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1 | 241 | bcoltin | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | /**
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27 | * @file ligths.c
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28 | * @brief Orbs
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29 | *
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30 | * Implemenation for the orbs (tri-colored LEDs)
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31 | *
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32 | * @author Colony Project, CMU Robotics Club
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33 | 1142 | deffi | * @bug Unfinished
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34 | 241 | bcoltin | **/
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35 | |||
36 | 8 | bcoltin | /*
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37 | lights.c
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38 | 1142 | deffi | Controls orb1 and orb2. Can be extended for a software PWM that may be used for servos in the future (although maybe
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39 | using a different timer might be preferable).
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40 | 8 | bcoltin | |
41 | author: CMU Robotics Club, Colony Project
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42 | |||
43 | Change Log:
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44 | 1142 | deffi | 3/31/2009 - Martin
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45 | Rewritten from scratch. Fixes code duplication, long ISRs, bugs, unnecessary synchronized code, memory waste
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46 | */
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47 | 8 | bcoltin | |
48 | |||
49 | |||
50 | 1142 | deffi | /*
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51 | * Test cases:
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52 | * - The following code has to work without flickering:
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53 | * orb_init_pwm(); while(1) { orbs_set(1,1,1,254,254,254); }
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54 | */
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55 | |||
56 | /*
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57 | * Possible optimizations:
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58 | * - Use pointers instead of indicies for current_pwm_channel
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59 | * - Optimize output_compare()
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60 | * - Use a different sorting algorithm (see sort_orbs_buffer for further comments on this issue)
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61 | * - Use pointers in fill_orbs_buffer
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62 | * - Optimized orb_set (use the knowledge that there are only 3 distinct values, don't use a loop but unroll the
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63 | * sorting, which is no problem for 3 values)
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64 | * - Use a lower update frequency. The next higher prescaler value leads to a frequency of 30Hz which is too low (the
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65 | * orbs are flickering). So the timer would have to be reloaded manually after 127 to generate 60Hz. This would
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66 | * decrease the resolution from 8 to 7 bit, but 128 steps should still be enough.
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67 | * - On setting the orbs, combine channels with the same time. This would reduce the all-values-equal OC interrupt
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68 | * (30us) to the time of one regular OC interrupt (6us/10us). Also, it would reduce the total cpu usage whenever
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69 | * some of the values are equal.
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70 | *
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71 | * When code is changed, the performance measurements above should be redone.
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72 | */
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73 | |||
74 | 1452 | dsschult | #include "dragonfly_lib.h" |
75 | 8 | bcoltin | #include "lights.h" |
76 | 1142 | deffi | |
77 | // ***************
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78 | // ** Constants **
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79 | // ***************
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80 | |||
81 | #define NUM_ORBS 2 // Number or orbs |
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82 | #define NUM_COLORS 3 // Number of colors per orb |
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83 | #define num_pwm_channels NUM_ORBS*NUM_COLORS
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84 | |||
85 | |||
86 | // *********
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87 | // ** I/O **
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88 | // *********
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89 | |||
90 | // Orb port
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91 | 8 | bcoltin | #define ORBPORT PORTC
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92 | 1142 | deffi | #define ORBDDR DDRC
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93 | 8 | bcoltin | |
94 | 1142 | deffi | // Orb pins
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95 | #define ORB1_RED 0 |
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96 | #define ORB1_GREEN 1 |
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97 | #define ORB1_BLUE 2 |
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98 | #define ORB2_RED 4 |
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99 | #define ORB2_GREEN 5 |
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100 | #define ORB2_BLUE 6 |
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101 | 8 | bcoltin | |
102 | |||
103 | 1142 | deffi | // ***************
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104 | // ** Debugging **
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105 | // ***************
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106 | 8 | bcoltin | |
107 | 1142 | deffi | //#define LIGHTS_DEBUG
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108 | #undef LIGHTS_DEBUG
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109 | 8 | bcoltin | |
110 | 1142 | deffi | #define LIGHTS_DEBUG_INIT DDRF=6; |
111 | #define LIGHTS_DEBUG_OVERFLOW_INTERRUPT_START PORTF|=4; |
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112 | #define LIGHTS_DEBUG_OVERFLOW_INTERRUPT_END PORTF&=~4; |
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113 | #define LIGHTS_DEBUG_OUTPUT_COMPARE_INTERRUPT_START PORTF|=2; |
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114 | #define LIGHTS_DEBUG_OUTPUT_COMPARE_INTERRUPT_END PORTF&=~2; |
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115 | #define LIGHTS_DEBUG_APPLY_START //PORTF|=2; |
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116 | #define LIGHTS_DEBUG_APPLY_END //PORTF&=~2; |
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117 | 8 | bcoltin | |
118 | 1142 | deffi | |
119 | // ***********
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120 | // ** Masks **
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121 | // ***********
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122 | |||
123 | // Some useful bit masks. All of them are are calculated from the I/O definitions above. The calculations should be done
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124 | // at compile time (even if they are not, they are only executed once at startup).
