root / branches / autonomous_recharging / code / projects / colonet / utilities / robot_wireless_relay / lights.c @ 1390
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/*
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lights.c
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Controls led_user (small green LED) and the ORB (big light)
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author: CMU Robotics Club, Colony Project
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*/
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#include "lights.h" |
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#include "firefly+_lib.h" |
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// the below comment may not be correct
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// 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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void orb_init()
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{ |
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#ifndef FFPP
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//enable the data direction register on the 3 orb LEDs
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DDRE |= _BV(REDLED) | _BV(GREENLED) | _BV(BLUELED); |
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TCCR3A = 0xA9; // COM## set to noninvert, WGM 1:0 set to 1 |
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TCCR3B = 0x0C; // High bits to 0, WGM 3:2 set to 1, prescaler to 8 |
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// clear Output Compare Registers
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OCR3AH=0x00;
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OCR3AL=0x00;
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OCR3BH=0x00;
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OCR3BL=0x00;
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OCR3CH=0x00;
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OCR3CL=0x00;
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#else
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tlc5940init(); |
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#endif
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} |
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// Sets the red, green and blue elements of the LED with 8-bit resolution
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void orb_set(unsigned int red_led, unsigned int green_led, unsigned int blue_led) |
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{ |
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#ifdef FFPP
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orbs[28]=blue_led<<4; |
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orbs[29]=green_led<<4; |
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orbs[30]=red_led<<4; |
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tlc_send(); |
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#else
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OCR3AL = red_led; |
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OCR3BL = green_led; |
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OCR3CL = blue_led; |
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#endif
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} |
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void orb_set_color(int col) |
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{ |
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int red, green, blue;
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red = ((col & 0xE0) >> 5) * 36; |
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green = ((col & 0x1C) >> 2) * 36; |
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blue = (col & 0x03) * 85; |
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orb_set(red, green, blue); |
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} |
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// Disables the timer1 interrupt, disabling the Orb's color fading capabilities
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// You can still turn the red, green, and blue leds on and off with set_orb_dio
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void orb_disable()
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{ |
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#ifndef FFPP
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TCCR3A = 0x01; // COM## disconnected, WGM 1:0 set to 1 |
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#endif
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} |
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// Enables the timer1 interrupt, enabling the Orb's color fading capabilities
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void orb_enable()
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{ |
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#ifndef FFPP
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TCCR3A = 0xA9; // COM## set to noninvert, WGM 1:0 set to 1 |
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#else
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tlc5940init(); |
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#endif
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} |
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/*
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This function turns each Orb element on or off
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Useful for using the Orb for debugging purposes without
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the overhead of the software PWM routine used for color fading.
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*/
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void orb_set_dio(int red, int green, int blue) |
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{ |
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#ifdef FFPP
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orb_set(red*255, green*255, blue*255); |
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#else
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if(red == 0) |
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PORTE &= (0xFF - _BV(REDLED));
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else
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PORTE |= _BV(REDLED); |
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if(green == 0) |
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PORTE &= (0xFF - _BV(GREENLED));
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else
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PORTE |= _BV(GREENLED); |
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if(blue == 0) |
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PORTE &= (0xFF - _BV(BLUELED));
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else
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PORTE |= _BV(BLUELED); |
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#endif
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} |
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/////////////////////////////////////////
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/////////// user LED ///////////////
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/////////////////////////////////////////
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void led_init( void ) |
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{ |
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#ifdef FFPP
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tlc5940init(); |
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#else
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DDRG |= _BV(USERLED); |
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#endif
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} |
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void led_user(int value) |
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{ |
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#ifdef FFPP
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orbs[USERLED]=value*4095;
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tlc_send(); |
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#else
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if(value == 0) |
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PORTG &= (0xFF - _BV(USERLED));
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else
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PORTG |= _BV(USERLED); |
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#endif
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} |
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#ifdef FFPP
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//no send
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void orb_set_num_ns(unsigned char num, unsigned int red_led, |
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unsigned int green_led, unsigned int blue_led) |
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{ |
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int high = (num>4); |
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orbs[3*num+high]=blue_led<<4; |
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orbs[3*num+1+high]=green_led<<4; |
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orbs[3*num+2+high]=red_led<<4; |
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} |
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void orb_set_num(unsigned char num, unsigned int red_led, |
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unsigned int green_led, unsigned int blue_led) |
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{ |
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orb_set_num_ns(num,red_led,green_led,blue_led); |
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tlc_send(); |
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} |
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void orb_send(){
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tlc_send(); |
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} |
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652879
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void tlc_clock1(int data) |
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{ |
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PORTC &= ~0x02;
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PORTC |= (data << 1)&0x02; |
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_delay_us(1);
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PORTC |= 0x04;
