144 lines
2.9 KiB
C
144 lines
2.9 KiB
C
#include <stdlib.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/pgmspace.h>
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#include <util/delay.h>
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#include <string.h>
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#include "utils.h"
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#include "main.h"
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#include "uart.h"
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#define BUFSIZE 40
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volatile uint16_t syscounter = 0;
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// values send over uart from powerboard
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uint16_t power_gen = 0;
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unsigned char data_count = 0;
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unsigned char data_in[BUFSIZE];
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char command_in[BUFSIZE];
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static void timer_init(void) {
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// clock is 8MHz
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TCCR1B |= _BV(WGM12) | _BV(CS11) | _BV(CS10); // CTC Mode for Timer 1 (16Bit) with prescale of 64
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OCR1A = 2312; // Neutralposition ((2500-2312)*0.008ms)=1,5ms)
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TIMSK = _BV(OCIE1A);
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TCCR1A = (1<<COM1A0); // Togglen bei Compare Match
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sei(); // enable interrupts
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}
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static void ports_init(void) {
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}
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static void process_command() {
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if(strstr(command_in,"A") != NULL) {
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// we have an A and B (from check in work_uart()
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// so our message should be complete and consist of:
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// A$voltage,$current_in,$current_out,$power_in,$power_out,loadsw,dumpsw,gensw\n
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//A12.5,65464,00000,00000,00000,1,0,1B
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char *token;
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uint8_t tokencounter = 0;
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char *start = strrchr(command_in, 'A');
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// remove first (B is ignored by atoi)
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start++;
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token = strtok(start, ",");
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while( token ) {
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if (tokencounter == 3) {
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power_gen = atoi(token);
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}
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tokencounter++;
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token = strtok(NULL, ",");
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}
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}
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}
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static void work_uart() {
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uint8_t c = uart_getc();
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if ( !(c & UART_NO_DATA) ) {
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data_in[data_count] = c;
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if (data_in[data_count] == 'B') {
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data_count = 0;
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memcpy(command_in, data_in, BUFSIZE);
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memset(data_in, 0, BUFSIZE);
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process_command();
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} else {
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data_count++;
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}
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}
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}
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static void set_servo(uint8_t power) {
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uint8_t display = 0;
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display = power * 10; // shift, since we have to divide by 2,4 (24)
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display = display / 24; // instead of dividing by 2,4
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display = display + 125;
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OCR1A = 2500-display;
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}
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static void demo_display(void) {
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for(uint8_t i = 0; i< 30;i++) {
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set_servo(i*10);
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wait(5);
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}
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for(uint8_t i = 30; i> 0;i--) {
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set_servo(i*10);
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wait(5);
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}
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}
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int main(void) {
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ports_init();
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timer_init();
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uart_init(UART_BAUD_SELECT(19200,F_CPU));
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memset(data_in, 0, BUFSIZE);
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demo_display();
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while(1) {
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work_uart();
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if(syscounter >= 10) {
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uart_putc('a'); // send a to receive values
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set_servo(power_gen);
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syscounter = 0;
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}
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}
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return(0);
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}
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SIGNAL(TIMER1_COMPA_vect) {
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syscounter++;
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OCR1A = 2500-OCR1A; // Das Servosignal wird aus der Differenz von
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// Periodenlänge (2500*0,008ms=20ms) und letztem
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// Vergleichswert (OCR1A) gebildet
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}
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