root / branches / rbom / code / projects / colonet / utilities / robot_wireless_relay / lights.c @ 1390
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1 | 13 | emarinel | /*
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2 | lights.c
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3 | Controls led_user (small green LED) and the ORB (big light)
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4 | |||
5 | author: CMU Robotics Club, Colony Project
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6 | */
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7 | |||
8 | #include "lights.h" |
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9 | #include "firefly+_lib.h" |
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10 | |||
11 | // the below comment may not be correct
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12 | // Initializes timer2 to count every 0.5 us, overflowing every 16.32 ms (because we set the counter to start at 0x8000)
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13 | void orb_init()
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14 | { |
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15 | #ifndef FFPP
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16 | //enable the data direction register on the 3 orb LEDs
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17 | DDRE |= _BV(REDLED) | _BV(GREENLED) | _BV(BLUELED); |
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18 | |||
19 | TCCR3A = 0xA9; // COM## set to noninvert, WGM 1:0 set to 1 |
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20 | TCCR3B = 0x0C; // High bits to 0, WGM 3:2 set to 1, prescaler to 8 |
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21 | |||
22 | // clear Output Compare Registers
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23 | OCR3AH=0x00;
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24 | OCR3AL=0x00;
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25 | OCR3BH=0x00;
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26 | OCR3BL=0x00;
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27 | OCR3CH=0x00;
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28 | OCR3CL=0x00;
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29 | |||
30 | #else
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31 | tlc5940init(); |
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32 | #endif
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33 | } |
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34 | |||
35 | // Sets the red, green and blue elements of the LED with 8-bit resolution
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36 | void orb_set(unsigned int red_led, unsigned int green_led, unsigned int blue_led) |
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37 | { |
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38 | #ifdef FFPP
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39 | orbs[28]=blue_led<<4; |
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40 | orbs[29]=green_led<<4; |
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41 | orbs[30]=red_led<<4; |
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42 | tlc_send(); |
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43 | #else
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44 | OCR3AL = red_led; |
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45 | OCR3BL = green_led; |
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46 | OCR3CL = blue_led; |
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47 | #endif
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48 | } |
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49 | |||
50 | void orb_set_color(int col) |
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51 | { |
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52 | int red, green, blue;
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53 | |||
54 | red = ((col & 0xE0) >> 5) * 36; |
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55 | green = ((col & 0x1C) >> 2) * 36; |
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56 | blue = (col & 0x03) * 85; |
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57 | |||
58 | orb_set(red, green, blue); |
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59 | } |
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60 | |||
61 | // Disables the timer1 interrupt, disabling the Orb's color fading capabilities
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62 | // You can still turn the red, green, and blue leds on and off with set_orb_dio
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63 | void orb_disable()
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64 | { |
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65 | #ifndef FFPP
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66 | TCCR3A = 0x01; // COM## disconnected, WGM 1:0 set to 1 |
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67 | #endif
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68 | } |
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69 | |||
70 | // Enables the timer1 interrupt, enabling the Orb's color fading capabilities
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71 | void orb_enable()
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72 | { |
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73 | #ifndef FFPP
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74 | TCCR3A = 0xA9; // COM## set to noninvert, WGM 1:0 set to 1 |
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75 | #else
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76 | tlc5940init(); |
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77 | #endif
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78 | } |
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79 | |||
80 | |||
81 | /*
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82 | This function turns each Orb element on or off
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83 | Useful for using the Orb for debugging purposes without
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84 | the overhead of the software PWM routine used for color fading.
