23 |
23 |
* OTHER DEALINGS IN THE SOFTWARE.
|
24 |
24 |
**/
|
25 |
25 |
|
26 |
|
|
27 |
26 |
/**
|
28 |
27 |
* @file ligths.c
|
29 |
28 |
* @brief Orbs
|
... | ... | |
31 |
30 |
* Implemenation for the orbs (tri-colored LEDs)
|
32 |
31 |
*
|
33 |
32 |
* @author Colony Project, CMU Robotics Club
|
34 |
|
* @bug Colors are incorrect, seems to not work with wireless library
|
|
33 |
* @bug Unfinished
|
35 |
34 |
**/
|
36 |
35 |
|
37 |
36 |
/*
|
38 |
37 |
lights.c
|
39 |
|
Controls orb1 and orb2. Also contains the framework for a software PWM that may be used for servos in the future.
|
|
38 |
Controls orb1 and orb2. Can be extended for a software PWM that may be used
|
|
39 |
for servos in the future.
|
40 |
40 |
|
41 |
41 |
author: CMU Robotics Club, Colony Project
|
42 |
42 |
|
43 |
43 |
Change Log:
|
44 |
|
2.4.07 - Aaron
|
45 |
|
Revamped orb code so it works. Need to check interaction with rtc, and tweak some colors.
|
46 |
|
|
47 |
|
2.1.07 - James
|
48 |
|
Modified sort_buffer() to prune for repeats. PWM now uses orb_buf_size for the number of orb values in orb_time_arr[].
|
49 |
|
Changed sorting algorithm used in sort_buffer() to selection sort (faster). And it works now.
|
50 |
|
|
51 |
|
1.25.07 - KWoo
|
52 |
|
Deleted old FF+ code to make it cleaner. Commented code. This all works. Note however that if you ever plan to use the
|
53 |
|
software PWM (which is this) you will need to change the implementation of orb_enable() and orb_disable() to not
|
54 |
|
shutdown the PWM.
|
55 |
|
|
|
44 |
3/31/2009 - Martin
|
|
45 |
Rewritten from scratch (mostly), fixes some code duplication, long ISRs,
|
|
46 |
bugs, unnecessary synchronized code, memory waste
|
56 |
47 |
*/
|
57 |
48 |
|
58 |
49 |
#include "lights.h"
|
|
50 |
#include <avr/interrupt.h>
|
59 |
51 |
#include "dragonfly_lib.h"
|
60 |
|
#include <avr/interrupt.h>
|
61 |
52 |
|
62 |
|
#define ORB_RESET 1025
|
63 |
|
#define ORBPORT PORTC
|
64 |
|
#define ORBDDR DDRC
|
65 |
|
#define ORBMASK 0x77
|
66 |
53 |
|
67 |
|
/***** Port and Pin Definitions ****/
|
|
54 |
// *********
|
|
55 |
// ** I/O **
|
|
56 |
// *********
|
68 |
57 |
|
69 |
|
//Orb Ports and Registers
|
70 |
|
#define ORB_PORT PORTC
|
71 |
|
#define ORB_DDR DDRC
|
|
58 |
#define NUM_ORBS 2 // Number or orbs
|
|
59 |
#define NUM_COLORS 3 // Number of colors per orb
|
72 |
60 |
|
73 |
|
//Orb Pins
|
74 |
|
#define ORB1_RED 0x00
|
75 |
|
#define ORB1_GREEN 0x01
|
76 |
|
#define ORB1_BLUE 0x02
|
77 |
|
#define ORB2_RED 0x04
|
78 |
|
#define ORB2_GREEN 0x05
|
79 |
|
#define ORB2_BLUE 0x06
|
|
61 |
// Orb port
|
|
62 |
#define ORBPORT PORTC
|
|
63 |
#define ORBDDR DDRC
|
80 |
64 |
|
|
65 |
// Orb pins
|
|
66 |
#define ORB1_RED 0
|
|
67 |
#define ORB1_GREEN 1
|
|
68 |
#define ORB1_BLUE 2
|
|
69 |
#define ORB2_RED 4
|
|
70 |
#define ORB2_GREEN 5
|
|
71 |
#define ORB2_BLUE 6
|
81 |
72 |
|
82 |
|
#define ORB_COUNT 8 //please dont change this, or bad things might happen
|
|
73 |
// ***********
|
|
74 |
// ** Masks **
|
|
75 |
// ***********
|
83 |
76 |
|
84 |
|
// an orb node
|
85 |
|
struct ORB_NODE {
|
86 |
|
uint8_t num;
|
87 |
|
uint16_t angle;
|
88 |
|
};
|
|
77 |
// Some useful bit masks. All of them are are calculated from the I/O
|
|
78 |
// definitions above. The calculations should be done at compile time (even if
|
|
79 |
// they are not, they are only executed once at startup).