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125 | |||
126 | // Masks for the individual LEDs
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127 | #define orb1_red_mask _BV (ORB1_RED )
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128 | #define orb1_green_mask _BV (ORB1_GREEN)
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129 | #define orb1_blue_mask _BV (ORB1_BLUE )
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130 | #define orb2_red_mask _BV (ORB2_RED )
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131 | #define orb2_green_mask _BV (ORB2_GREEN)
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132 | #define orb2_blue_mask _BV (ORB2_BLUE )
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133 | |||
134 | // Mask for all LEDs
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135 | #define all_orbs_mask \
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136 | orb1_red_mask | orb1_green_mask | orb1_blue_mask | \ |
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137 | orb2_red_mask | orb2_green_mask | orb2_blue_mask; |
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138 | |||
139 | // Mask for the individual LEDs, organized as an array for programmatic access. The layout of this array is
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140 | // orb_mask[orb_num, color_num]
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141 | const uint8_t orb_mask[NUM_ORBS][NUM_COLORS]={
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142 | { orb1_red_mask, orb1_green_mask, orb1_blue_mask }, |
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143 | { orb2_red_mask, orb2_green_mask, orb2_blue_mask } |
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144 | 8 | bcoltin | }; |
145 | |||
146 | 1142 | deffi | // ***********
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147 | // ** Types **
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148 | // ***********
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149 | |||
150 | struct pwm_channel_t { // 2 bytes |
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151 | uint8_t time; |
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152 | uint8_t mask; |
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153 | 8 | bcoltin | }; |
154 | |||
155 | 1142 | deffi | struct pwm_t { // 13 bytes |
156 | uint8_t init_mask; |
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157 | struct pwm_channel_t channel[num_pwm_channels];
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158 | }; |
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159 | 8 | bcoltin | |
160 | |||
161 | 1142 | deffi | // ***************
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162 | // ** Variables **
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163 | // ***************
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164 | 8 | bcoltin | |
165 | 1142 | deffi | // Whether to use PWM (true) or binary (false) orb mode. Not volatile because it's only read once per function.
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166 | bool enable_orb_pwm=true; |
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167 | 8 | bcoltin | |
168 | 1142 | deffi | // The PWM channels and the buffer pointers. This data structure is triple buffered, see above for the reasons. Not
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169 | // volatile because they are not modified asynchronously (the read buffer is never written to asynchronously).
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170 | struct pwm_t pwm_buffer[3]; |
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171 | 8 | bcoltin | |
172 | 1142 | deffi | // The front buffer the ISR reads from. Other threads may not touch this pointer or the buffer it points to. Not
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173 | // volatile because it may only be modified by the ISR.
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174 | struct pwm_t *pwm_read_buffer =&pwm_buffer[0]; |
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175 | 8 | bcoltin | |
176 | 1142 | deffi | // The back buffer we can write to. The ISR may not touch this pointer or the buffer it points to. Not volatile because
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177 | // it may only be modified by the caller.
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178 | struct pwm_t *pwm_write_buffer=&pwm_buffer[1]; |
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179 | 8 | bcoltin | |
180 | 1142 | deffi | // The middle buffer to flip the write or read buffer with. Not volatile because it is only read once per function.
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181 | struct pwm_t *pwm_free_buffer =&pwm_buffer[2]; |
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182 | 8 | bcoltin | |
183 | 1142 | deffi | // Whether to perform a page flip on the beginning of the next PWM cycle. Not volatile because it is only read once
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184 | // per function.
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185 | bool pwm_page_flip=false; // Whether to do a page flip on the next overflow |
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186 | 8 | bcoltin | |
187 | 1142 | deffi | // The orb value array. Orb values are written here to be sorted into pwm_channels. Not volatile because all accesses
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188 | // are from guarded (thread safe) functions.
