int main(void){
// 12 PB0 LASER_R ---- NICHT MEHR ----
// 11 PD7 LASER (Laser)
// 10 PD6 HAPTIK OC0A Timer0 8 Bit (Haptik)
// 9 PD5 LED_FRONT_B OC0B Timer0 8 Bit
// 13 PB1 IR_CLOCK_- OC1A Timer1 16 Bit
// 14 PB2 LED_FRONT_G OC1B Timer1 16 Bit
// 15 PB3 LED_FRONT_R OC2A Timer2 8 Bit
// 1 PD3 LED_FRONT_W OC2B Timer2 8 Bit
// 24 PC1 LDR ADC1
// 25 PC2 V_BATT ADC2
// 2 PD4 BUTTON_3
// 7 PB6 BUTTON_2
// 8 PB7 BUTTON_1
// 12 PB0 ONOFF
cli();
//set pins
DDRB |= (1 << DDB1) | (1 << DDB2) | (1 << DDB3); //OUTPUT
DDRD |= (1 << DDD3) | (1 << DDD5) | (1 << DDD6) | (1 << DDD7); //OUTPUT
DDRB &= ~(1 << PB6) & ~(1 << PB7); //INPUT
PORTB |= (1 << PB6) | (1 << PB7); //input pullup
DDRD &= ~(1 << PD4); //INPUT
PORTD |= (1 << PD4); //input pullup
//ausschalten
//DDRB |= (1 << DDB0); //OUTPUT
//PORTB &= ~(1 << DDB0); //LOW
//init Timers for PWM:
//https://sites.google.com/site/qeewiki/books/avr-guide/pwm-on-the-atmega328
//WGM* s157: fast pwm without ctc
//CS* s158: _BV(CS20) = prescaler 1 (gilt für a und b)
//PWM_fequency = clock_speed / [Prescaller_value * (1 + TOP_Value) ] = 8000000/(1*(1+210)) = 37.915 kHz
//Timer 0: Mode 3: Fast PWM, TOP: 0xFF, Update of OCRx: Bottom, TOV1 Flag set on: TOP, Prescaler: 1, Set OC0x on Compare Match
TCCR0A = _BV(COM0B0) | _BV(COM0A0) | _BV(COM0B1) | _BV(COM0A1) | _BV(WGM00) | _BV(WGM01);
TCCR0B = _BV(CS00);
//TIMSK0 |= (1<<TOIE0); //Overflow Interrupt for count millis
//Timer 2: Mode 3: Fast PWM, TOP: 0xFF, Update of OCRx: Bottom, TOV1 Flag set on: TOP, Prescaler: 1, Set OC2x on Compare Match
TCCR2A = _BV(COM2B0) | _BV(COM2A0) | _BV(COM2B1) | _BV(COM2A1) | _BV(WGM20) | _BV(WGM21);
TCCR2B = _BV(CS20);
//Timer 1: Mode 14: Fast PWM, inverting mode, Top: ICR1, Update of OCR1x: Bottom, TOV1 Flag set on: TOP, Prescaler: 1
//https://docs.google.com/spreadsheets/d/1HadMDsU0MGo1LXUr1gKNFrfe4wX_Bq9kbVIwOvD3chk
TCCR1A = _BV(COM1B0) | _BV(COM1A0) | _BV(COM1B1) | _BV(COM1A1) | _BV(WGM11);
TCCR1B = _BV(CS10) | _BV(WGM12) | _BV(WGM13);
//IR carrier frequency to 37.915 kHz:
ICR1 = 210;
//IR carrier frequency duty cycle to 50%:
IR_CLOCK_DUTY_CYCLE = ICR1-ICR1/2;
//switch off all light
LED_FRONT_R=255;
LED_FRONT_G=ICR1;
LED_FRONT_B=255;
LED_FRONT_W=255;
HAPTIK=255; //haptik
//PORTB |= (1 << PB0); //an
//i2c init
init_twi_slave(I2C_BUS_ADRESS<<1);
//UART init
UBRR0H = UBRR_VAL >> 8;
UBRR0L = UBRR_VAL & 0xFF;
UCSR0B |= _BV(TXEN0) | _BV(RXEN0) | _BV(RXCIE0); //UART RX, TX und RX-Interrupt einschalten
UCSR0C = (1<<UCSZ01) | (1<<UCSZ00); //Asynchron 8N1
sei(); // enable Interrupts global