|
89 |
80 |
|
90 |
|
//the change in an orb
|
91 |
|
struct ORB_CHANGE {
|
92 |
|
uint16_t port_val;
|
93 |
|
uint16_t split_time_period;
|
94 |
|
};
|
|
81 |
// Masks for the individual LEDs
|
|
82 |
#define orb1_red_mask _BV (ORB1_RED )
|
|
83 |
#define orb1_green_mask _BV (ORB1_GREEN)
|
|
84 |
#define orb1_blue_mask _BV (ORB1_BLUE )
|
|
85 |
#define orb2_red_mask _BV (ORB2_RED )
|
|
86 |
#define orb2_green_mask _BV (ORB2_GREEN)
|
|
87 |
#define orb2_blue_mask _BV (ORB2_BLUE )
|
95 |
88 |
|
96 |
|
// the status of an orb
|
97 |
|
struct ORB_STATUS_STRUCT {
|
98 |
|
struct ORB_NODE orbs[ORB_COUNT];
|
99 |
|
uint16_t orb_angles[ORB_COUNT];
|
100 |
|
struct ORB_CHANGE changes[ORB_COUNT+1];
|
101 |
|
uint8_t change_count;
|
102 |
|
uint8_t new_angles;
|
103 |
|
uint8_t current_orb;
|
|
89 |
// Mask for all LEDs
|
|
90 |
const uint8_t all_orbs_mask=
|
|
91 |
orb1_red_mask | orb1_green_mask | orb1_blue_mask |
|
|
92 |
orb2_red_mask | orb2_green_mask | orb2_blue_mask;
|
104 |
93 |
|
105 |
|
} ORB_STATUS;
|
|
94 |
// Mask for the individual LEDs, organized as an array for programmatic access.
|
|
95 |
// The layout of this array is orb_mask[orb_num, color_num]
|
|
96 |
const uint8_t orb_mask[2][3]=
|
|
97 |
{
|
|
98 |
{ orb1_red_mask, orb1_green_mask, orb1_blue_mask },
|
|
99 |
{ orb2_red_mask, orb2_green_mask, orb2_blue_mask }
|
|
100 |
};
|
106 |
101 |
|
107 |
|
void orb_sort(void);
|
108 |
|
void orb_setup_pulse(void);
|
109 |
102 |
|
110 |
|
SIGNAL (SIG_OUTPUT_COMPARE3C){
|
|
103 |
// ********************
|
|
104 |
// ** Initialization **
|
|
105 |
// ********************
|
111 |
106 |
|
112 |
|
//pull the correct ones down
|
113 |
|
ORBPORT &= (~ORBMASK)|(ORB_STATUS.changes[ORB_STATUS.current_orb].port_val);
|
114 |
|
|
115 |
|
++ORB_STATUS.current_orb; //now look at next orb transition
|
116 |
|
|
117 |
|
if (ORB_STATUS.current_orb < ORB_STATUS.change_count) { //if it isnt the end...