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189 | uint8_t orb_values[NUM_ORBS][NUM_COLORS]; |
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190 | |||
191 | |||
192 | // ****************
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193 | // ** Timer ISRs **
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194 | // ****************
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195 | |||
196 | // Not volatile because it is only accessed in the interrupt handler.
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197 | uint8_t current_pwm_channel=0;
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198 | |||
199 | |||
200 | static void output_compare (void) { |
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201 | // This function is called when an output compare condition may have occured.
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202 | 8 | bcoltin | |
203 | 1142 | deffi | // If the OC interrupt is executed without delay, TCNT0==time+1 (where time==OCR0), because the interrupt flag is
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204 | // queued at the next timer clock cycle after an output compare.
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205 | |||
206 | // What may happen here is that the interrupt is delayed for more than one timer clock cycle (33 us). In that case,
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207 | // the timer has already counted on and TCNT0 is bigger than current_channel_timer. Also, while during the ISR no
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208 | // other interrupts will occur, the timer may still count on. Thus, we have to check the following channel as well.
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209 | |||
210 | // Some optimization is possible in this function.
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211 | |||
212 | while (1) { |
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213 | // The timer value at which the output compare interrupt should occur (one timer clock cycle after the output
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214 | // compare condition is detected).
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215 | uint8_t current_channel_time=pwm_read_buffer->channel[current_pwm_channel].time+1;
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216 | |||
217 | // If the counter is not at this time yet, we don't have to do anything right now.
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218 | if (current_channel_time>TCNT0) return; |
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219 | |||
220 | // We have an output compare condition for the current channel.
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221 | |||
222 | // Turn the current channel off
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223 | ORBPORT|=pwm_read_buffer->channel[current_pwm_channel].mask; |
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224 | |||
225 | // If this was the last channel, exit
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226 | if (current_pwm_channel==num_pwm_channels-1) return; |
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227 | |||
228 | // Increment the channel index
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229 | current_pwm_channel++; |
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230 | |||
231 | // There is a next channel, load its OCR value
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232 | if (pwm_read_buffer->channel[current_pwm_channel].time<255) |
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233 | OCR0=pwm_read_buffer->channel[current_pwm_channel].time; |
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234 | } |
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235 | 8 | bcoltin | } |
236 | |||
237 | 1142 | deffi | SIGNAL (SIG_OVERFLOW0) { |
238 | #ifdef LIGHTS_DEBUG
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239 | LIGHTS_DEBUG_OVERFLOW_INTERRUPT_START |
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240 | #endif
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241 | 8 | bcoltin | |
242 | 1142 | deffi | if (pwm_page_flip) {
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243 | // Flip the read buffer with the free buffer. We are in an ISR (and we didn't re-enable interrupts), so we don't
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244 | // have to synchronize explicitly.
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245 | struct pwm_t *temp = pwm_read_buffer;
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246 | pwm_read_buffer = pwm_free_buffer; |
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247 | pwm_free_buffer = temp; |
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248 | pwm_page_flip=false;
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249 | } |
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250 | 8 | bcoltin | |
251 | 1142 | deffi | // Turn only the appropriate PWM channels on. Do this directly on the orb port because at this point all orbs should
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252 | // be off anyway.
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253 | ORBPORT|=all_orbs_mask; |
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254 | ORBPORT&=pwm_read_buffer->init_mask; |
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255 | |||
256 | // Start at the first channel
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257 | current_pwm_channel=0;
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258 | |||
259 | // Load the first OCR
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260 | OCR0=pwm_read_buffer->channel[current_pwm_channel].time; |
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261 | 8 | bcoltin | |
262 | 1142 | deffi | // If this interrupt was delayed, we might already have an output compare condition.
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263 | output_compare (); |
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264 | 8 | bcoltin | |
265 | 1142 | deffi | #ifdef LIGHTS_DEBUG
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266 | LIGHTS_DEBUG_OVERFLOW_INTERRUPT_END |
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267 | #endif
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268 | 8 | bcoltin | } |
269 | |||
270 | 1142 | deffi | SIGNAL(SIG_OUTPUT_COMPARE0) { |
271 | #ifdef LIGHTS_DEBUG
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272 | LIGHTS_DEBUG_OUTPUT_COMPARE_INTERRUPT_START |
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273 | #endif
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274 | 8 | bcoltin | |
275 | 1142 | deffi | // We have an output compare condition.
