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Commit b467ed2e authored by Sergi Hernandez's avatar Sergi Hernandez
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Completed the compass module. 

Changed the control and status interface of all the modules.
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include/compass.h
+ 1
− 0
View file @ b467ed2e
......@@ -17,6 +17,7 @@ void compass_start(void);
void compass_stop(void);
void compass_start_calibration(void);
void compass_stop_calibration(void);
void compass_set_num_samples(uint8_t num);
void compass_loop(void);
#endif
include/dyn_common.h
+ 1
− 1
View file @ b467ed2e
......@@ -26,7 +26,7 @@
#define VOLTAGE_ERROR 0x01
#define NO_ERROR 0x00
void do_write(uint8_t address,uint8_t length,uint8_t *data);
uint8_t do_write(uint8_t address,uint8_t length,uint8_t *data);
uint8_t do_read(uint8_t address,uint8_t length,uint8_t **data);
#endif
include/memory_map.h
+ 167
− 160
View file @ b467ed2e
This diff is collapsed.
src/adc.c
+ 10
− 8
View file @ b467ed2e
......@@ -5,7 +5,7 @@
// number of channels to convert
#define NUM_CH 8
// number of samples to average
#define MAX_NUM_SAMPLES 16
#define ADC_MAX_NUM_SAMPLES 16
// private variables
volatile uint8_t adc_sample_period_ms;
......@@ -14,7 +14,7 @@ volatile uint8_t adc_current_ch;
// channel data
volatile int16_t adc_data[NUM_CH];
// averaged channel data
volatile int16_t adc_ch_data[NUM_CH][MAX_NUM_SAMPLES];
volatile int16_t adc_ch_data[NUM_CH][ADC_MAX_NUM_SAMPLES];
volatile uint8_t adc_current_sample;
volatile uint8_t adc_num_samples;
volatile uint8_t adc_running;
......@@ -65,8 +65,8 @@ void adc_init(void)
adc_current_ch=0;
adc_current_sample=0;
adc_running=0;
adc_num_samples=MAX_NUM_SAMPLES;
ram_data[ADC_NUM_SAMPLES]=MAX_NUM_SAMPLES;
adc_num_samples=ADC_MAX_NUM_SAMPLES;
ram_data[ADC_NUM_SAMPLES]=ADC_MAX_NUM_SAMPLES;
adc_sample_period_ms=0x01;
ram_data[ADC_SAMPLE_PERIOD]=0x01;
adc_set_sample_period(adc_sample_period_ms);
......@@ -90,7 +90,7 @@ void adc_start(void)
// configure the timer prescaler and count value
adc_running=0x01;
adc_set_sample_period(adc_sample_period_ms);
ram_data[ADC_CONTROL]|=0x02;
ram_data[ADC_CONTROL]|=0x04;
}
void adc_stop(void)
......@@ -99,13 +99,13 @@ void adc_stop(void)
// disable the ADC
ADCSRA&=~(1<<ADEN);
adc_running=0x00;
ram_data[ADC_CONTROL]&=0xFD;
ram_data[ADC_CONTROL]&=0xFB;
}
void adc_set_num_samples(uint8_t num)
{
if(num>MAX_NUM_SAMPLES)
adc_num_samples=MAX_NUM_SAMPLES;
if(num>ADC_MAX_NUM_SAMPLES)
adc_num_samples=ADC_MAX_NUM_SAMPLES;
else
{
if(num<=0)
......@@ -115,6 +115,7 @@ void adc_set_num_samples(uint8_t num)
}
if(adc_current_sample>num)
adc_current_sample=0;
ram_data[ADC_NUM_SAMPLES]=num;
}
void adc_set_sample_period(uint8_t time_ms)
......@@ -139,6 +140,7 @@ void adc_set_sample_period(uint8_t time_ms)
break;
}
}
ram_data[ADC_SAMPLE_PERIOD]=time_ms;
}
void adc_loop(void)
......