|
118 |
|
|
119 |
|
//setup timer for next pull down
|
120 |
|
OCR3C = TCNT3+ORB_STATUS.changes[ORB_STATUS.current_orb].split_time_period;
|
121 |
|
|
122 |
|
}
|
123 |
|
else { //we are done with these pulses
|
124 |
|
orb_setup_pulse();
|
125 |
|
}
|
126 |
|
|
127 |
|
}
|
128 |
|
|
129 |
|
|
130 |
|
//sets a channel to a value
|
131 |
|
void orb_set_angle(int orb, int angle) {
|
132 |
|
uint8_t mysreg;
|
133 |
|
|
134 |
|
orb=orb&0x07; //only have 8
|
135 |
|
angle=angle&0xff; //only accept 0-255
|
136 |
|
angle=255-angle; //inverse intensity
|
137 |
|
angle=angle<<2; //scale up so that we dont run it too often
|
138 |
|
angle+=3; //0 values dont really work
|
139 |
|
if (ORB_STATUS.orb_angles[orb] != angle) { //if the angle has changed
|
140 |
|
mysreg=SREG;
|
141 |
|
cli(); //disable interrupts
|
142 |
|
ORB_STATUS.orb_angles[orb] = angle; //update angle
|
143 |
|
ORB_STATUS.new_angles = 1;
|
144 |
|
SREG=mysreg; //put interrupt status back
|
145 |
|
}
|
146 |
|
}
|
147 |
|
|
148 |
|
|
149 |
|
void orb_sort(void) {
|
150 |
|
int done = 0, i;
|
151 |
|
|
152 |
|
while (! done) {
|
153 |
|
done = 1;
|
154 |
|
|
155 |
|
for (i = 0; i < ORB_COUNT - 1; ++i) { //loop through all
|
156 |
|
|
157 |
|
//if they are out of order, swap them
|
158 |
|
if (ORB_STATUS.orbs[i].angle > ORB_STATUS.orbs[i+1].angle) {
|
159 |
|
ORB_STATUS.orbs[i].angle ^= ORB_STATUS.orbs[i+1].angle;
|
160 |
|
ORB_STATUS.orbs[i+1].angle ^= ORB_STATUS.orbs[i].angle;
|
161 |
|
ORB_STATUS.orbs[i].angle ^= ORB_STATUS.orbs[i+1].angle;
|
162 |
|
|
163 |
|
ORB_STATUS.orbs[i].num ^= ORB_STATUS.orbs[i+1].num;
|
164 |
|
ORB_STATUS.orbs[i+1].num ^= ORB_STATUS.orbs[i].num;
|
165 |
|
ORB_STATUS.orbs[i].num ^= ORB_STATUS.orbs[i+1].num;
|
166 |
|
|
167 |
|
done = 0;
|
168 |
|
}
|
169 |
|
}
|
170 |
|
}
|
171 |
|
}
|
172 |
|
|
173 |
|
//calculate the split times
|
174 |
|
void orb_setup_pulse(void) {
|
175 |
|
int i;
|
176 |
|
uint16_t my_port;
|
177 |
|
uint16_t sum = 0;
|
178 |
|
uint16_t split_time;
|
179 |
|
|
180 |
|
my_port = 0xff; //all on
|
181 |
|
|
182 |
|
if (ORB_STATUS.new_angles) {
|
183 |
|
|
184 |
|
ORB_STATUS.change_count = 0;
|
185 |
|
for (i = 0; i < ORB_COUNT; ++i) { //get the new values
|
186 |
|
ORB_STATUS.orbs[i].angle = ORB_STATUS.orb_angles[ORB_STATUS.orbs[i].num];
|
187 |
|
}
|
188 |
|
|
189 |
|
orb_sort(); //sort them
|
190 |
|
ORB_STATUS.new_angles = 0;
|
191 |
|
|
192 |
|
for (i = 0; i < ORB_COUNT; ++i) { //calculate split times
|
193 |
|
split_time = ORB_STATUS.orbs[i].angle - sum;
|
194 |
|
my_port &= ~_BV(ORB_STATUS.orbs[i].num);
|
195 |
|
|
196 |
|
for (; i < ORB_COUNT - 1 && ORB_STATUS.orbs[i].angle == ORB_STATUS.orbs[i+1].angle; ++i) {
|
197 |
|
my_port &= ~_BV(ORB_STATUS.orbs[i+1].num); //look for doups
|
198 |
|
}
|
199 |
|
|
200 |
|
ORB_STATUS.changes[ORB_STATUS.change_count].port_val = my_port; //which pins are low
|
201 |
|
ORB_STATUS.changes[ORB_STATUS.change_count].split_time_period = split_time;
|
202 |
|
|
203 |
|
++ORB_STATUS.change_count;
|
204 |
|
|
205 |
|
sum += split_time;
|
206 |
|
}
|
207 |
|
|
208 |
|
ORB_STATUS.changes[ORB_STATUS.change_count].port_val = my_port;
|
209 |
|
ORB_STATUS.changes[ORB_STATUS.change_count].split_time_period = ORB_RESET - sum; //get a constant period
|
210 |
|
|
211 |
|
++ORB_STATUS.change_count;
|
212 |
|
|
213 |
|
}
|
214 |
|
|
215 |
|
|
216 |
|
|
217 |
|
ORB_STATUS.current_orb = 0;
|
218 |
|
|
219 |
|
ORBPORT |= ORBMASK; //start with all high
|
220 |
|
OCR3C = TCNT3 + ORB_STATUS.changes[0].split_time_period; //wait for first split
|
221 |
|
|
222 |
|
}
|
223 |
|
|
224 |
107 |
/**
|
225 |
|
* @defgroup orbs Orbs
|
226 |
|
* @brief Functions for controlling the color of the orbs.
