bikegenerator/display/software/displayboard_servo/src/main.c

185 lines
4.1 KiB
C

#include <stdlib.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <string.h>
#include "utils.h"
#include "main.h"
#include "uart.h"
#define BUFSIZE 40
#define CURRENT_MAX 30000 // 30 Ampere is max
#define POWER_MAX 300
#define SERVO_NEUTRAL 2312
#define SERVO_MIN 2312
#define SERVO_MAX 2312
volatile uint16_t syscounter = 0;
// values send over uart from powerboard
uint16_t voltage = 0;
int16_t current_in = 0;
int16_t current_out = 0;
uint8_t dumpsw = 0;
uint8_t loadsw = 0;
uint8_t gensw = 0;
uint16_t display = 0;
uint16_t power_gen = 0;
uint16_t power_load = 0;
unsigned char data_count = 0;
unsigned char data_in[BUFSIZE];
char command_in[BUFSIZE];
static void timer_init(void) {
// clock is 8MHz
TCCR1B |= _BV(WGM12) | _BV(CS11) | _BV(CS10); // CTC Mode for Timer 1 (16Bit) with prescale of 64
OCR1A = 2312; // Neutralposition ((2500-2312)*0.008ms)=1,5ms)
TIMSK = _BV(OCIE1A);
TCCR1A = (1<<COM1A0); // Togglen bei Compare Match
sei(); // enable interrupts
}
static void ports_init(void) {
}
static void process_command() {
if(strstr(command_in,"A") != NULL) {
// we have an A and B (from check in work_uart()
// so our message should be complete and consist of:
// A$voltage,$current_in,$current_out,$power_in,$power_out,loadsw,dumpsw,gensw\n
//A12.5,65464,00000,00000,00000,1,0,1B
char *token;
uint8_t tokencounter = 0;
char *start = strrchr(command_in, 'A');
// remove first (B is ignored by atoi)
start++;
token = strtok(start, ",");
while( token ) {
switch(tokencounter) {
case 0:
voltage = atoi(token);
break;
case 1:
current_in = atoi(token);
break;
case 2:
current_out = atoi(token);
break;
case 3:
power_gen = atoi(token);
break;
case 4:
power_load = atoi(token);
break;
case 5:
if(atoi(token) == 1) loadsw = 1;
else loadsw = 0;
break;
case 6:
if(atoi(token) == 1) dumpsw = 1;
else dumpsw = 0;
break;
case 7:
if(atoi(token) == 1) gensw = 1;
else gensw = 0;
break;
}
tokencounter++;
token = strtok(NULL, ",");
}
}
}
static void work_uart() {
uint8_t c = uart_getc();
if ( !(c & UART_NO_DATA) ) {
data_in[data_count] = c;
if (data_in[data_count] == 'B') {
data_count = 0;
memcpy(command_in, data_in, BUFSIZE);
memset(data_in, 0, BUFSIZE);
process_command();
} else {
data_count++;
}
}
}
static void set_servo(uint8_t power) {
uint8_t display = 0;
display = power * 10; // shift, since we have to divide by 2,4 (24)
display = display / 24; // instead of dividing by 2,4
display = display + 125;
OCR1A = 2500-display;
}
static void demo_display(void) {
for(uint8_t i = 0; i< 30;i++) {
set_servo(i*10);
wait(5);
}
for(uint8_t i = 30; i> 0;i--) {
set_servo(i*10);
wait(5);
}
}
int main(void) {
ports_init();
timer_init();
uart_init(UART_BAUD_SELECT(19200,F_CPU));
memset(data_in, 0, BUFSIZE);
demo_display();
while(1) {
work_uart();
if(syscounter >= 10) {
uart_putc('a'); // send a to receive values
set_servo(power_gen);
syscounter = 0;
}
}
return(0);
}
SIGNAL(TIMER1_COMPA_vect) {
syscounter++;
OCR1A = 2500-OCR1A; // Das Servosignal wird aus der Differenz von
// Periodenlänge (2500*0,008ms=20ms) und letztem
// Vergleichswert (OCR1A) gebildet
}