src/compass.c
+ 157
− 133
View file @ b467ed2e
......@@ -3,26 +3,31 @@
#include "mem.h"
#include "ports.h"
#define COMPASS_MAX_NUM_SAMPLES 16
typedef enum {idle,get_data,get_data_delay,read_data,start_cal,calibrating,calibration_delay,stop_cal} compass_states_t;
/* private variables */
volatile uint16_t compass_heading;
volatile uint16_t compass_heading_averaged;
volatile uint8_t compass_waiting_data;
volatile uint8_t compass_calibrated;
volatile uint8_t compass_calibrating;
volatile uint8_t compass_stopping;
volatile uint8_t compass_stopped;
volatile uint8_t compass_current_sample;
volatile uint8_t compass_num_samples;
volatile uint8_t compass_start_cal;
volatile uint8_t compass_stop_cal;
volatile uint8_t compass_stop_op;
volatile uint8_t compass_start_op;
volatile compass_states_t compass_state;
// time control variables
volatile uint8_t compass_delay_done;
/* private functions */
void compass_avrg(uint16_t heading)
{
static unsigned long int new_average,first_value;
static uint8_t num_data=0;
unsigned long int diff=0;
if(num_data==0)
if(compass_current_sample==0)
{
num_data=num_data+1;
compass_current_sample++;
first_value=(long int)heading;
}
else
......@@ -33,16 +38,17 @@ void compass_avrg(uint16_t heading)
else if(diff>5400)
diff=diff-3600;
new_average=new_average+diff;
num_data=num_data+1;
if(num_data==17)
compass_current_sample++;
if(compass_current_sample==compass_num_samples)
{
new_average=new_average/16;
new_average=new_average/(compass_num_samples-1);
new_average=new_average+first_value;
compass_heading_averaged=(uint16_t)new_average;
if(compass_heading_averaged>3600)
compass_heading_averaged=compass_heading_averaged-3600;
if(new_average>3600)
new_average-=3600;
ram_data[COMPASS_AVG_HEADING_VAL_L]=new_average%256;
ram_data[COMPASS_AVG_HEADING_VAL_H]=new_average/256;
new_average=0;
num_data=0;
compass_current_sample=0;
}
}
}
......@@ -73,14 +79,15 @@ ISR(TIMER0_COMP_vect)
void compass_init(void)
{
/* initialize private variables */
compass_calibrated=0x00;
compass_calibrating=0x00;
compass_stopped=0x01;
compass_stopping=0x00;
compass_waiting_data=0x00;
compass_heading=0;
compass_heading_averaged=0;
compass_start_cal=0;
compass_stop_cal=0;
compass_stop_op=0;
compass_start_op=0;
compass_delay_done=0x00;
compass_state=idle;
compass_current_sample=0;
compass_num_samples=COMPASS_MAX_NUM_SAMPLES;
ram_data[COMPASS_NUM_SAMPLES]=COMPASS_MAX_NUM_SAMPLES;
/* use timer 0 to control the operation delay */
TCCR0=(1<<WGM01);//campare mode, output disable, prescaler 0
......@@ -95,134 +102,151 @@ void compass_init(void)
void compass_start(void)
{
compass_stopping=0x00;
compass_stopped=0x00;
compass_waiting_data=0x00;
ram_data[COMPASS_CONTROL]|=0x04;
compass_stop_op=0;
compass_start_op=1;
ram_data[COMPASS_CONTROL]|=0x40;
}
void compass_stop(void)
{
compass_stopping=0x01;
compass_stop_op=1;
compass_start_op=0;
}
void compass_start_calibration(void)
{
compass_start_cal=1;
compass_stop_cal=0;
}
void compass_stop_calibration(void)
{
compass_start_cal=0;
compass_stop_cal=1;
}
void compass_loop(void)
void compass_set_num_samples(uint8_t num)
{
uint8_t cmd,heading[2];
if(compass_stopped==0x00)// compass is running
{
if(i2c_get_state()==I2C_IDLE)// the last I2C command has terminated
{
if(compass_waiting_data==0x01)// we are waiting heading data
{
if(compass_is_delay_done()==0x01)// the required time from the command has elapsed
{
i2c_get_data(2,heading);
compass_heading=heading[1]+(heading[0]<<8);