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276 | output_compare (); |
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277 | |||
278 | #ifdef LIGHTS_DEBUG
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279 | LIGHTS_DEBUG_OUTPUT_COMPARE_INTERRUPT_END |
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280 | #endif
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281 | } |
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282 | 8 | bcoltin | |
283 | |||
284 | |||
285 | 1142 | deffi | // ************************************
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286 | // ** Internal orb setting functions **
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287 | // ************************************
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288 | 8 | bcoltin | |
289 | 1142 | deffi | static void sort_orbs_buffer (void) { |
290 | // This function applies a bubble sort to sort the elements of the pwm_write_buffer->channel array by the time
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291 | // field.
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292 | // This implementation is heavily optimized. Note that due to the low (and constant) number of elements to be
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293 | // sorted, the runtime complexity (O(n^2) for bubble sort) is not relevant here. In fact, a more advanced algorithm
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294 | // like quick sort or merge sort might even be slower due to higher overhead.
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295 | // That said, it is possible that selection sort (which is also in O(n^2)) would be faster that bubble sort because
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296 | // it only has to do a maximum of (n-1) swapping steps (as opposed to n*(n-1)/2 for bubble sort). However, the check
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297 | // if the elements are already in the correct order would either have to be left out (doing the full search every
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298 | // time, even if the array is already sorted) or done explicitly, so selection sort might actually be slower than
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299 | // bubble sort, especially if the array is already sorted or almost sorted.
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300 | |||
301 | // This implementation uses macros to make the algorithm more clear because the loop is rolled out and the function
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302 | // would become quite long without macros.
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303 | |||
304 | // Macro to swap two values of any type. Requires a variable of the appropriate type called swap_temp.
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305 | #define swap(a,b) { swap_temp=a; a=b; b=swap_temp; }
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306 | 8 | bcoltin | |
307 | 1142 | deffi | // Macro to do one bubble sorting step (compare & swap)
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308 | #define bubble \
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309 | if(a->time > b->time) \
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310 | { \ |
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311 | swap (a->time, b->time); \ |
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312 | swap (a->mask, b->mask); \ |
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313 | done=false; \
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314 | } |
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315 | |||
316 | // Macro to move to the next bubble sort pair
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317 | #define next { a++; b++; }
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318 | 8 | bcoltin | |
319 | 1142 | deffi | // Whether no change was made during the last run, which means that all values are already in correct order.
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320 | bool done;
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321 | |||
322 | // A temporary variable for swapping.
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323 | uint8_t swap_temp; |
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324 | |||
325 | // Precompute the first PWM channel (tested faster).
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326 | struct pwm_channel_t *first=&(pwm_write_buffer->channel[0]); |
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327 | 8 | bcoltin | |
328 | 1142 | deffi | // Pointers to the two PWM channels under inspection
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329 | struct pwm_channel_t *a, *b;
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330 | 8 | bcoltin | |
331 | 1142 | deffi | // The actual sorting
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332 | a=first; b=a+1; done=true; |
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333 | bubble next bubble next bubble next bubble next bubble |
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334 | if (done) return; |
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335 | 8 | bcoltin | |
336 | 1142 | deffi | a=first; b=a+1; done=true; |
337 | bubble next bubble next bubble next bubble |
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338 | if (done) return; |
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339 | 8 | bcoltin | |
340 | 1142 | deffi | a=first; b=a+1; done=true; |
341 | bubble next bubble next bubble |
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342 | if (done) return; |
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343 | 8 | bcoltin | |
344 | 1142 | deffi | a=first; b=a+1; done=true; |
345 | bubble next bubble |
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346 | if (done) return; |
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347 | 8 | bcoltin | |
348 | 1142 | deffi | a=first; b=a+1; done=true; |
349 | bubble |
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350 | if (done) return; |
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351 | |||
352 | // Undefine the macros so they do not disturb some other function.
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353 | #undef next
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354 | #undef bubble
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355 | #undef swap
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356 | 8 | bcoltin | } |
357 | |||
358 | 1142 | deffi | static void fill_orbs_buffer (void) { |
359 | // We do not use a loop here because it introduces 27us overhead, which is quite much, given the total time for
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360 | // optimized copying and sorting of 34us (elements already in correct order) to 71 us (elements in reverse order).