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85 | */
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86 | void orb_set_dio(int red, int green, int blue) |
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87 | { |
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88 | #ifdef FFPP
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89 | orb_set(red*255, green*255, blue*255); |
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90 | #else
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91 | if(red == 0) |
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92 | PORTE &= (0xFF - _BV(REDLED));
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93 | else
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94 | PORTE |= _BV(REDLED); |
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95 | |||
96 | |||
97 | if(green == 0) |
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98 | PORTE &= (0xFF - _BV(GREENLED));
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99 | else
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100 | PORTE |= _BV(GREENLED); |
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101 | |||
102 | |||
103 | if(blue == 0) |
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104 | PORTE &= (0xFF - _BV(BLUELED));
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105 | else
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106 | PORTE |= _BV(BLUELED); |
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107 | #endif
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108 | } |
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109 | |||
110 | |||
111 | /////////////////////////////////////////
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112 | /////////// user LED ///////////////
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113 | /////////////////////////////////////////
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114 | void led_init( void ) |
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115 | { |
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116 | #ifdef FFPP
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117 | tlc5940init(); |
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118 | #else
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119 | DDRG |= _BV(USERLED); |
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120 | #endif
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121 | } |
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122 | |||
123 | void led_user(int value) |
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124 | { |
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125 | #ifdef FFPP
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126 | orbs[USERLED]=value*4095;
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127 | tlc_send(); |
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128 | #else
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129 | if(value == 0) |
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130 | PORTG &= (0xFF - _BV(USERLED));
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131 | else
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132 | PORTG |= _BV(USERLED); |
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133 | #endif
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134 | } |
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135 | |||
136 | #ifdef FFPP
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137 | //no send
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138 | void orb_set_num_ns(unsigned char num, unsigned int red_led, |
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139 | unsigned int green_led, unsigned int blue_led) |
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140 | { |
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141 | int high = (num>4); |
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142 | orbs[3*num+high]=blue_led<<4; |
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143 | orbs[3*num+1+high]=green_led<<4; |
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144 | orbs[3*num+2+high]=red_led<<4; |
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145 | } |
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146 | |||
147 | void orb_set_num(unsigned char num, unsigned int red_led, |
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148 | unsigned int green_led, unsigned int blue_led) |
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149 | { |
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150 | orb_set_num_ns(num,red_led,green_led,blue_led); |
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151 | tlc_send(); |
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152 | } |
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153 | |||
154 | void orb_send(){
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155 | tlc_send(); |
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156 | } |
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157 | 652879
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158 | void tlc_clock1(int data) |
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159 | { |
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160 | PORTC &= ~0x02;
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161 | PORTC |= (data << 1)&0x02; |
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162 | _delay_us(1);
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163 | PORTC |= 0x04;
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164 | _delay_us(1);
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165 | PORTC &= ~0x04;
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166 | } |
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167 | |||
168 | void tlc_clock2(int data) |
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169 | { |
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170 | PORTC &= ~0x01;
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171 | PORTC |= (data)&0x01;
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172 | // _delay_us(1);
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173 | PORTC |= 0x04;
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174 | // _delay_us(1);
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175 | PORTC &= ~0x04;
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176 | } |
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177 | |||
178 | void tlc_send(void) |
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179 | { |
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180 | int i,j;
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181 | for(j = 15; j >= 0; j--) |
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182 | { |
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183 | for(i = 11; i >= 0; i--) |
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184 | { |
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185 | PORTC &= ~0x03;
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186 | PORTC |= ((orbs[j]>>i)&0x01);
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187 | PORTC |= ((orbs[j+16]>>i)<<1)&0x02; |
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188 | // _delay_us(1);
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189 | PORTC |= 0x04;
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190 | // _delay_us(1);
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191 | PORTC &= ~0x04;
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192 | } |
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193 | } |
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194 | PORTC |= 0x08;
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195 | PORTC &= ~(0x08);
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196 | } |
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197 | /*
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198 | void tlc_send2(int value)
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199 | {
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200 | int i;
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201 | |||
202 | for(i = 11; i >= 0; i--)
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203 | {
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204 | tlc_clock2(0x01 & (value >> i));
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205 | }
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206 | }*/
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207 | |||
208 | void tlc_latch(void) |
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209 | { |
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210 | PORTC |= 0x08;
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211 | // _delay_us(1);
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212 | PORTC &= ~(0x08);
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213 | } |
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214 | |||
215 | void tlc5940init(void) |
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216 | { |
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217 | int i;
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218 | |||
219 | // set PC0...5 to outputs
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220 | DDRC |= 0x3F;
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221 | DDRE |= 0x08;
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222 | DDRA |= 0x80;
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223 | // unblank buffer
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224 | PORTC &= ~0x10;
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225 | |||
226 | // set DC mode so we start in known state
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227 | PORTC |= 0x20;
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228 | delay_ms(2);
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229 | |||
230 | // set DC to all 1's? needed?