compass_avrg(compass_heading);
compass_waiting_data=0x00;
toggle_led();
}
}
else
{
if(compass_stopping==0x00)
{
cmd=COMPASS_HEADING;
i2c_master_send(COMPASS_ADDR,1,&cmd);
compass_waiting_data=0x01;
compass_start_time_delay(10);
}
else
{
compass_stopping=0x00;
compass_stopped=0x00;
ram_data[COMPASS_CONTROL]&=0xFB;
}
}
}
}
if(num>COMPASS_MAX_NUM_SAMPLES)
compass_num_samples=COMPASS_MAX_NUM_SAMPLES;
else if(num<=2)
compass_num_samples=2;
else
compass_num_samples=num;
ram_data[COMPASS_NUM_SAMPLES]=compass_num_samples;
}
/*void compass_periodic_call(void)
void compass_loop(void)
{
uint8_t cmd,heading[2];
static int count=0;
unsigned short int compass_heading;
static compass_states_t prev_state=idle;
if(i2cGetState()==I2C_IDLE)
switch(compass_state)
{
if(compass_waiting_data)
{
if(compass_calibrate)
{
compass_calibrating=TRUE;
compass_calibrate=FALSE;
count=100;
}
else if(compass_calibrating)
{
if(count>0)
count--;
else
{
cmd=COMPASS_START_CAL;
i2cMasterSend(COMPASS_ADDR, 1, &cmd);
compass_waiting_data=FALSE;
}
}
else
{
if(count>0)
count--;
else
{
i2c_get_data(2,heading);
compass_heading=heading[1]+(heading[0]<<8);
compass_avrg(compass_heading);
cmd=COMPASS_HEADING;
i2cMasterSend(COMPASS_ADDR, 1, &cmd);
compass_waiting_data=FALSE;
count = 10;
}
}
}
else
{
if(compass_calibrating)
{
count++;
if(count==30000)
{
cmd=COMPASS_STOP_CAL;
i2cMasterSend(COMPASS_ADDR, 1, &cmd);
compass_waiting_data=TRUE;
compass_calibrate=FALSE;
compass_calibrating=FALSE;
count = 100;
}
}
else
{
if(count>0)
count--;
else
{
i2cMasterReceive(COMPASS_ADDR,2);
compass_waiting_data=TRUE;
}
}
}
case idle: if(compass_start_op==1)
{
compass_state=get_data;
compass_start_op=0;
}
else
{
if(compass_start_cal==1)
{
compass_start_cal=0;
compass_state=start_cal;
prev_state=idle;
}
else
compass_state=idle;
}
break;
case get_data: if(i2c_get_state()==I2C_IDLE)
{
cmd=COMPASS_HEADING;
i2c_master_send(COMPASS_ADDR,1,&cmd);
compass_start_time_delay(10);
compass_state=get_data_delay;
}
else
compass_state=get_data;
break;
case get_data_delay: if(compass_is_delay_done()==1)
{
if(i2c_get_state()==I2C_IDLE)
{
i2c_master_receive(COMPASS_ADDR,2);
compass_state=read_data;
}
else
compass_state=get_data_delay;
}
else
compass_state=get_data_delay;
break;
case read_data: if(i2c_get_state()==I2C_IDLE)
{
i2c_get_data(2,heading);
compass_heading=heading[1]+(heading[0]<<8);
ram_data[COMPASS_HEADING_VAL_L]=heading[1];
ram_data[COMPASS_HEADING_VAL_H]=heading[0];
compass_avrg(compass_heading);
if(compass_stop_op==1)
{
compass_stop_op=0;
compass_state=idle;
ram_data[COMPASS_CONTROL]&=0xBF;
}
else
{
if(compass_start_cal==1)
{
compass_start_cal=0;
compass_state=start_cal;
prev_state=get_data;
}
else
compass_state=get_data;
}
}
else
compass_state=read_data;
break;
case start_cal: if(i2c_get_state()==I2C_IDLE)
{
cmd=COMPASS_START_CAL;
i2c_master_send(COMPASS_ADDR,1,&cmd);
ram_data[COMPASS_CONTROL]|=0x80;
compass_state=calibrating;
}
else
compass_state=start_cal;
break;
case calibrating: if(compass_stop_cal==1)
{
compass_state=stop_cal;
compass_stop_cal=0;
}
else
compass_state=calibrating;
break;
case stop_cal: if(i2c_get_state()==I2C_IDLE)
{
cmd=COMPASS_STOP_CAL;
i2c_master_send(COMPASS_ADDR,1,&cmd);
compass_start_time_delay(20);
compass_state=calibration_delay;
}
else
compass_state=stop_cal;
break;
case calibration_delay: if(compass_is_delay_done()==1)
{
compass_state=prev_state;
ram_data[COMPASS_CONTROL]&=0x7F;
}
else
compass_state=calibration_delay;
break;
}
}*/
}
src/dac.c
+ 10
− 0