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361 | |||
362 | #define copy_value(orb, color) \
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363 | index=NUM_COLORS*orb+color; \ |
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364 | time=orb_values[orb][color]; \ |
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365 | mask=orb_mask[orb][color]; \ |
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366 | \ |
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367 | pwm_write_buffer->channel[index].time=time-1; \
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368 | pwm_write_buffer->channel[index].mask=mask; \ |
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369 | \ |
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370 | if (time!=0) \ |
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371 | pwm_write_buffer->init_mask &= ~mask; \ |
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372 | 8 | bcoltin | |
373 | 1142 | deffi | uint8_t index, time, mask; |
374 | copy_value(0,0); copy_value(0,1); copy_value(0,2); |
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375 | copy_value(1,0); copy_value(1,1); copy_value(1,2); |
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376 | |||
377 | #undef copy_value
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378 | } |
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379 | 8 | bcoltin | |
380 | 1142 | deffi | static void apply_orbs (void) { |
381 | /*
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382 | 1392 | deffi | * Some timing tests: Time for apply_orbs with interrupts disabled, in microseconds:
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383 | 1142 | deffi | * Values in: Correct order Reverse order
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384 | * Naive bubble sort: 148 217
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385 | * Aborting bubble sort: 71 232
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386 | * Only count to top: 73 189
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387 | *
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388 | * Loops rolled out: 61 120
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389 | * Using pointers: 62 98
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390 | * Copy loop also rolled out: 35 72
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391 | *
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392 | * Note that rolling out both loops and using pointers saves 52%/62% of time! 27us were spent on loop overhead,
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393 | * which is quite much, considering an optimized total time for copying and sorting or 35us.
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394 | */
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395 | 8 | bcoltin | |
396 | 1142 | deffi | #ifdef LIGHTS_DEBUG
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397 | LIGHTS_DEBUG_APPLY_START |
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398 | #endif
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399 | 8 | bcoltin | |
400 | 1142 | deffi | if (enable_orb_pwm) {
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401 | // PWM mode
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402 | |||
403 | pwm_write_buffer->init_mask=~0;
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404 | |||
405 | // 1. Write the orb values and corresponding masks to the pwm channels
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406 | // array unsorted.
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407 | fill_orbs_buffer (); |
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408 | 8 | bcoltin | |
409 | 1142 | deffi | // 2. sort the buffer.
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410 | sort_orbs_buffer (); |
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411 | 8 | bcoltin | |
412 | 1142 | deffi | // Flip the write buffer with the free buffer.
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413 | SYNC { |
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414 | struct pwm_t *temp = pwm_write_buffer;
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415 | pwm_write_buffer = pwm_free_buffer; |
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416 | pwm_free_buffer = temp; |
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417 | } |
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418 | |||
419 | // On the next overflow, flip the read buffer with the free buffer.
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420 | pwm_page_flip=true;
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421 | } |
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422 | else {
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423 | // Binary mode.
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424 | // The outputs are inverted.
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425 | uint8_t on=0;
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426 | |||
427 | if (orb_values[0][0]) on |= orb_mask[0][0]; |
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428 | if (orb_values[0][1]) on |= orb_mask[0][1]; |
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429 | if (orb_values[0][2]) on |= orb_mask[0][2]; |
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430 | if (orb_values[1][0]) on |= orb_mask[1][0]; |
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431 | if (orb_values[1][1]) on |= orb_mask[1][1]; |
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432 | if (orb_values[1][2]) on |= orb_mask[1][2]; |
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433 | |||
434 | // Write the new orb states to the output port. Synchronized because it is a RMW operation.
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435 | SYNC { |
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436 | uint8_t value=ORBPORT; |
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437 | value |= all_orbs_mask; // All orbs off
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438 | value &= ~on; // Selected orbs on
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439 | ORBPORT=value; |
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440 | } |
||
441 | } |
||
442 | |||
443 | #ifdef LIGHTS_DEBUG
|
||
444 | LIGHTS_DEBUG_APPLY_END |
||
445 | #endif
|
||
446 | 8 | bcoltin | } |
447 | |||
448 | 1142 | deffi | static void set_orb_values (uint8_t num, uint8_t red, uint8_t green, uint8_t blue) { |
449 | // Write the values to the array, but do not sort them yet, as we might want to write the other orb values first so
|
||
450 | // we don't have to sort twice.
|
||
451 | // Any function calling this function will probably want to call apply_orbs() afterwards.
