systemTimeInit(void)
{
cli();
milliseconds = 0;
timer3Init();
timer3SetMode(TIMER_MODE_CTC_OCR);
timer3SetOutputModeA(TIMER_OUTMODE_TOGGLE);
timer3SetCompareValueA(249);
timerAttach(TIMER3OUTCOMPAREA_INT, systemTimeMillisecondsTick);
sei();
}
void pulseT1Init(void)
{
// try to make sure that timer1 is in "normal" mode
// most importantly, turn off PWM mode
timer1PWMOff();
// set some reasonable initial values
// in case the user forgets to
PulseT1AMode = 0;
PulseT1BMode = 0;
PulseT1ACount = 0;
PulseT1BCount = 0;
PulseT1APeriodTics = 0x8000;
PulseT1BPeriodTics = 0x8000;
// attach the pulse service routines to
// the timer 1 output compare A and B interrupts
timerAttach(TIMER1OUTCOMPAREA_INT,pulseT1AService);
timerAttach(TIMER1OUTCOMPAREB_INT,pulseT1BService);
}
//! enable and initialize the software uart
void uartswInit(void)
{
// initialize the buffers
uartswInitBuffers();
// initialize the ports
sbi(UARTSW_TX_DDR, UARTSW_TX_PIN);
#ifdef UARTSW_INVERT
cbi(UARTSW_TX_PORT, UARTSW_TX_PIN);
#else
sbi(UARTSW_TX_PORT, UARTSW_TX_PIN);
#endif
cbi(UARTSW_RX_DDR, UARTSW_RX_PIN);
cbi(UARTSW_RX_PORT, UARTSW_RX_PIN);
// initialize baud rate
uartswSetBaudRate(9600);
// setup the transmitter
UartswTxBusy = FALSE;
// disable OC2 interrupt
cbi(TIMSK0, OCIE2A);
// attach TxBit service routine to OC2
timerAttach(TIMER2OUTCOMPARE_INT, uartswTxBitService);
// setup the receiver
UartswRxBusy = FALSE;
// disable OC0 interrupt
cbi(TIMSK0, OCIE0A);
// attach RxBit service routine to OC0
timerAttach(OCIE0A, uartswRxBitService);
// INT2 trigger on rising/falling edge
#ifdef UARTSW_INVERT
sbi(MCUCR, ISC11); // rising edge
#else
cbi(MCUCR, ISC11); // falling edge
#endif
// enable INT2 interrupt
sbi(PCMSK0, PCINT2);
// turn on interrupts
sei();
}
void rtcInit(void)
{
// set up timer for RTC operation
// initialize real-time registers
RtcTime.totaltics = 0;
RtcTime.tics = 0;
RtcTime.seconds = 0;
RtcTime.minutes = 0;
RtcTime.hours = 0;
RtcTime.day = 1;
RtcTime.month = 1;
RtcTime.year = 2000;
// select the correct RTC timer based on bit defines
#ifdef AS2
// use timer2 for most AVRs
// initialize timer 2
timer2Init();
// count with 32.768KHz/8
timer2SetPrescaler(TIMER_CLK_DIV8);
// switch to asynchronous input (32KHz crystal)
sbi(ASSR, AS2);
// attach service to real-time clock interrupt
// rtcService() will be called at ((32768/8)/256) = 16Hz
timerAttach(TIMER2OVERFLOW_INT, rtcService);
#else
#ifdef AS0
// use timer0 for ATmega103, ATmega128
// initialize timer 0
timer0Init();
// count with 32.768KHz/8
timer0SetPrescaler(TIMER_CLK_DIV8);
// switch to asynchronous input (32KHz crystal)
sbi(ASSR, AS0);
// attach service to real-time clock interrupt
// rtcService() will be called at ((32768/8)/256) = 16Hz
timerAttach(TIMER0OVERFLOW_INT, rtcService);
#endif
#endif
}
u08 schedInit()
{
u08 cnt;
timerAttach(TIMER1OVERFLOW_INT, schedService);
schedTicks = 0;
for (cnt = 0 ; cnt < MAX_SIGNALS ; cnt++)
{
signal[cnt] = 0;
}
return 0;
}
void
kbd_init(void)
{
kbd_state = IDLE_START;