|
227 |
|
*
|
228 |
|
* Functions for controlling the color and lighting of the orbs.
|
229 |
|
*
|
230 |
|
* @{
|
231 |
|
**/
|
232 |
|
|
233 |
|
/**
|
234 |
108 |
* Initializes the PWM for Orb control. This must be called before
|
235 |
109 |
* the orbs are used for them to function.
|
236 |
110 |
**/
|
237 |
|
void orb_init()
|
238 |
|
{
|
239 |
|
int i;
|
240 |
|
uint8_t mysreg;
|
241 |
|
|
242 |
|
ORBDDR |= ORBMASK; //all outputs
|
243 |
|
|
244 |
|
mysreg=SREG;
|
245 |
|
cli(); //turn off interrupts for now
|
|
111 |
void orb_init ()
|
|
112 |
{
|
|
113 |
// Enable the output ports and turn off the LEDs
|
|
114 |
ORBDDR |= all_orbs_mask;
|
|
115 |
ORBPORT &= ~all_orbs_mask;
|
246 |
116 |
|
247 |
|
//init everything
|
|
117 |
// Set all orbs to "off"
|
|
118 |
orb_set (0, 0, 0);
|
248 |
119 |
|
249 |
|
for (i = 0; i < ORB_COUNT; ++i) {
|
250 |
|
ORB_STATUS.orbs[i].num = i;
|
251 |
|
ORB_STATUS.orbs[i].angle = 1023; //127 is a pretty stupid start angle, but oh well
|
252 |
|
ORB_STATUS.orb_angles[i] = 1023;
|
253 |
|
}
|
|
120 |
// uint16_t i;
|
|
121 |
// uint8_t mysreg;
|
|
122 |
//
|
|
123 |
// mysreg=SREG;
|
|
124 |
// cli(); //turn off interrupts for now
|
|
125 |
//
|
|
126 |
// //init everything
|
|
127 |
//
|
|
128 |
// for (i = 0; i < ORB_COUNT; ++i) {
|
|
129 |
// ORB_STATUS.orbs[i].num = i;
|
|
130 |
// ORB_STATUS.orbs[i].angle = 1023; //127 is a pretty stupid start angle, but oh well
|
|
131 |
// ORB_STATUS.orb_angles[i] = 1023;
|
|
132 |
// }
|
|
133 |
//
|
|
134 |
// ORB_STATUS.new_angles = 1;
|
|
135 |
// ORB_STATUS.change_count = 0;
|
|
136 |
//
|
|
137 |
// //init timer3
|
|
138 |
// TCCR3A = 0;
|
|
139 |
// TCCR3B = _BV(CS31); //prescale = 8
|
|
140 |
// TCCR3C = 0;
|
|
141 |
// ETIMSK |= _BV(OCIE3C); //turn on oc3c interrupt
|
|
142 |
// OCR3C = TCNT3+ORB_RESET;
|
|
143 |
//
|
|
144 |
// SREG=mysreg;
|
|
145 |
}
|
|
146 |
//
|
254 |
147 |
|
255 |
|
ORB_STATUS.new_angles = 1;
|
256 |
|
ORB_STATUS.change_count = 0;
|
|
148 |
// ************************
|
|
149 |
// ** Setting RGB colors **
|
|
150 |
// ************************
|
257 |
151 |
|
258 |
|
//init timer3
|
259 |
|
TCCR3A = 0;
|
260 |
|
TCCR3B = _BV(CS31); //prescale = 8
|
261 |
|
TCCR3C = 0;
|
262 |
|
ETIMSK |= _BV(OCIE3C); //turn on oc3c interrupt
|
263 |
|
OCR3C = TCNT3+ORB_RESET;
|
264 |
|
|
265 |
|
SREG=mysreg;
|
|
152 |
static void orb_n_set (uint8_t num, uint8_t red, uint8_t green, uint8_t blue)
|
|
153 |
{
|
|
154 |
// FIXME implement PWM code (this is only binary on/off)
|
|
155 |
// FIXME Synchronization
|
|
156 |
|
|
157 |
// Oh, and of course the outputs are inverted.
