Colony

// FIXME remove

typedef unsigned char uint8_t;

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file lights.h

 * @brief Contains declarations for managing the orbs.

 *

 * Contains declarations for using the orbs and PWM.

 *

 * @author Colony Project, CMU Robotics Club

 * Based on Firefly Library, by Tom Lauwers and Steven Shamlian

 **/

#ifndef _LIGHTS_H_

#define _LIGHTS_H_

/**

 * @addtogroup orbs

 * @{

 **/

/**

 * Quick start: call orb_init_pwm or orb_init_binary, depending on which mode you want to use. Call orb*set or

 * orb*set_color to set the orbs.

 * 

 * The orbs have two modes of operation: PWM mode and binary mode. In PWM mode, a pwm signal is generated by a hardware

 * timer and the orbs can be set to a value of 0 through 255. In binary mode, the orbs can only be turned on or off and

 * a value of 0 means "off" and any other value means "on". The mode can be chosen on initialization and can be changed

 * at runtime using the orb_set_mode function.

 *

 * Operation (PWM mode): On timer overflow, all LEDs with a value>0 are turned on and the output compare value for the

 * first LED is loaded. On compare match, the corresponding LED is turned off and the next output compare value is

 * loaded. All masks are precomputed and sorted by time when setting the values.

 *

 * The data structure (pwm_t) containing the PWM times and masks is triple buffered. This is because the buffer the ISR

 * is reading from may only be modified on timer overflow before the next PWM sequence is started, because otherwise the

 * next OCR value might be sed to a value smaller than the current timer value, resulting in the remaining channels not

 * being turned off in that PWM period (flash to on). When using two buffers, the page flip can only occur on a timer

 * overflow for the same reason. So after writing a buffer and marking it for page flip, neither of the buffers could be

 * modified because the front buffer is read by the ISR and the back buffer could be switched at any time. So the

 * calling thread would have to be delayed by up to one full PWM period (8ms in the current implementation, but

 * 20ms-50ms would be a reasonable value to expect here). To avoid this, triple buffering is used.

 *

 * The code for applying the orbs is fairly optimized. See the apply_orbs function for some time measurements and

 * further nodes.

 *

 * The PWM frequency is 120Hz (8ms period time). The next lower frequency (determined by the prescaler) is 30 Hz which

 * is too slow (orbs flicker).

 *

 * The orbs code is thread safe, which means that the functions may be called from another interrupt handler. If there

 * are multiple concurrent calls to the orb*set* functions, one of them is ignored and the orbs are never left in an

 * inconsistent state. For example, if the orbs are set to green by the main thread and to red by an interrupt handler,

 * the resulting color will be either red or green, but never yellow.

 * Thread safety is achieved by grabbing a lock at the beginning of all functions that modify the orb code and releasing

 * the lock at the end. If the lock is already taken, the function just returns doing nothing.

 *

 * Some performance measurements:

 *   - Time for setting new orb values (PWM mode):       35us-72us (depending on the degree to which the array is

 *                                                                  already in the correct order)

 *   - Time for setting new orb values (binary mode):        5.5us

 *

 *   - Interrupt time (PWM mode only):                         8us (overflow)

 *                                                            10us (output compare)

 *                                                             6us (last output compare)

 *                                                            30us (output compare, all value equal)

 *

 *   - Maximum total interrupt time per period:               64us

 *   - Maximum CPU usage for interrupts (PWM mode only):     <0.8%

 *

 *   - Maximum contiguous synchronized block:                 30us (output compare interrupt, all values equal)

 *

 * There are some potential optimizations left. See the source code for more information.

 *

 * A note on robustness: if the output compare interrupt is disabled for too long, either due to a long ISR or a long

 * synchronized code block, the orbs will flicker to brighter values for being turned off too late. With software PWM,

 * there's nothing at all to be done about that. The problem can be alleviated by using a lower PWM frequency, but then

 * the orbs will start flickering all the time due to the low update frequency.

 * Some measurements: with 100us synchronized blocks, the flickering is accepptably low. Longer synchronized blocks

 * mean more flickering. At 1ms synchronized blocks, the flickering is quite bad, especially for low orb values. Note

 * that orb value 0 never flickers at all because the corresponding channels are not turned on at all.

 * Test code (note the _delay_us restrictions!)

 *   orb_set (1,1,1); while (1) { SYNC { for (uint8_t m=0; m<10; ++m) { _delay_us(10); } } }

 **/

/** @} **/ //end addtogroup

/**

 * @addtogroup orbs

 * @{

 **/

// ***** Predefined colors *****

/** @brief Red **/

#define RED       0xE0

/** @brief Orange **/

#define ORANGE    0xE4

/** @brief Yellow **/

#define YELLOW    0xE8

/** @brief Lime **/

#define LIME      0x68

/** @brief Green **/

#define GREEN     0x1C

/** @brief Cyan **/

#define CYAN      0x1F

/** @brief Blue **/

#define BLUE      0x03

/** @brief Pink **/

#define PINK      0xA6 

/** @brief Purple **/

#define PURPLE    0x41

/** @brief Magenta **/

#define MAGENTA   0xE3

/** @brief White **/

#define WHITE     0xFE

/** @brief Turn the orb off **/

#define ORB_OFF   0x00

// ***** Initialization *****

/** @brief Enables the orbs in default mode **/

void orb_init(void);

/** @brief Enables the orbs in binary mode **/

void orb_init_binary (void);

/** @brief Enables the orbs in PWM mode **/

void orb_init_pwm (void);

// ***** Mode setting *****

/** Specification of the orb mode **/

typedef uint8_t orb_mode_t;

/** @brief PWM mode **/

#define orb_mode_pwm 0

/** @brief Binary mode **/

#define orb_mode_binary 1

/** @brief Switches the orbs to the specified mode **/

void orb_set_mode (orb_mode_t mode);

/** @brief Disables the orb timer, but does not change the mode **/

void orb_disable_timer (void);

/** @brief Enables the orb timer, but does not change the mode **/

void orb_enable_timer (void);

// ***** Setting RGB colors *****

/** @brief set the specified orb to a specified color **/

void orb_n_set (uint8_t num, uint8_t red, uint8_t green, uint8_t blue);

/** @brief Set both orbs to a specified color **/

void orb_set(uint8_t red, uint8_t green, uint8_t blue);

/** @brief Set orb1 to a specified color **/

void orb1_set(uint8_t red_led, uint8_t green_led, uint8_t blue_led); 

/** @brief Set orb2 to a specified color **/

void orb2_set(uint8_t red_led, uint8_t green_led, uint8_t blue_led);

void orbs_set (uint8_t red1, uint8_t green1, uint8_t blue1, uint8_t red2, uint8_t green2, uint8_t blue2);

// ***** Settings predefined colors *****

/** @brief set the specified orb to the specified color **/

void orb_n_set_color(uint8_t num, uint8_t col);

/** @brief Set orb1 to a specified color **/

void orb1_set_color(uint8_t col);

/** @brief Set orb2 to a specified color **/

void orb2_set_color(uint8_t col);

/** @brief set the orbs to specified colors **/

void orbs_set_color(uint8_t col1, uint8_t col2);

/** @brief Set both orbs to a specified color **/

void orb_set_color(uint8_t col);

/** @} **/ //end addtogroup

#endif