|
||
452 | orb_values[num][0]=red;
|
||
453 | orb_values[num][1]=green;
|
||
454 | orb_values[num][2]=blue;
|
||
455 | } |
||
456 | |||
457 | |||
458 | // ***********************
|
||
459 | // ** RGB color setting **
|
||
460 | // ***********************
|
||
461 | |||
462 | // All of these functions use set_orb_values to set the actual values, and then call apply_orbs() to apply the changes.
|
||
463 | // set_orb_values should be used (even though it would be faster to set the array directly) because the binary/pwm mode
|
||
464 | // has to be handled.
|
||
465 | // All of these functions must be
|
||
466 | |||
467 | uint8_t orb_lock=0;
|
||
468 | |||
469 | 8 | bcoltin | /**
|
470 | 1142 | deffi | * Sets the specified orb to the specified color. The orbs must be initialized before this function may be used.
|
471 | * Note that, when setting both orbs, using orbs_set is faster then setting the orbs individually because the values are
|
||
472 | * only sorted once.
|
||
473 | 8 | bcoltin | *
|
474 | 1142 | deffi | * @param num the number of the orb to set (0 or 1)
|
475 | * @param red the red value for the specified orb
|
||
476 | * @param green the green value for the specified orb
|
||
477 | * @param blue the blue value for the specified orb
|
||
478 | * @see
|
||
479 | */
|
||
480 | void orb_n_set (uint8_t num, uint8_t red, uint8_t green, uint8_t blue) {
|
||
481 | REQUIRE_LOCK_OR_RETURN(orb_lock); |
||
482 | |||
483 | set_orb_values (num, red, green, blue); |
||
484 | apply_orbs (); |
||
485 | |||
486 | RELEASE_LOCK(orb_lock); |
||
487 | } |
||
488 | |||
489 | /**
|
||
490 | * Set orb1 to the color specified. The orbs must be initialized before this function may be used. Note that, when
|
||
491 | * setting both orbs, using orbs_set is faster then setting the orbs individually because the values are only sorted
|
||
492 | * once.
|
||
493 | 8 | bcoltin | *
|
494 | 1142 | deffi | * @param red the red component of the color
|
495 | * @param green the green component of the color
|
||
496 | * @param blue the blue component of the color
|
||
497 | *
|
||
498 | 8 | bcoltin | * @see orb_init
|
499 | **/
|
||
500 | 1142 | deffi | void orb1_set (uint8_t red, uint8_t green, uint8_t blue) {
|
501 | REQUIRE_LOCK_OR_RETURN(orb_lock); |
||
502 | |||
503 | set_orb_values (0, red, green, blue);
|
||
504 | apply_orbs (); |
||
505 | 8 | bcoltin | |
506 | 1142 | deffi | RELEASE_LOCK(orb_lock); |
507 | 8 | bcoltin | } |
508 | |||
509 | /**
|
||
510 | 1142 | deffi | * Set orb2 to the color specified. The orbs must be initialized before this function may be used. Note that, when
|
511 | * setting both orbs, using orbs_set is faster then setting the orbs individually because the values are only sorted
|
||
512 | * once.
|
||
513 | 8 | bcoltin | *
|
514 | * @param red_led the red component of the color
|
||
515 | * @param green_led the green component of the color
|
||
516 | * @param blue_led the blue component of the color
|
||
517 | *
|
||
518 | * @see orb_init
|
||
519 | **/
|
||
520 | 1142 | deffi | void orb2_set (uint8_t red, uint8_t green, uint8_t blue) {
|
521 | REQUIRE_LOCK_OR_RETURN(orb_lock); |
||
522 | |||
523 | set_orb_values (1, red, green, blue);
|
||
524 | apply_orbs (); |
||
525 | |||
526 | RELEASE_LOCK(orb_lock); |
||
527 | 8 | bcoltin | } |
528 | |||
529 | /**
|
||
530 | 1142 | deffi | * Set both orbs to the color specified. The orbs must be initialized before this function may be used.