View file @ b467ed2e
......@@ -40,6 +40,7 @@ void dac_start(void)
TCCR1B&=0xF8;
TCCR1B|=DAC_PRESCALE_MASK;
dac_running=0x01;
ram_data[DAC_CONTROL]|=0x10;
}
void dac_stop(void)
......@@ -47,6 +48,7 @@ void dac_stop(void)
/* set the prescaler to 0 (no clock source) */
TCCR1B&=0xF8;
dac_running=0x00;
ram_data[DAC_CONTROL]&=0xEF;
}
void dac_enable_channel(dac_ch_t ch)
......@@ -54,8 +56,10 @@ void dac_enable_channel(dac_ch_t ch)
switch(ch)
{
case dac0: TCCR1A|=(1<<COMA1);
ram_data[DAC_CONTROL]|=0x40;
break;
case dac1: TCCR1A|=(1<<COMB1);
ram_data[DAC_CONTROL]|=0x80;
break;
}
}
......@@ -65,8 +69,10 @@ void dac_disable_channel(dac_ch_t ch)
switch(ch)
{
case dac0: TCCR1A&=~(1<<COMA1);
ram_data[DAC_CONTROL]&=0xBF;
break;
case dac1: TCCR1A&=~(1<<COMB1);
ram_data[DAC_CONTROL]|=0x7F;
break;
}
}
......@@ -83,9 +89,13 @@ void dac_set_voltage(dac_ch_t ch,uint16_t voltage)
{
case dac0: OCR1AH=(compare_value>>8)&0xFF;
OCR1AL=(compare_value)&0xFF;
ram_data[DAC_CH0_VOLTAGE_L]=voltage%256;
ram_data[DAC_CH0_VOLTAGE_H]=voltage/256;
break;
case dac1: OCR1BH=(compare_value>>8)&0xFF;
OCR1BL=(compare_value)&0xFF;
ram_data[DAC_CH1_VOLTAGE_L]=voltage%256;
ram_data[DAC_CH1_VOLTAGE_H]=voltage/256;
break;
}
}
......
src/dyn_common.c
+ 40
− 17
View file @ b467ed2e
......@@ -5,8 +5,9 @@
#include "adc.h"
#include "pwm.h"
#include "dac.h"
#include "compass.h"
void do_write(uint8_t address,uint8_t length,uint8_t *data)
uint8_t do_write(uint8_t address,uint8_t length,uint8_t *data)
{
uint8_t i,num=0;
uint8_t low_byte=0x00;
......@@ -41,9 +42,9 @@ void do_write(uint8_t address,uint8_t length,uint8_t *data)
/* ADC interface */
else if(i==ADC_CONTROL)
{
if(data[num]==0x00)
if(data[num]&0x01)
adc_stop();
else
else if(data[num]&0x02)
adc_start();
}
else if(i==ADC_NUM_SAMPLES)
......@@ -55,23 +56,26 @@ void do_write(uint8_t address,uint8_t length,uint8_t *data)
{
if(data[num]&0x01)
pwm_start();
else
else if(data[num]&0x02)
pwm_stop();
if(data[num]&0x02)
}
else if(i==PWM_ENABLE)
{
if(data[num]&0x01)
pwm_enable_ch(pwm0);
else
else if(data[num]&0x10)
pwm_disable_ch(pwm0);
if(data[num]&0x04)
if(data[num]&0x02)
pwm_enable_ch(pwm1);
else
else if(data[num]&0x20)
pwm_disable_ch(pwm1);
if(data[num]&0x08)
if(data[num]&0x04)
pwm_enable_ch(pwm2);
else
else if(data[num]&0x40);
pwm_disable_ch(pwm2);
if(data[num]&0x10)
if(data[num]&0x08)
pwm_enable_ch(pwm3);
else
else if(data[num]&0x80)
pwm_disable_ch(pwm3);
}
else if(i==PWM_FREQ_L)
......@@ -85,15 +89,18 @@ void do_write(uint8_t address,uint8_t length,uint8_t *data)
{
if(data[num]&0x01)
dac_start();
else
else if(data[num]&0x02)
dac_stop();
if(data[num]&0x02)
}
else if(i==DAC_ENABLE)
{
if(data[num]&0x01)
dac_enable_channel(dac0);
else
else if(data[num]&0x04);
dac_disable_channel(dac0);
if(data[num]&0x04)
if(data[num]&0x02)
dac_enable_channel(dac1);
else
else if(data[num]&0x08)
dac_disable_channel(dac1);
}
else if(i==DAC_CH0_VOLTAGE_L)
......@@ -104,8 +111,24 @@ void do_write(uint8_t address,uint8_t length,uint8_t *data)
low_byte=data[num];
else if(i==DAC_CH1_VOLTAGE_H)
dac_set_voltage(dac1,low_byte+data[num]*256);
/* compass interface */
else if(i==COMPASS_CONTROL)
{
if(data[num]&0x01)
compass_start();
else if(data[num]&0x02)
compass_stop();
else if(data[num]&0x04)
compass_start_calibration();
else if(data[num]&0x08)
compass_stop_calibration();
}
else if(i==COMPASS_NUM_SAMPLES)
compass_set_num_samples(data[num]);
num++;
}
return 0x01;
}
uint8_t do_read(uint8_t address,uint8_t length,uint8_t **data)
......