|
|
158 |
if (!red) ORBPORT|=orb_mask[num][0]; else ORBPORT&=~orb_mask[num][0];
|
|
159 |
if (!green) ORBPORT|=orb_mask[num][1]; else ORBPORT&=~orb_mask[num][1];
|
|
160 |
if (!blue) ORBPORT|=orb_mask[num][2]; else ORBPORT&=~orb_mask[num][2];
|
266 |
161 |
}
|
267 |
162 |
|
268 |
163 |
/**
|
269 |
|
* Set both orbs to the color specified. orb_init must
|
270 |
|
* be called before this function may be used.
|
|
164 |
* Set orb1 to the color specified. orb_init must be called before this function
|
|
165 |
* may be used.
|
271 |
166 |
*
|
272 |
|
* @param red_led the red component of the color
|
273 |
|
* @param green_led the green component of the color
|
274 |
|
* @param blue_led the blue component of the color
|
|
167 |
* @param red the red component of the color
|
|
168 |
* @param green the green component of the color
|
|
169 |
* @param blue the blue component of the color
|
275 |
170 |
*
|
276 |
171 |
* @see orb_init
|
277 |
172 |
**/
|
278 |
|
void orb_set(unsigned char red_led, unsigned char green_led, unsigned char blue_led) {
|
279 |
|
orb1_set(red_led,green_led,blue_led);
|
280 |
|
orb2_set(red_led,green_led,blue_led);
|
281 |
|
|
|
173 |
void orb1_set (uint8_t red, uint8_t green, uint8_t blue)
|
|
174 |
{
|
|
175 |
orb_n_set (0, red, green, blue);
|
282 |
176 |
}
|
283 |
177 |
|
284 |
178 |
/**
|
285 |
|
* Set orb1 to the color specified. orb_init must
|
286 |
|
* be called before this function may be used.
|
|
179 |
* Set orb2 to the color specified. orb_init must be called before this function
|
|
180 |
* may be used.
|
287 |
181 |
*
|
288 |
182 |
* @param red_led the red component of the color
|
289 |
183 |
* @param green_led the green component of the color
|
... | ... | |
291 |
185 |
*
|
292 |
186 |
* @see orb_init
|
293 |
187 |
**/
|
294 |
|
void orb1_set(unsigned char red_led, unsigned char green_led, unsigned char blue_led) {
|
295 |
|
orb_set_angle(0,red_led);
|
296 |
|
orb_set_angle(1,green_led);
|
297 |
|
orb_set_angle(2,blue_led);
|
|
188 |
void orb2_set (uint8_t red, uint8_t green, uint8_t blue)
|
|
189 |
{
|
|
190 |
orb_n_set (1, red, green, blue);
|
298 |
191 |
}
|
299 |
192 |
|
300 |
193 |
/**
|
301 |
|
* Set orb2 to the color specified. orb_init must
|
302 |
|
* be called before this function may be used.
|
|
194 |
* Set both orbs to the color specified. orb_init must be called before this
|
|
195 |
* function may be used.
|
303 |
196 |
*
|
304 |
197 |
* @param red_led the red component of the color
|
305 |
198 |
* @param green_led the green component of the color
|
306 |
199 |
* @param blue_led the blue component of the color
|
307 |
200 |
*
|
308 |
|
* @see orb_init
|
|
201 |
* @see orb_init, orb1_set, orb2_set
|
309 |
202 |
**/
|
310 |
|
void orb2_set(unsigned char red_led, unsigned char green_led, unsigned char blue_led) {
|
311 |
|
orb_set_angle(4,red_led);
|
312 |
|
orb_set_angle(5,green_led);