|
531 | 8 | bcoltin | *
|
532 | * @param red_led the red component of the color
|
||
533 | * @param green_led the green component of the color
|
||
534 | * @param blue_led the blue component of the color
|
||
535 | *
|
||
536 | 1142 | deffi | * @see orb_init, orb1_set, orb2_set
|
537 | 8 | bcoltin | **/
|
538 | 1142 | deffi | void orb_set (uint8_t red, uint8_t green, uint8_t blue) {
|
539 | REQUIRE_LOCK_OR_RETURN(orb_lock); |
||
540 | |||
541 | set_orb_values (0, red, green, blue);
|
||
542 | set_orb_values (1, red, green, blue);
|
||
543 | apply_orbs (); |
||
544 | |||
545 | RELEASE_LOCK(orb_lock); |
||
546 | 8 | bcoltin | } |
547 | |||
548 | /**
|
||
549 | 1142 | deffi | * Set the orbs to the respective values. The orbs must be initialized before this function may be used. Note that, when
|
550 | * setting both orbs, this function is faster than calling orb1_set and orb2_set (or orb_n_set) because the values are
|
||
551 | * only sorted once.
|
||
552 | 8 | bcoltin | *
|
553 | 1142 | deffi | * @param red1
|
554 | * @param green1
|
||
555 | * @param blue1
|
||
556 | * @param red2
|
||
557 | * @param green2
|
||
558 | * @param blue2
|
||
559 | * @see orb1_set
|
||
560 | * @see orb2_set
|
||
561 | * @see orb_n_set
|
||
562 | 8 | bcoltin | **/
|
563 | 1142 | deffi | void orbs_set (
|
564 | uint8_t red1, uint8_t green1, uint8_t blue1, |
||
565 | uint8_t red2, uint8_t green2, uint8_t blue2) { |
||
566 | 8 | bcoltin | |
567 | 1142 | deffi | REQUIRE_LOCK_OR_RETURN(orb_lock); |
568 | 8 | bcoltin | |
569 | 1142 | deffi | set_orb_values (0, red1, green1, blue1);
|
570 | set_orb_values (1, red2, green2, blue2);
|
||
571 | apply_orbs (); |
||
572 | |||
573 | RELEASE_LOCK(orb_lock); |
||
574 | 8 | bcoltin | } |
575 | |||
576 | 1142 | deffi | |
577 | // ******************************
|
||
578 | // ** Predefined color setting **
|
||
579 | // ******************************
|
||
580 | |||
581 | // This functions just call the corresponding orb*_set functions. If the orbs array is accessed in any other way, it
|
||
582 | // must be synchronized on orb_lock (REQUIRE_LOCK_OR_RETURN and RELEASE_LOCK)! Note that one synchronized function
|
||
583 | // cannot call another one with this lock implementation.
|
||
584 | |||
585 | // Macros for extracting a color.
|
||
586 | #define C_RED(col) (((col & 0xE0) >> 5) * 36) |
||
587 | #define C_GREEN(col) (((col & 0x1C) >> 2) * 36) |
||
588 | #define C_BLUE(col) (((col & 0x03) ) * 85) |
||
589 | |||
590 | 8 | bcoltin | /**
|
591 | 1142 | deffi | * Set the specified orb to the specified color. This function is intended to be used with the predefined colors.
|
592 | 8 | bcoltin | *
|
593 | 1142 | deffi | * @param num the number of the orb to set (0 or 1)
|
594 | 8 | bcoltin | * @param col the color to set the orbs to
|
595 | 1142 | deffi | **/
|
596 | void orb_n_set_color(uint8_t num, uint8_t col) {
|
||
597 | orb_n_set(num, C_RED(col), C_GREEN(col), C_BLUE(col)); |
||
598 | } |
||
599 | |||
600 | /**
|
||
601 | * Set orb1 to the specified color. This function is intended to be used with the predefined colors.
|
||
602 | 8 | bcoltin | *
|
603 | 1142 | deffi | * @param col the color to set the orbs to
|
604 | 8 | bcoltin | **/
|
605 | 1142 | deffi | void orb1_set_color(uint8_t col) {
|
606 | orb1_set (C_RED(col), C_GREEN(col), C_BLUE(col)); |
||
607 | } |
||
608 | 8 | bcoltin | |
609 | 1142 | deffi | /**
|
610 | * Set orb2 to the specified color. This function is intended to be used with the predefined colors.
|
||
611 | *
|
||
612 | * @param col the color to set the orbs to
|
||
613 | **/
|
||
614 | void orb2_set_color(uint8_t col) {
|
||
615 | orb2_set(C_RED(col), C_GREEN(col), C_BLUE(col)); |
||
616 | 8 | bcoltin | } |
617 | |||
618 | /**
|
||
619 | 1142 | deffi | * Set both orbs to the specified color. This function is intended to be used with the predefined colors.
