static void enable_output(const channel_def_t* channel, int freq)
{
if (channel->externally_driven)
{
uint32_t clock = sysclk_get_peripheral_bus_hz(channel->ex.timer) / 32; // clock source is PB / 32
uint32_t rc = clock / freq;
// check for over/underflow
if (rc > 0xffff) rc = 0xffff;
else if (rc < 8) rc = 8;
// set up RA, RB, and RC. always use 50% duty cycle (RA = RB = RC/2)
tc_write_ra(channel->ex.timer, channel->ex.channel, (uint16_t)rc / 2);
tc_write_rb(channel->ex.timer, channel->ex.channel, (uint16_t)rc / 2);
tc_write_rc(channel->ex.timer, channel->ex.channel, (uint16_t)rc);
tc_start(channel->ex.timer, channel->ex.channel);
}
else if (channel->in.active_level)
{
gpio_set_pin_high(channel->in.pin1);
}
else
{
gpio_set_pin_low(channel->in.pin1);
}
}
/**
* \brief Measure touch sensors and do appropriate action
*/
void touch_handler(void)
{
uint16_t qt_measurement_status;
if (time_to_measure_touch) {
time_to_measure_touch = false;
do {
qt_measurement_status =
qt_measure_sensors(current_time_ms);
#ifdef _DEBUG_INTERFACE_
QDebug_SendData(qt_measurement_status);
#endif
} while (qt_measurement_status & QTLIB_BURST_AGAIN);
#ifdef _DEBUG_INTERFACE_
QDebug_ProcessCommands();
#endif
if (qt_measure_data.qt_touch_status.sensor_states[0] & 0x01) {
LED_On(LED1);
}
else {
LED_Off(LED1);
}
if (qt_measure_data.qt_touch_status.sensor_states[0] & 0x02) {
uint8_t slider_pos =
qt_measure_data.qt_touch_status.rotor_slider_values[0];
tc_write_rb(&AVR32_TC0, 0, (slider_pos + 1));
LED_On(LED2);
}
else {
LED_Off(LED2);
}
}
}
/**
* \brief Initializes the TC subsystem ready to generate a LED PWM wave.
*
* Initializes the on-chip TC module in PWM generation mode, and configures the
* board LED as an output so that the LED brightness can be adjusted.
*/
static void pwm_timer_init(void)
{
// Assign output pin to timer/counter 0 channel B
gpio_enable_module_pin(AVR32_TC0_B0_0_0_PIN,
AVR32_TC0_B0_0_0_FUNCTION);
// Timer waveform options
const tc_waveform_opt_t waveform_options = {
//! Channel selection.
.channel = 0,
//! Software trigger effect on TIOB.
.bswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOB.
.beevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOB.
.bcpc = TC_EVT_EFFECT_CLEAR,
//! RB compare effect on TIOB.
.bcpb = TC_EVT_EFFECT_SET,
//! Software trigger effect on TIOA.
.aswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOA.
.aeevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOA.
.acpc = TC_EVT_EFFECT_NOOP,
//! RA compare effect on TIOA.
.acpa = TC_EVT_EFFECT_NOOP,
//! Waveform selection
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,
//! External event trigger enable.
.enetrg = false,
//! External event selection (non-zero for Channel B to work)
.eevt = !0,
//! External event edge selection.
.eevtedg = TC_SEL_NO_EDGE,
//! Counter disable when RC compare.
.cpcdis = false,
//! Counter clock stopped with RC compare.
.cpcstop = false,
//! Burst signal selection.
.burst = false,
//! Clock inversion selection.
.clki = false,
//! Internal source clock 5, fPBA/128.
.tcclks = TC_CLOCK_SOURCE_TC5,
};
// Setup timer/counter waveform mode
sysclk_enable_peripheral_clock(&AVR32_TC0);
tc_init_waveform(&AVR32_TC0, &waveform_options);
// Write the TOP (RC) and COMPARE (RB) values
tc_write_rb(&AVR32_TC0, 0, 1); // Set RB value.
tc_write_rc(&AVR32_TC0, 0, 255); // Set RC value.