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231 | /* for(i = 0; i < 96; ++i)
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232 | {
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233 | tlc_clock1(1);
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234 | }
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235 | tlc_latch();
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236 | */
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237 | for(i=0;i<32;i++) |
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238 | { |
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239 | orbs[i]=4095;
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240 | } |
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241 | tlc_send(); |
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242 | |||
243 | delay_ms(2);
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244 | |||
245 | // set GS mode
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246 | PORTC &= ~0x20;
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247 | |||
248 | // clock in 0s to do init case
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249 | /* for(i = 0; i < 16; ++i)
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250 | {
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251 | tlc_send1(0);
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252 | }
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253 | tlc_latch();*/
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254 | for(i=0;i<32;i++) |
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255 | { |
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256 | orbs[i]=4095;
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257 | } |
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258 | tlc_send(); |
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259 | // extra clock needed after DC -> GS transition
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260 | tlc_clock1(0);
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261 | tlc_clock2(0); //probably not needed |
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262 | |||
263 | TCCR3A |=_BV(COM3A0); |
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264 | TCCR3B |= _BV(CS30)|_BV(WGM32); //prescaler
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265 | OCR3A = 1;
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266 | TCNT3 = 0;
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267 | // ETIMSK |=_BV(OCIE3A);//interrupt
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268 | |||
269 | |||
270 | TCCR2 = 0x05; //prescaler |
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271 | TIMSK |= _BV(OCIE2);//interrupt
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272 | OCR2 = 16;
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273 | TCNT2 = 0;
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274 | sei(); |
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275 | |||
276 | } |
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277 | |||
278 | //int blankcounter = 0;
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279 | char status = 0; |
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280 | |||
281 | ISR(TIMER2_COMP_vect){ |
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282 | // int i = 0;
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283 | //status=!status;
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284 | //if(status){
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285 | PORTC |= 0x10;
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286 | // for(i=0;i<1;i++);
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287 | PORTC &= ~0x10;
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288 | // }
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289 | |||
290 | TCNT2=0;
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291 | //chirp(250, 150);
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292 | } |
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293 | |||
294 | void silly_clock(void) |
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295 | { |
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296 | /* int i;
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297 | |||
298 | DDRA |= 0x80;
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299 | |||
300 | PORTC |= 0x10;
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301 | _delay_us(1);
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302 | |||
303 | for(i = 0; i < 4095; ++i)
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304 | {
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305 | PORTA |= 0x80;
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306 | _delay_us(1);
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307 | PORTA &= ~(0x80);
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308 | _delay_us(1);
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309 | }
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310 | */
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311 | // delay_ms(1);
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312 | } |
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313 | |||
314 | void tlc5940test()
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315 | { |
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316 | int j, k;
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317 | |||
318 | tlc5940init(); |
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319 | |||
320 | // fade up
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321 | for(j = 0; j < 4096; ++j) |
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322 | { |
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323 | |||
324 | //tlc_send1(j);
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325 | |||
326 | for(k = 0; k < 8; ++k) |
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327 | { |
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328 | orbs[2*k]=4096-j; |
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329 | orbs[2*k+1]=j; |
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330 | orbs[2*k+16]=0; |
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331 | orbs[2*k+17]=j; |
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332 | } |
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333 | tlc_send(); |
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334 | } |
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335 | |||
336 | delay_ms(1000);
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337 | |||
338 | // fade down
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339 | for(j = 0; j < 4096; ++j) |
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340 | { |
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341 | |||
342 | //tlc_send(4095 - j);
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343 | |||
344 | for(k = 0; k < 32; ++k) |
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345 | { |
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346 | orbs[k]=4096-j;
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347 | } |
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348 | tlc_send(); |
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349 | } |
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350 | } |
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351 | |||
352 | #endif |