src/dyn_slave_diff.c
+ 4
− 16
View file @ b467ed2e
......@@ -320,11 +320,8 @@ void dyn_slave_diff_loop(void)
else
dyn_slave_diff_send_status(dyn_slave_diff_error|INSTRUCTION_ERROR,0x00,0x00000000);
break;
case INST_WRITE: if(ram_write(dyn_slave_diff_get_address(),dyn_slave_diff_get_write_length(),dyn_slave_diff_get_write_data()))
{
do_write(dyn_slave_diff_get_address(),dyn_slave_diff_get_write_length(),dyn_slave_diff_get_write_data());
case INST_WRITE: if(do_write(dyn_slave_diff_get_address(),dyn_slave_diff_get_write_length(),dyn_slave_diff_get_write_data()))
dyn_slave_diff_send_status(dyn_slave_diff_error|NO_ERROR,0x00,0x00000000);
}
else
dyn_slave_diff_send_status(dyn_slave_diff_error|INSTRUCTION_ERROR,0x00,0x00000000);
break;
......@@ -338,11 +335,8 @@ void dyn_slave_diff_loop(void)
break;
case INST_ACTION: if(dyn_slave_diff_reg_pending)
{
if(ram_write(dyn_slave_diff_tmp_address,dyn_slave_diff_tmp_length,dyn_slave_diff_tmp_data))
{
do_write(dyn_slave_diff_tmp_address,dyn_slave_diff_tmp_length,dyn_slave_diff_tmp_data);
if(do_write(dyn_slave_diff_tmp_address,dyn_slave_diff_tmp_length,dyn_slave_diff_tmp_data))
dyn_slave_diff_send_status(dyn_slave_diff_error|NO_ERROR,0x00,0x00000000);
}
}
else
dyn_slave_diff_send_status(dyn_slave_diff_error|INSTRUCTION_ERROR,0x00,0x00000000);
......@@ -368,10 +362,7 @@ void dyn_slave_diff_loop(void)
}
break;
case INST_SYNC_WRITE: if(dyn_slave_diff_sync_write_id_present(&data))
{
if(ram_write(dyn_slave_diff_get_address(),dyn_slave_diff_get_read_length(),data))
do_write(dyn_slave_diff_get_address(),dyn_slave_diff_get_read_length(),data);
}
do_write(dyn_slave_diff_get_address(),dyn_slave_diff_get_read_length(),data);
break;
case INST_BULK_READ: dyn_slave_diff_bulk_read_previous=dyn_slave_diff_bulk_read_id_present(&dyn_slave_diff_tmp_address,&dyn_slave_diff_tmp_length);
if(dyn_slave_diff_bulk_read_previous!=0xFF)
......@@ -388,10 +379,7 @@ void dyn_slave_diff_loop(void)
}
break;
case INST_BULK_WRITE: if(dyn_slave_diff_bulk_write_id_present(&dyn_slave_diff_tmp_address,&dyn_slave_diff_tmp_length,&data))
{
if(ram_write(dyn_slave_diff_tmp_address,dyn_slave_diff_tmp_length,data))
do_write(dyn_slave_diff_tmp_address,dyn_slave_diff_tmp_length,data);
}
do_write(dyn_slave_diff_tmp_address,dyn_slave_diff_tmp_length,data);
break;
default: dyn_slave_diff_send_status(dyn_slave_diff_error|INSTRUCTION_ERROR,0x00,0x00000000);
break;
......