// Start the timer PWM channel
tc_start(&AVR32_TC0, 0);
}
/**
* \brief Application main routine
*/
int main(void)
{
board_init();
sysclk_init();
irq_initialize_vectors();
cpu_irq_enable();
pwm_timer_init();
touch_init();
while (true) {
touch_handler();
}
}
/**
* \name PWM functions
* @{
*/
void ui_pwm_led_init(uint8_t lednum)
{
/* Timer waveform options */
static tc_waveform_opt_t waveform_options = {
/* Channel selection. */
.channel = 1,
.bswtrg = TC_EVT_EFFECT_NOOP,
.beevt = TC_EVT_EFFECT_NOOP,
.bcpc = TC_EVT_EFFECT_NOOP,
.bcpb = TC_EVT_EFFECT_NOOP,
.aswtrg = TC_EVT_EFFECT_NOOP,
.aeevt = TC_EVT_EFFECT_NOOP,
.acpc = TC_EVT_EFFECT_NOOP,
.acpa = TC_EVT_EFFECT_NOOP,
/* Waveform selection */
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,
/* External event trigger enable. */
.enetrg = false,
/* External event selection (non-zero for Channel B to work) */
.eevt = !0,
/* External event edge selection. */
.eevtedg = TC_SEL_NO_EDGE,
.cpcdis = false,
.cpcstop = false,
.burst = false,
.clki = false,
/* Internal source clock 5, fPBA/128. */
.tcclks = TC_CLOCK_SOURCE_TC5,
};
switch (lednum) {
case LED0:
/* Assign output pin to timer/counter 0 channel A */
/* Channel selection. */
waveform_options.channel = 1;
waveform_options.bcpc = TC_EVT_EFFECT_NOOP;
waveform_options.bcpb = TC_EVT_EFFECT_NOOP;
/* RC compare effect on TIOA. */
waveform_options.acpc = TC_EVT_EFFECT_CLEAR;
/* RA compare effect on TIOA. */
waveform_options.acpa = TC_EVT_EFFECT_SET;
/* Setup timer/counter waveform mode */
sysclk_enable_peripheral_clock(&AVR32_TC0);
tc_init_waveform(&AVR32_TC0, &waveform_options);
/* Write the TOP (RC) and COMPARE (RA) values */
tc_write_ra(&AVR32_TC0, 1, 1); /* Set RA value. */
tc_write_rc(&AVR32_TC0, 1, 255); /* Set RC value. */
/* Start the timer PWM channel */
tc_start(&AVR32_TC0, 1);
break;
case LED1:
/* Assign output pin to timer/counter 1 channel B */
/* Channel selection. */
waveform_options.channel = 2;
waveform_options.acpc = TC_EVT_EFFECT_NOOP;
waveform_options.acpa = TC_EVT_EFFECT_NOOP;
/* RC compare effect on TIOB. */
waveform_options.bcpc = TC_EVT_EFFECT_CLEAR;
/* RB compare effect on TIOB. */
waveform_options.bcpb = TC_EVT_EFFECT_SET;
/* Setup timer/counter waveform mode */
sysclk_enable_peripheral_clock(&AVR32_TC1);
tc_init_waveform(&AVR32_TC1, &waveform_options);
/* Write the TOP (RC) and COMPARE (RB) values */
tc_write_rb(&AVR32_TC1, 2, 1); /* Set RB value. */
tc_write_rc(&AVR32_TC1, 2, 255); /* Set RC value. */
/* Start the timer PWM channel */
tc_start(&AVR32_TC1, 2);
break;
default:
break;
}
}
void ui_pwm_update(uint8_t channum, uint8_t brightness)
{
switch (channum) {
case LED0:
if (brightness != 0) {
gpio_enable_module_pin(AVR32_TC0_A1_0_1_PIN,
AVR32_TC0_A1_0_1_FUNCTION);
tc_start(&AVR32_TC0, 1);
tc_write_ra(&AVR32_TC0, 1, brightness);
} else {
tc_stop(&AVR32_TC0, 1);
LED_Off(LED0);
}
break;
case LED1:
if (brightness != 0) {
gpio_enable_module_pin(AVR32_TC1_B2_0_PIN,
AVR32_TC1_B2_0_FUNCTION);
tc_start(&AVR32_TC1, 2);
tc_write_rb(&AVR32_TC1, 2, brightness);
} else {
tc_stop(&AVR32_TC1, 2);
LED_Off(LED0);
}
break;
default:
break;
}
}
/* End of PWM */
/** @} */
/**
* \name Display functions
* @{
*/
static void ui_display_enable(void)
{
delay_init(sysclk_get_cpu_hz());
et024006_Init( sysclk_get_cpu_hz(), sysclk_get_hsb_hz());
/* Clear the display i.e. make it black */
et024006_DrawFilledRect(0, 0, ET024006_WIDTH, ET024006_HEIGHT, BLACK );
/* Set the backlight. */
gpio_set_gpio_pin(ET024006DHU_BL_PIN);
ui_display_init_rtc();
ui_display_welcome_msg();
}
void PWM_timer_init(void)
{
//MUST CHANGE BACK!!!!!