kbd_flags = FLA_CLOCK_HIGH | FLA_TX_OK;
clockHigh();
dataHigh();
timer2Init();
timer2SetPrescaler(TIMER_CLK_DIV8);
timerAttach(TIMER2OVERFLOW_INT, timerAction);
timer2IntEnable();
outp(COUNT_UP, TCNT2); /* value counts up from this to zero */
}
//! 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 main(void)
{
struct netEthAddr myEthAddress;
timerInit();
uartInit();
uartSetBaudRate(9600);
rprintfInit(uartSendByte);
timerPause(100);
rprintf("\r\nNetwork Stack Example\r\n");
// initialize systick timer
rprintf("Initializing Periodic Timer\r\n");
timer2SetPrescaler(TIMER_CLK_DIV1024);
timerAttach(TIMER2OVERFLOW_INT, systickHandler);
// init network stack
rprintf("Initializing Network Stack\r\n");
netstackInit(IPADDRESS, NETMASK, GATEWAY);
nicGetMacAddress(&myEthAddress.addr[0]);
rprintfProgStrM("Eth Addr is: "); netPrintEthAddr(&myEthAddress); rprintfCRLF();
rprintfProgStrM("IP Addr is: "); netPrintIPAddr(ipGetConfig()->ip); rprintfCRLF();
rprintf("Network Stack is up!\r\n");
rprintf("Starting packet receive loop\r\n");
while (1)
{
// service local stuff
serviceLocal();
// service the network
netstackService();
}
return 0;
}
static void avr_init(void)
// Initializes AVR controller
{
MAX6675S_DDR |= BV(MAX6675_CSPIN); // setup direction for CS pin
DISABLE_6675; // Set CS = high for MAX6675
initZerocross(); // init ext Int0
initTriac(); // init Triac pin & direction
#ifdef REG_PID
// initPID(&PID_data, 1, 0, 10, 10, -10);
//void pid_Init(int16_t p_factor, int16_t i_factor, int16_t d_factor, struct PID_DATA *pid);
pid_Init(P_FACTOR, I_FACTOR, D_FACTOR, &PID_data);
#endif
#ifdef REG_PD
initPD(&PD_data, 800, 1000);
#endif
//attach functions to timer interrupts
timerAttach(TIMER0OVERFLOW_INT, sample);
timerAttach(TIMER2OUTCOMPAREA_INT, stopTriac);
timerAttach(TIMER1OUTCOMPAREA_INT, fireTriac);
//enable output compare for timers
sbi(TIMSK0, TOIE0);
sbi(TIMSK1, OCIE1A);
sbi(TIMSK2, OCIE2A);
//set OCR values.
// OCR0A = PHASE_ANGLE_LIMIT_HIGH; //firing angle of triac
OCR2A = 1; //length of firing pulse
OCR1A = PHASE_ANGLE_LIMIT_HIGH; //temperature sample frequency
timer0SetPrescaler(TIMER_CLK_DIV1024); //start temp. sampling
/***************************************
* Timer0 runs at 24Mhz/1024 =
*
*
*
***************************************/
#ifndef DEBUG_SIM
#ifdef DEBUG_SER
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(57600);
// make all rprintf statements use uart for output
rprintfInit(uartSendByte);
// print a little intro message so we know things are working
rprintf("Reflow!\r\n");
// vt100SetCursorMode(1);
// vt100SetAttr(VT100_BLINK_OFF);
// vt100SetAttr(VT100_USCORE_OFF);
// vt100SetAttr(VT100_REVERSE);
//vt100ClearScreen();
// start command line
// goCmdline();
#endif
// initialize SPI interface
spiInit();
#endif
// SET_HALF_PHASE;
// SET_SKIP_PHASE;
// skips = 15;
//enable interrupts
sei();
return;
}
void initCustomMacro(void){
timer2Init();
timerAttach(TIMER2OVERFLOW_INT, timerActionCustomMacro);
stopTimerCustomMacro();
}