src/dyn_slave_se.c
+ 6
− 16
View file @ b467ed2e
......@@ -296,11 +296,13 @@ void dyn_slave_se_set_baudrate(uint8_t baudrate)
{
UBRR1H = 0;
UBRR1L = baudrate;
ram_data[Baud_Rate]=baudrate;
}
void dyn_slave_se_set_id(uint8_t id)
{
dyn_slave_se_id=id;
ram_data[ID]=id;
}
void dyn_slave_se_loop(void)
......@@ -322,11 +324,8 @@ void dyn_slave_se_loop(void)
else
dyn_slave_se_send_status(dyn_slave_se_error|INSTRUCTION_ERROR,0x00,0x00000000);
break;
case INST_WRITE: if(ram_write(dyn_slave_se_get_address(),dyn_slave_se_get_write_length(),dyn_slave_se_get_write_data()))
{
do_write(dyn_slave_se_get_address(),dyn_slave_se_get_write_length(),dyn_slave_se_get_write_data());
case INST_WRITE: if(do_write(dyn_slave_se_get_address(),dyn_slave_se_get_write_length(),dyn_slave_se_get_write_data()))
dyn_slave_se_send_status(dyn_slave_se_error|NO_ERROR,0x00,0x00000000);
}
else
dyn_slave_se_send_status(dyn_slave_se_error|INSTRUCTION_ERROR,0x00,0x00000000);
break;
......@@ -340,11 +339,8 @@ void dyn_slave_se_loop(void)
break;
case INST_ACTION: if(dyn_slave_se_reg_pending)
{
if(ram_write(dyn_slave_se_tmp_address,dyn_slave_se_tmp_length,dyn_slave_se_tmp_data))
{
do_write(dyn_slave_se_tmp_address,dyn_slave_se_tmp_length,dyn_slave_se_tmp_data);
if(do_write(dyn_slave_se_tmp_address,dyn_slave_se_tmp_length,dyn_slave_se_tmp_data))
dyn_slave_se_send_status(dyn_slave_se_error|NO_ERROR,0x00,0x00000000);
}
}
else
dyn_slave_se_send_status(dyn_slave_se_error|INSTRUCTION_ERROR,0x00,0x00000000);
......@@ -370,10 +366,7 @@ void dyn_slave_se_loop(void)
}
break;
case INST_SYNC_WRITE: if(dyn_slave_se_sync_write_id_present(&data))
{
if(ram_write(dyn_slave_se_get_address(),dyn_slave_se_get_read_length(),data))
do_write(dyn_slave_se_get_address(),dyn_slave_se_get_read_length(),data);
}
do_write(dyn_slave_se_get_address(),dyn_slave_se_get_read_length(),data);
break;
case INST_BULK_READ: dyn_slave_se_bulk_read_previous=dyn_slave_se_bulk_read_id_present(&dyn_slave_se_tmp_address,&dyn_slave_se_tmp_length);
if(dyn_slave_se_bulk_read_previous!=0xFF)
......@@ -390,10 +383,7 @@ void dyn_slave_se_loop(void)
}
break;
case INST_BULK_WRITE: if(dyn_slave_se_bulk_write_id_present(&dyn_slave_se_tmp_address,&dyn_slave_se_tmp_length,&data))
{
if(ram_write(dyn_slave_se_tmp_address,dyn_slave_se_tmp_length,data))
do_write(dyn_slave_se_tmp_address,dyn_slave_se_tmp_length,data);
}
do_write(dyn_slave_se_tmp_address,dyn_slave_se_tmp_length,data);
break;
default: dyn_slave_se_send_status(dyn_slave_se_error|INSTRUCTION_ERROR,0x00,0x00000000);
break;
......
src/main.c
+ 0
− 2
View file @ b467ed2e
......@@ -22,8 +22,6 @@ int16_t main(void)
compass_init();
sei();
compass_start();
while (1)
{
adc_loop();
......