collective = 100;
yaw = 0;
pitch = 0;
roll = 0;
t_a = 0;
t_b = 0;
t_c = 0;
t_r = 0;
//Set up the GPIO pins for output of the timers
gpio_enable_module_pin(AVR32_TC1_A2_0_PIN, AVR32_TC1_A2_0_FUNCTION);
gpio_enable_module_pin(AVR32_TC1_B0_0_PIN, AVR32_TC1_B0_0_FUNCTION);
gpio_enable_module_pin(AVR32_TC1_B1_0_PIN, AVR32_TC1_B1_0_FUNCTION);
gpio_enable_module_pin(AVR32_TC0_B2_0_PIN, AVR32_TC0_B2_0_FUNCTION);
gpio_enable_module_pin(AVR32_TC0_B0_0_0_PIN, AVR32_TC0_B0_0_0_FUNCTION);
// Timer waveform options
const tc_waveform_opt_t waveform_options_b0_1 = {
//! Channel selection.
.channel = 0,
//! Software trigger effect on TIOB.
.bswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOB.
.beevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOB.
.bcpc = TC_EVT_EFFECT_CLEAR,
//! RB compare effect on TIOB.
.bcpb = TC_EVT_EFFECT_SET,
//! Software trigger effect on TIOA.
.aswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOA.
.aeevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOA.
.acpc = TC_EVT_EFFECT_NOOP,
//! RA compare effect on TIOA.
.acpa = TC_EVT_EFFECT_NOOP,
//! Waveform selection
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,
//! External event trigger enable.
.enetrg = false,
//! External event selection (non-zero for Channel B to work)
.eevt = !0,
//! External event edge selection.
.eevtedg = TC_SEL_NO_EDGE,
//! Counter disable when RC compare.
.cpcdis = false,
//! Counter clock stopped with RC compare.
.cpcstop = false,
//! Burst signal selection.
.burst = false,
//! Clock inversion selection.
.clki = false,
//! Internal source clock 5, fPBA/128.
.tcclks = TC_CLOCK_SOURCE_TC4,
};
const tc_waveform_opt_t waveform_options_b0_0 = {
//! Channel selection.
.channel = 0,
//! Software trigger effect on TIOB.
.bswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOB.
.beevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOB.
.bcpc = TC_EVT_EFFECT_CLEAR,
//! RB compare effect on TIOB.
.bcpb = TC_EVT_EFFECT_SET,
//! Software trigger effect on TIOA.
.aswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOA.
.aeevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOA.
.acpc = TC_EVT_EFFECT_NOOP,
//! RA compare effect on TIOA.
.acpa = TC_EVT_EFFECT_NOOP,
//! Waveform selection
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,
//! External event trigger enable.
.enetrg = false,
//! External event selection (non-zero for Channel B to work)
.eevt = !0,
//! External event edge selection.
.eevtedg = TC_SEL_NO_EDGE,
//! Counter disable when RC compare.
.cpcdis = false,
//! Counter clock stopped with RC compare.
.cpcstop = false,
//! Burst signal selection.
.burst = false,
//! Clock inversion selection.
.clki = false,
//! Internal source clock 5, fPBA/128.
.tcclks = TC_CLOCK_SOURCE_TC4,
};
const tc_waveform_opt_t waveform_options_b1 = {
//! Channel selection.
.channel = 1,
//! Software trigger effect on TIOB.
.bswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOB.
.beevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOB.
.bcpc = TC_EVT_EFFECT_CLEAR,
//! RB compare effect on TIOB.
.bcpb = TC_EVT_EFFECT_SET,
//! Software trigger effect on TIOA.
.aswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOA.
.aeevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOA.
.acpc = TC_EVT_EFFECT_NOOP,
//! RA compare effect on TIOA.
.acpa = TC_EVT_EFFECT_NOOP,
//! Waveform selection
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,
//! External event trigger enable.
.enetrg = false,
//! External event selection (non-zero for Channel B to work)
.eevt = !0,
//! External event edge selection.