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_delay_us(1);
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PORTC &= ~0x04;
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} |
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void tlc_clock2(int data) |
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{ |
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PORTC &= ~0x01;
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PORTC |= (data)&0x01;
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// _delay_us(1);
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PORTC |= 0x04;
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// _delay_us(1);
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PORTC &= ~0x04;
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} |
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void tlc_send(void) |
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{ |
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int i,j;
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for(j = 15; j >= 0; j--) |
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{ |
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for(i = 11; i >= 0; i--) |
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{ |
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PORTC &= ~0x03;
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PORTC |= ((orbs[j]>>i)&0x01);
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PORTC |= ((orbs[j+16]>>i)<<1)&0x02; |
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// _delay_us(1);
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PORTC |= 0x04;
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// _delay_us(1);
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PORTC &= ~0x04;
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} |
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} |
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PORTC |= 0x08;
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PORTC &= ~(0x08);
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} |
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/*
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void tlc_send2(int value)
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{
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int i;
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for(i = 11; i >= 0; i--)
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{
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tlc_clock2(0x01 & (value >> i));
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}
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}*/
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void tlc_latch(void) |
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{ |
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PORTC |= 0x08;
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// _delay_us(1);
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PORTC &= ~(0x08);
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} |
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void tlc5940init(void) |
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{ |
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int i;
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// set PC0...5 to outputs
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DDRC |= 0x3F;
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DDRE |= 0x08;
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DDRA |= 0x80;
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// unblank buffer
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PORTC &= ~0x10;
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// set DC mode so we start in known state
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PORTC |= 0x20;
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delay_ms(2);
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// set DC to all 1's? needed?
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/* for(i = 0; i < 96; ++i)
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{
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tlc_clock1(1);
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}
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tlc_latch();
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*/
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for(i=0;i<32;i++) |
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{ |
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orbs[i]=4095;
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} |
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tlc_send(); |
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delay_ms(2);
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// set GS mode
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PORTC &= ~0x20;
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// clock in 0s to do init case
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/* for(i = 0; i < 16; ++i)
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{
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tlc_send1(0);
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}
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tlc_latch();*/
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for(i=0;i<32;i++) |
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{ |
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orbs[i]=4095;
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} |
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tlc_send(); |
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// extra clock needed after DC -> GS transition
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tlc_clock1(0);
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tlc_clock2(0); //probably not needed |
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TCCR3A |=_BV(COM3A0); |
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TCCR3B |= _BV(CS30)|_BV(WGM32); //prescaler
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OCR3A = 1;
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TCNT3 = 0;
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// ETIMSK |=_BV(OCIE3A);//interrupt
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TCCR2 = 0x05; //prescaler |
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TIMSK |= _BV(OCIE2);//interrupt
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OCR2 = 16;
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TCNT2 = 0;
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sei(); |
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} |
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//int blankcounter = 0;
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char status = 0; |
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ISR(TIMER2_COMP_vect){ |
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// int i = 0;
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//status=!status;
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//if(status){
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PORTC |= 0x10;
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// for(i=0;i<1;i++);
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PORTC &= ~0x10;
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// }
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TCNT2=0;
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//chirp(250, 150);
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} |
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void silly_clock(void) |
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{ |
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/* int i;
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DDRA |= 0x80;
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PORTC |= 0x10;
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_delay_us(1);
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for(i = 0; i < 4095; ++i)
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{
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PORTA |= 0x80;
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_delay_us(1);
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PORTA &= ~(0x80);
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_delay_us(1);
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}
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*/
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// delay_ms(1);
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} |
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void tlc5940test()
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{ |
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int j, k;
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tlc5940init(); |
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// fade up
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for(j = 0; j < 4096; ++j) |
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{ |
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//tlc_send1(j);
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for(k = 0; k < 8; ++k) |
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{ |
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orbs[2*k]=4096-j; |
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orbs[2*k+1]=j; |
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orbs[2*k+16]=0; |
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orbs[2*k+17]=j; |
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} |
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tlc_send(); |
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} |
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delay_ms(1000);
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// fade down
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for(j = 0; j < 4096; ++j) |
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{ |
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//tlc_send(4095 - j);
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for(k = 0; k < 32; ++k) |
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{ |
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orbs[k]=4096-j;
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} |
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tlc_send(); |
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} |
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} |
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#endif
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