uint32_t laser_duration_counter=0;
uint32_t vibrate_duration_counter=0;
uint32_t muzzle_flash_duration_counter=0;
uint32_t muzzle_flash_duration_counter_max=0; //fürs ausfaden
uint16_t ir_delay=0;
uint8_t ir_count=255;
// return links*256 + rechts
uint16_t battt = 12345;
misc_buffer.v_bat_l = battt>>8;
misc_buffer.v_bat_r = battt;
while(1){
/* // ---------------- blinken + buttons (gedrueckt halten) + ir shoot ----------------
LED_FRONT_R = 255-1-taster(&PINB, BUTTON_1)*100;
LED_FRONT_G = ICR1-map8(2, 0, 255, 0, ICR1); //0 bis ICR1
LED_FRONT_B = 255-1-taster(&PINB, BUTTON_2)*100;
LED_FRONT_W = 255-1-taster(&PIND, BUTTON_3)*100;
laser(1); //laser
HAPTIK = 255-50; //haptik
_delay_ms(255);
_delay_ms(255);
_delay_ms(255);
LED_FRONT_R = 255-0;
LED_FRONT_G = ICR1-map8(0, 0, 255, 0, ICR1); //0 bis ICR1
LED_FRONT_B = 255-0;
LED_FRONT_W = 255-0;
laser(0); //laser
HAPTIK = 255-0; //haptik
_delay_ms(255);
_delay_ms(255);
_delay_ms(255);
shoot_buffer.playerid = 42;
shoot_buffer.damage = 123;
shoot_buffer.enable = 1;
uint8_t array[] = {shoot_buffer.playerid, shoot_buffer.damage};
USART_Transmit(shoot_buffer.playerid); //IR_TX: PlayerID
USART_Transmit(shoot_buffer.damage); //IR_TX: Schaden
USART_Transmit(crc8(array, 2)); //IR_TX: crc8 checksum
*/
// ---------------- pew ----------------
uint8_t brightness = 80;
if(taster(&PINB, BUTTON_1)){
if(taster(&PINB, BUTTON_2) && !taster(&PIND, BUTTON_3)){
LED_FRONT_R = 255-brightness;
LED_FRONT_G = ICR1-map8(0, 0, 255, 0, ICR1);
LED_FRONT_B = 255-0;
LED_FRONT_W = 255-0;
_delay_ms(20);
laser(1);
}else if(!taster(&PINB, BUTTON_2) && taster(&PIND, BUTTON_3)){
LED_FRONT_R = 255-0;
LED_FRONT_G = ICR1-map8(brightness, 0, 255, 0, ICR1);
LED_FRONT_B = 255-0;
LED_FRONT_W = 255-0;
_delay_ms(20);
laser(1);
}else if(taster(&PINB, BUTTON_2) && taster(&PIND, BUTTON_3)){
LED_FRONT_R = 255-brightness;
LED_FRONT_G = ICR1-map8(brightness, 0, 255, 0, ICR1);
LED_FRONT_B = 255-brightness;
LED_FRONT_W = 255-brightness;
_delay_ms(20);
laser(1);
}else{
LED_FRONT_R = 255-0;
LED_FRONT_G = ICR1-map8(0, 0, 255, 0, ICR1);
LED_FRONT_B = 255-brightness;
LED_FRONT_W = 255-0;
_delay_ms(20);
laser(1);
}
_delay_ms(30);
LED_FRONT_R = 255-0;
LED_FRONT_G = ICR1-map8(0, 0, 255, 0, ICR1);
LED_FRONT_B = 255-0;
LED_FRONT_W = 255-0;
_delay_ms(200);
laser(0);
_delay_ms(255);
}
/* // ---- buttons ----
laser_buffer.laser = taster(&PINB, BUTTON_1);
led_front_buffer.r = taster(&PINB, BUTTON_2)*255;
led_front_buffer.b = taster(&PIND, BUTTON_3)*255;
*/
}
}
int main(int argc, char** argv) {
init();
taster();
return (EXIT_SUCCESS);
}