.eevtedg = TC_SEL_NO_EDGE,
//! Counter disable when RC compare.
.cpcdis = false,
//! Counter clock stopped with RC compare.
.cpcstop = false,
//! Burst signal selection.
.burst = false,
//! Clock inversion selection.
.clki = false,
//! Internal source clock 5, fPBA/128.
.tcclks = TC_CLOCK_SOURCE_TC4,
};
const tc_waveform_opt_t waveform_options_b2 = {
//! Channel selection.
.channel = 2,
//! Software trigger effect on TIOB.
.bswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOB.
.beevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOB.
.bcpc = TC_EVT_EFFECT_CLEAR,
//! RB compare effect on TIOB.
.bcpb = TC_EVT_EFFECT_SET,
//! Software trigger effect on TIOA.
.aswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOA.
.aeevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOA.
.acpc = TC_EVT_EFFECT_CLEAR,
//! RA compare effect on TIOA.
.acpa = TC_EVT_EFFECT_SET,
//! Waveform selection
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,
//! External event trigger enable.
.enetrg = false,
//! External event selection (non-zero for Channel B to work)
.eevt = !0,
//! External event edge selection.
.eevtedg = TC_SEL_NO_EDGE,
//! Counter disable when RC compare.
.cpcdis = false,
//! Counter clock stopped with RC compare.
.cpcstop = false,
//! Burst signal selection.
.burst = false,
//! Clock inversion selection.
.clki = false,
//! Internal source clock 5, fPBA/128.
.tcclks = TC_CLOCK_SOURCE_TC4,
};
const tc_waveform_opt_t waveform_options_a2 = {
//! Channel selection.
.channel = 2,
//! Software trigger effect on TIOB.
.bswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOB.
.beevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOB.
.bcpc = TC_EVT_EFFECT_NOOP,
//! RB compare effect on TIOB.
.bcpb = TC_EVT_EFFECT_NOOP,
//! Software trigger effect on TIOA.
.aswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOA.
.aeevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOA.
.acpc = TC_EVT_EFFECT_CLEAR,
//! RA compare effect on TIOA.
.acpa = TC_EVT_EFFECT_SET,
//! Waveform selection
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,
//! External event trigger enable.
.enetrg = false,
//! External event selection (non-zero for Channel B to work)
.eevt = !0,
//! External event edge selection.
.eevtedg = TC_SEL_NO_EDGE,
//! Counter disable when RC compare.
.cpcdis = false,
//! Counter clock stopped with RC compare.
.cpcstop = false,
//! Burst signal selection.
.burst = false,
//! Clock inversion selection.
.clki = false,
//! Internal source clock 5, fPBA/128.
.tcclks = TC_CLOCK_SOURCE_TC4,
};
// Setup timer/counter waveform mode
sysclk_enable_peripheral_clock(&AVR32_TC0);
sysclk_enable_peripheral_clock(&AVR32_TC1);
tc_init_waveform(&AVR32_TC1, &waveform_options_b1);
tc_init_waveform(&AVR32_TC1, &waveform_options_b0_1);
tc_init_waveform(&AVR32_TC1, &waveform_options_a2);
tc_init_waveform(&AVR32_TC0, &waveform_options_b0_0);
tc_init_waveform(&AVR32_TC0, &waveform_options_b2);
tc_write_rb(&AVR32_TC1, 0, B_BASE);
tc_write_rc(&AVR32_TC1, 0, RC_VAL);
tc_write_rb(&AVR32_TC1, 1, R_BASE);
tc_write_rc(&AVR32_TC1, 1, RC_VAL);
tc_write_ra(&AVR32_TC1, 2, A_BASE);
tc_write_rc(&AVR32_TC1, 2, RC_VAL);