|
313 |
|
orb_set_angle(6,blue_led);
|
|
203 |
void orb_set (uint8_t red, uint8_t green, uint8_t blue)
|
|
204 |
{
|
|
205 |
orb1_set (red, green, blue);
|
|
206 |
orb2_set (red, green, blue);
|
314 |
207 |
}
|
315 |
208 |
|
|
209 |
|
|
210 |
|
|
211 |
|
|
212 |
//////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
213 |
|
|
214 |
//#define ORB_RESET 1025
|
|
215 |
//#define ORBMASK 0x77
|
|
216 |
//
|
|
217 |
///***** Port and Pin Definitions ****/
|
|
218 |
//
|
|
219 |
//
|
|
220 |
//// an orb node
|
|
221 |
//struct ORB_NODE {
|
|
222 |
// uint8_t num;
|
|
223 |
// uint16_t angle;
|
|
224 |
//};
|
|
225 |
//
|
|
226 |
//the change in an orb
|
|
227 |
//struct ORB_CHANGE {
|
|
228 |
// uint16_t port_val;
|
|
229 |
// uint16_t split_time_period;
|
|
230 |
//};
|
|
231 |
//
|
|
232 |
//// the status of an orb
|
|
233 |
//struct ORB_STATUS_STRUCT {
|
|
234 |
// struct ORB_NODE orbs[ORB_COUNT];
|
|
235 |
// uint16_t orb_angles[ORB_COUNT];
|
|
236 |
// struct ORB_CHANGE changes[ORB_COUNT+1];
|
|
237 |
// uint8_t change_count;
|
|
238 |
// uint8_t new_angles;
|
|
239 |
// uint8_t current_orb;
|
|
240 |
//
|
|
241 |
//} ORB_STATUS;
|
|
242 |
//
|
|
243 |
//void orb_sort(void);
|
|
244 |
//void orb_setup_pulse(void);
|
|
245 |
//
|
|
246 |
//SIGNAL (SIG_OUTPUT_COMPARE3C){
|
|
247 |
//
|
|
248 |
// //pull the correct ones down
|
|
249 |
// ORBPORT &= (~ORBMASK)|(ORB_STATUS.changes[ORB_STATUS.current_orb].port_val);
|
|
250 |
//
|
|
251 |
// ++ORB_STATUS.current_orb; //now look at next orb transition
|
|
252 |
//
|
|
253 |
// if (ORB_STATUS.current_orb < ORB_STATUS.change_count) { //if it isnt the end...
|
|
254 |
//
|
|
255 |
// //setup timer for next pull down
|
|
256 |
// OCR3C = TCNT3+ORB_STATUS.changes[ORB_STATUS.current_orb].split_time_period;
|
|
257 |
//
|
|
258 |
// }
|
|
259 |
// else { //we are done with these pulses
|
|
260 |
// orb_setup_pulse();
|
|
261 |
// }
|
|
262 |
//
|
|
263 |
//}
|
|
264 |
//
|
|
265 |
//
|
|
266 |
////sets a channel to a value
|
|
267 |
//void orb_set_angle(uint16_t orb, uint16_t angle) {
|
|
268 |
// uint8_t mysreg;
|
|
269 |
//
|
|
270 |
// orb=orb&0x07; //only have 8
|
|
271 |
// angle=angle&0xff; //only accept 0-255
|
|
272 |
// angle=255-angle; //inverse intensity
|
|
273 |
// angle=angle<<2; //scale up so that we dont run it too often
|
|
274 |
// angle+=3; //0 values dont really work
|
|
275 |
// if (ORB_STATUS.orb_angles[orb] != angle) { //if the angle has changed
|
|
276 |
// mysreg=SREG;
|
|
277 |
// cli(); //disable interrupts
|
|
278 |
// ORB_STATUS.orb_angles[orb] = angle; //update angle
|
|
279 |
// ORB_STATUS.new_angles = 1;
|
|
280 |
// SREG=mysreg; //put interrupt status back
|
|
281 |
// }
|
|
282 |
//}
|
|
283 |
//
|
|
284 |
//
|
|
285 |
//void orb_sort(void) {
|
|
286 |
// uint16_t done = 0, i;
|
|
287 |
//
|
|
288 |
// while (! done) {
|
|
289 |
// done = 1;