src/ports.c
+ 15
− 0
View file @ b467ed2e
......@@ -43,9 +43,15 @@ void config_port(uint8_t port_id,uint8_t dir)
if(port_id>=0 && port_id<NUM_GPIO)
{
if(dir==OUTPUT)// configure as an output
{
*(gpio_bits[port_id].dir_reg)|=0x01<<gpio_bits[port_id].bit;
ram_data[GPIO0_config+port_id*2]=0x01;
}
else// configure as an input
{
*(gpio_bits[port_id].dir_reg)&=~(0x01<<gpio_bits[port_id].bit);
ram_data[GPIO0_config+port_id*2]=0x00;
}
}
}
......@@ -68,13 +74,19 @@ uint8_t get_port_config(uint8_t port_id)
void set_port(uint8_t port_id)
{
if(port_id>=0 && port_id<NUM_GPIO)
{
*(gpio_bits[port_id].write_reg)|=0x01<<gpio_bits[port_id].bit;
ram_data[GPIO0_data+port_id*2]=0x01;
}
}
void clear_port(uint8_t port_id)
{
if(port_id>=0 && port_id<NUM_GPIO)
{
*(gpio_bits[port_id].write_reg)&=~(0x01<<gpio_bits[port_id].bit);
ram_data[GPIO0_data+port_id*2]=0x00;
}
}
uint8_t read_port(uint8_t port_id)
......@@ -101,16 +113,19 @@ uint8_t read_port(uint8_t port_id)
void set_led(void)
{
PORTE&=0xFB;
ram_data[LED]=0x01;
}
void clear_led(void)
{
PORTE|=0x04;
ram_data[LED]=0x00;
}
void toggle_led(void)
{
PORTE^=0x04;
ram_data[LED]^=0x01;
}
uint8_t get_selector_value(void)
......
src/pwm.c
+ 13
− 0
View file @ b467ed2e
......@@ -52,6 +52,7 @@ void pwm_start(void)
ICR3H=(pwm_top_value>>8)&0xFF;
ICR3L=(pwm_top_value)&0xFF;
pwm_running=0x01;
ram_data[PWM_CONTROL]|=0x04;
}
void pwm_stop(void)
......@@ -59,6 +60,7 @@ void pwm_stop(void)
/* set the prescaler to 0 (no clock source) */
TCCR3B&=0xF8;
pwm_running=0x00;
ram_data[PWM_CONTROL]&=0xFB;
}
void pwm_enable_ch(pwm_id_t id)
......@@ -66,10 +68,13 @@ void pwm_enable_ch(pwm_id_t id)
switch(id)
{
case pwm0: TCCR3A|=(1<<COMA1);
ram_data[PWM_CONTROL]|=0x10;
break;
case pwm1: TCCR3A|=(1<<COMB1);
ram_data[PWM_CONTROL]|=0x20;
break;
case pwm2: TCCR3A|=(1<<COMC1);
ram_data[PWM_CONTROL]|=0x40;
break;
case pwm3: break;
}
......@@ -80,10 +85,13 @@ void pwm_disable_ch(pwm_id_t id)
switch(id)
{
case pwm0: TCCR3A&=~(1<<COMA1);
ram_data[PWM_CONTROL]&=0xEF;
break;
case pwm1: TCCR3A&=~(1<<COMB1);
ram_data[PWM_CONTROL]&=0xDF;
break;
case pwm2: TCCR3A&=~(1<<COMC1);
ram_data[PWM_CONTROL]&=0xBF;
break;
case pwm3: break;
}
......@@ -117,6 +125,8 @@ void pwm_set_frequency(uint16_t freq_hz)
}
else
pwm_prescaler_mask=(i+1);
ram_data[PWM_FREQ_L]=freq_hz%256;
ram_data[PWM_FREQ_H]=freq_hz/256;
break;
}
}
......@@ -133,14 +143,17 @@ void pwm_set_duty_cycle(pwm_id_t id,uint8_t duty)
case pwm0: OCR3AH=(compare_value>>8)&0xFF;
OCR3AL=(compare_value&0xFF);
pwm_duty_cycle[0]=duty;
ram_data[PWM_CH0_DUTY]=duty;
break;
case pwm1: OCR3BH=(compare_value>>8)&0xFF;
OCR3BL=(compare_value&0xFF);
pwm_duty_cycle[1]=duty;
ram_data[PWM_CH1_DUTY]=duty;
break;
case pwm2: OCR3CH=(compare_value>>8)&0xFF;
OCR3CL=(compare_value&0xFF);
pwm_duty_cycle[2]=duty;
ram_data[PWM_CH2_DUTY]=duty;
break;
case pwm3: break;
}
......
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