tc_write_rb(&AVR32_TC0, 0, M_BASE);
tc_write_rc(&AVR32_TC0, 0, RC_VAL);
tc_write_rb(&AVR32_TC0, 2, C_BASE);
tc_write_rc(&AVR32_TC0, 2, RC_VAL);
// Start the timer PWM channels
tc_start(&AVR32_TC1, 2);
tc_start(&AVR32_TC1, 0);
tc_start(&AVR32_TC1, 1);
tc_start(&AVR32_TC0, 0);
tc_start(&AVR32_TC0, 2);
}
void PWM_tester(char servo, int delay){
int initial_delay = 2000;
if(servo=='a'){
for(int i=0;i<=O_MAX;i++){
tc_write_ra(&AVR32_TC1, 2, A_BASE-i);
if(i==0) delay_ms(initial_delay);
else delay_ms(delay);
}
}
else if(servo=='b'){
for(int i=0;i<=O_MAX;i++){
tc_write_rb(&AVR32_TC1, 0, B_BASE+i);
if(i==0) delay_ms(initial_delay);
else delay_ms(delay);
}
}
else if(servo=='c'){
for(int i=0;i<=O_MAX;i++){
tc_write_rb(&AVR32_TC0, 2, C_BASE-i);
if(i==0) delay_ms(initial_delay);
else delay_ms(delay);
}
}
else if(servo=='r'){
for(int i=0;i<=R_MAX;i++){
tc_write_rb(&AVR32_TC1, 1, R_BASE+i);
if(i==0) delay_ms(initial_delay);
else delay_ms(delay);
}
}
else if(servo=='e'){
for(int i=0;i<O_MAX;i++){
tc_write_ra(&AVR32_TC1, 2, A_BASE-i);
tc_write_rb(&AVR32_TC1, 0, B_BASE+i);
tc_write_rb(&AVR32_TC0, 2, C_BASE-i);
if(i<R_MAX) tc_write_rb(&AVR32_TC1, 1, R_BASE+i);
//tc_write_rb(&AVR32_TC0, 0, 255);
if(i==0) delay_ms(3000);
else delay_ms(delay);
}
}
}
void PWM_update(void){
//gpio_toggle_pin(LED1_GPIO);
t_a = collective-pitch+roll;
t_b = collective-pitch-roll;
t_c = collective+pitch+pitch;
t_r = yaw+100;
//if(collective!=0 || yaw !=0 || pitch!=0 || roll !=0) gpio_toggle_pin(LED0_GPIO);
check_max_values();
tc_write_ra(&AVR32_TC1, 2, A_BASE-t_a);
tc_write_rb(&AVR32_TC1, 0, B_BASE+t_b);
tc_write_rb(&AVR32_TC0, 2, C_BASE-t_c);
tc_write_rb(&AVR32_TC1, 1, R_BASE+t_r);
}
void set_motor(char setting){
int level = (int) setting;
if(level>100) level = 100;
level = (int)(level * 3.75f);
tc_write_rb(&AVR32_TC0, 0, M_BASE - level);
motor = level;
}
int get_servo_dat(char servo){
switch(servo){
case 'a':
return t_a;
break;
case 'b':
return t_b;
break;
case 'c':
return t_c;
break;
case 'r':
return t_r;
break;
case 'o':
return collective;
break;
case 'y':
return yaw;
break;
case 'p':
return pitch;
break;
case 'l':
return roll;
break;
case 'm':
return motor;
break;
default:
return 0;
break;
}
}
void check_max_values(void){
if(t_a>=O_MAX) t_a = O_MAX;
else if(t_a<0) t_a = 0;
if(t_b>=O_MAX) t_b = O_MAX;
else if(t_b<0) t_b = 0;
if(t_c>=O_MAX) t_c = O_MAX;
else if(t_c<0) t_c = 0;
if(t_r>=R_MAX) t_r = R_MAX;
else if(t_r<0) t_r = 0;
}
void set_PWM_dat(int16_t* PWM_dat, char where){
/*
[0] = packet type
[1] = collective
[2] = yaw
[3] = pitch
[4] = roll
*/
//gpio_toggle_pin(LED2_GPIO);
switch (where){
case 'm':
collective = (int8_t)PWM_dat[1];
yaw = (int8_t)PWM_dat[2];
pitch = (int8_t)PWM_dat[3];
roll = (int8_t)PWM_dat[4];
break;
default:
collective = PWM_dat[0];
yaw = PWM_dat[1];
pitch = PWM_dat[2];
roll = PWM_dat[3];
break;
}
check_orientation_values();
}
void check_orientation_values(void){
if(pitch>MAX_PITCH) pitch = MAX_PITCH;
else if(pitch<-MAX_PITCH) pitch = -MAX_PITCH;
if(roll>MAX_ROLL) roll = MAX_ROLL;
else if(roll<-MAX_ROLL) roll = -MAX_ROLL;
if(yaw>MAX_YAW) yaw = MAX_YAW;
else if(yaw<-MAX_YAW) yaw = -MAX_YAW;
}