|
|
290 |
//
|
|
291 |
// for (i = 0; i < ORB_COUNT - 1; ++i) { //loop through all
|
|
292 |
//
|
|
293 |
// //if they are out of order, swap them
|
|
294 |
// if (ORB_STATUS.orbs[i].angle > ORB_STATUS.orbs[i+1].angle) {
|
|
295 |
// ORB_STATUS.orbs[i].angle ^= ORB_STATUS.orbs[i+1].angle;
|
|
296 |
// ORB_STATUS.orbs[i+1].angle ^= ORB_STATUS.orbs[i].angle;
|
|
297 |
// ORB_STATUS.orbs[i].angle ^= ORB_STATUS.orbs[i+1].angle;
|
|
298 |
//
|
|
299 |
// ORB_STATUS.orbs[i].num ^= ORB_STATUS.orbs[i+1].num;
|
|
300 |
// ORB_STATUS.orbs[i+1].num ^= ORB_STATUS.orbs[i].num;
|
|
301 |
// ORB_STATUS.orbs[i].num ^= ORB_STATUS.orbs[i+1].num;
|
|
302 |
//
|
|
303 |
// done = 0;
|
|
304 |
// }
|
|
305 |
// }
|
|
306 |
// }
|
|
307 |
//}
|
|
308 |
//
|
|
309 |
////calculate the split times
|
|
310 |
//void orb_setup_pulse(void) {
|
|
311 |
// uint16_t i;
|
|
312 |
// uint16_t my_port;
|
|
313 |
// uint16_t sum = 0;
|
|
314 |
// uint16_t split_time;
|
|
315 |
//
|
|
316 |
// my_port = 0xff; //all on
|
|
317 |
//
|
|
318 |
// if (ORB_STATUS.new_angles) {
|
|
319 |
//
|
|
320 |
// ORB_STATUS.change_count = 0;
|
|
321 |
// for (i = 0; i < ORB_COUNT; ++i) { //get the new values
|
|
322 |
// ORB_STATUS.orbs[i].angle = ORB_STATUS.orb_angles[ORB_STATUS.orbs[i].num];
|
|
323 |
// }
|
|
324 |
//
|
|
325 |
// orb_sort(); //sort them
|
|
326 |
// ORB_STATUS.new_angles = 0;
|
|
327 |
//
|
|
328 |
// for (i = 0; i < ORB_COUNT; ++i) { //calculate split times
|
|
329 |
// split_time = ORB_STATUS.orbs[i].angle - sum;
|
|
330 |
// my_port &= ~_BV(ORB_STATUS.orbs[i].num);
|
|
331 |
//
|
|
332 |
// for (; i < ORB_COUNT - 1 && ORB_STATUS.orbs[i].angle == ORB_STATUS.orbs[i+1].angle; ++i) {
|
|
333 |
// my_port &= ~_BV(ORB_STATUS.orbs[i+1].num); //look for doups
|
|
334 |
// }
|
|
335 |
//
|
|
336 |
// ORB_STATUS.changes[ORB_STATUS.change_count].port_val = my_port; //which pins are low
|
|
337 |
// ORB_STATUS.changes[ORB_STATUS.change_count].split_time_period = split_time;
|
|
338 |
//
|
|
339 |
// ++ORB_STATUS.change_count;
|
|
340 |
//
|
|
341 |
// sum += split_time;
|
|
342 |
// }
|
|
343 |
//
|
|
344 |
// ORB_STATUS.changes[ORB_STATUS.change_count].port_val = my_port;
|
|
345 |
// ORB_STATUS.changes[ORB_STATUS.change_count].split_time_period = ORB_RESET - sum; //get a constant period
|
|
346 |
//
|
|
347 |
// ++ORB_STATUS.change_count;
|
|
348 |
//
|
|
349 |
// }
|
|
350 |
//
|
|
351 |
//
|
|
352 |
//
|
|
353 |
// ORB_STATUS.current_orb = 0;
|
|
354 |
//
|
|
355 |
// ORBPORT |= ORBMASK; //start with all high
|
|
356 |
// OCR3C = TCNT3 + ORB_STATUS.changes[0].split_time_period; //wait for first split
|
|
357 |
//
|
|
358 |
//}
|
|
359 |
//
|
|
360 |
///**
|
|
361 |
// * @defgroup orbs Orbs
|
|
362 |
// * @brief Functions for controlling the color of the orbs.
|
|
363 |
// *
|
|
364 |
// * Functions for controlling the color and lighting of the orbs.
|
|
365 |
// *
|
|
366 |
// * @{
|
|
367 |
// **/
|
|
368 |
//
|
|
369 |
|
316 |
370 |
/**
|
317 |
371 |
* Set both orbs to the specified color. This function
|
318 |
372 |
* is intended to be used with the predefined
|
... | ... | |
323 |
377 |
*
|
324 |
378 |
* @see orb_init
|
325 |
379 |
**/
|
326 |
|
void orb_set_color(int col)
|
|
380 |
void orb_set_color(uint8_t col)
|
327 |
381 |
{
|
328 |
|
int red, green, blue;
|
329 |
|
|
330 |
|
red = ((col & 0xE0) >> 5) * 36;
|
331 |
|
green = ((col & 0x1C) >> 2) * 36;
|
332 |
|
blue = (col & 0x03) * 85;
|
333 |
|
|
334 |
|
orb_set(red, green, blue);
|
|
382 |
// uint16_t red, green, blue;
|
|
383 |
//
|
|
384 |
// red = ((col & 0xE0) >> 5) * 36;
|
|
385 |
// green = ((col & 0x1C) >> 2) * 36;
|
|
386 |
// blue = (col & 0x03) * 85;
|
|
387 |
//
|
|
388 |
// orb_set(red, green, blue);
|
335 |
389 |
}
|
336 |
390 |
|
337 |
391 |
/**
|
... | ... | |
344 |
398 |
*
|
345 |
399 |
* @see orb_init
|
346 |
400 |
**/
|
347 |
|
void orb1_set_color(int col)
|
|
401 |
void orb1_set_color(uint8_t col)
|
348 |
402 |
{
|
349 |
|
int red, green, blue;
|
350 |
|
|
351 |
|
red = ((col & 0xE0) >> 5) * 36;
|
352 |
|
green = ((col & 0x1C) >> 2) * 36;
|
353 |
|
blue = (col & 0x03) * 85;
|
354 |
|
|
355 |
|
orb1_set(red, green, blue);
|
|
403 |
// uint16_t red, green, blue;
|
|
404 |
//
|
|
405 |
// red = ((col & 0xE0) >> 5) * 36;
|
|
406 |
// green = ((col & 0x1C) >> 2) * 36;
|
|
407 |
// blue = (col & 0x03) * 85;
|
|
408 |
//
|
|
409 |
// orb1_set(red, green, blue);
|
356 |
410 |
}
|
357 |
411 |
|
358 |
412 |
/**
|
... | ... | |
365 |
419 |
*
|
366 |
420 |
* @see orb_init
|
367 |
421 |
**/
|
368 |
|
void orb2_set_color(int col)
|
|
422 |
void orb2_set_color(uint8_t col)
|
369 |
423 |
{
|
370 |
|
int red, green, blue;
|
371 |
|
|
372 |
|
red = ((col & 0xE0) >> 5) * 36;
|
373 |
|
green = ((col & 0x1C) >> 2) * 36;
|
374 |
|
blue = (col & 0x03) * 85;
|
375 |
|
|
376 |
|
orb2_set(red, green, blue);
|
|
424 |
// uint16_t red, green, blue;
|
|
425 |
//
|
|
426 |
// red = ((col & 0xE0) >> 5) * 36;
|
|
427 |
// green = ((col & 0x1C) >> 2) * 36;
|
|
428 |
// blue = (col & 0x03) * 85;
|
|
429 |
//
|
|
430 |
// orb2_set(red, green, blue);
|
377 |
431 |
}
|
378 |
432 |
|
379 |
433 |
//DOES THIS WORK?
|
... | ... | |
388 |
442 |
**/
|
389 |
443 |
void orb_disable()
|
390 |
444 |
{
|
391 |
|
TCCR3B &= 0; //Turn off everything
|
392 |
|
ORB_PORT |= _BV(ORB1_RED);
|
393 |
|
ORB_PORT |= _BV(ORB1_GREEN);
|
394 |
|
ORB_PORT |= _BV(ORB1_BLUE);
|
395 |
|
ORB_PORT |= _BV(ORB2_RED);
|
396 |
|
ORB_PORT |= _BV(ORB2_GREEN);
|
397 |
|
ORB_PORT |= _BV(ORB2_BLUE);
|
|
445 |
// TCCR3B &= 0; //Turn off everything
|
|
446 |
// ORB_PORT |= _BV(ORB1_RED);
|
|
447 |
// ORB_PORT |= _BV(ORB1_GREEN);
|
|
448 |
// ORB_PORT |= _BV(ORB1_BLUE);
|
|
449 |
// ORB_PORT |= _BV(ORB2_RED);
|
|
450 |
// ORB_PORT |= _BV(ORB2_GREEN);
|
|
451 |
// ORB_PORT |= _BV(ORB2_BLUE);
|
398 |
452 |
}
|
399 |
453 |
|
400 |
454 |
//DOES THIS WORK?
|
... | ... | |
406 |
460 |
**/
|
407 |
461 |
void orb_enable()
|
408 |
462 |
{
|
409 |
|
// TCCR0 |= _BV(COM01) | _BV(COM00) | _BV(WGM00) | _BV(CS01); //Toggle OC Pin on match, FAST PWM Mode, clock/8
|
410 |
|
TCCR3B =_BV(CS31);
|
|
463 |
//// TCCR0 |= _BV(COM01) | _BV(COM00) | _BV(WGM00) | _BV(CS01); //Toggle OC Pin on match, FAST PWM Mode, clock/8
|
|
464 |
// TCCR3B =_BV(CS31);
|
411 |
465 |
}
|
412 |
466 |
|
413 |
467 |
/** @} **/ //end group
|