|
620 | 8 | bcoltin | *
|
621 | * @param col the color to set the orbs to
|
||
622 | 1142 | deffi | **/
|
623 | void orb_set_color(uint8_t col) {
|
||
624 | orb_set (C_RED(col), C_GREEN(col), C_BLUE(col)); |
||
625 | } |
||
626 | |||
627 | /**
|
||
628 | * Set the orbs to the respective color. This function is intended to be used with the predefined colors.
|
||
629 | 8 | bcoltin | *
|
630 | 1142 | deffi | * @param col1 the color to set orb 1 to
|
631 | * @param col2 the color to set orb 2 to
|
||
632 | 8 | bcoltin | **/
|
633 | 1142 | deffi | void orbs_set_color(uint8_t col1, uint8_t col2) {
|
634 | orbs_set (C_RED(col1), C_GREEN(col1), C_BLUE(col1), C_RED(col2), C_GREEN(col2), C_BLUE(col2)); |
||
635 | } |
||
636 | 8 | bcoltin | |
637 | 1142 | deffi | #undef C_BLUE
|
638 | #undef C_GREEN
|
||
639 | #undef C_RED2
|
||
640 | 8 | bcoltin | |
641 | 1142 | deffi | |
642 | // ******************
|
||
643 | // ** Mode setting **
|
||
644 | // ******************
|
||
645 | |||
646 | /**
|
||
647 | * Enables the orb timer. Note that you usually don't want to use this function directly. Instead, use orb_set_mode.
|
||
648 | * @see orb_set_mode
|
||
649 | **/
|
||
650 | void orb_enable_timer (void) { |
||
651 | // Use 8 bit TC0.
|
||
652 | //
|
||
653 | // Timer mode: We cannot use CTC mode because it can only clear on OCR0 (in contrast to the 16 bit timers which can
|
||
654 | // also use the ICR for that) and OCR0 is already used for generating output compare interrupts. We also need
|
||
655 | // immediate (non double buffered) update of OCR0, so the only mode left is "Normal".
|
||
656 | //
|
||
657 | // Note that for a timer counting from 0 to 255, there are 256 states and thus 257 output possibilities
|
||
658 | // (0/256...256/256)! However, there are only 256 values in the byte used to specify the PWM value. Possible ways
|
||
659 | // to deal with that:
|
||
660 | // 1. use a 16 bit variable for the PWM value (memory waste, overhead)
|
||
661 | // 2. use an additional flag for the 257th value (inconvenient)
|
||
662 | // 3. use 1/256...256/256 (skip 0, never complete off)
|
||
663 | // 4. use 0/256...256/256 (skip 256, never complete on)
|
||
664 | // 5. skip a value somewhere in the middle
|
||
665 | // 6. reload the timer after 254
|
||
666 | // For this implementation, variant 4 was chosen.
|
||
667 | //
|
||
668 | // Using an 8 bit timer has the added advantage that all the comparisons are faster.
|
||
669 | |||
670 | // Normal mode, Compare match output off, Prescaler
|
||
671 | TCCR0=_BV(CS02) | _BV(CS01); // 256, 120 Hz
|
||
672 | 1392 | deffi | // The next higher prescaler would be 1024 (30 Hz) which makes the orbs flicker visibly.
|
673 | 1142 | deffi | |
674 | // Enable the interrupts
|
||
675 | TIMSK|= _BV(OCIE0) | _BV(TOIE0); |
||
676 | 8 | bcoltin | } |
677 | |||
678 | /**
|
||
679 | 1142 | deffi | * Disables the orb timer. Note that you usually don't want to use this function directly. Instead, use orb_set_mode.
|
680 | * @see orb_set_mode
|
||
681 | 8 | bcoltin | **/
|
682 | 1142 | deffi | void orb_disable_timer (void) { |
683 | // Disable the interrupts
|
||
684 | TIMSK&=~( _BV(OCIE0) | _BV(TOIE0)); |
||
685 | 8 | bcoltin | } |
686 | |||
687 | 1142 | deffi | |
688 | void orb_set_mode (orb_mode_t mode) {
|
||
689 | // Set enable_orb_pwm to the appropriate value and disable or enable the timer.
|
||
690 | if (mode==orb_mode_binary) {
|
||
691 | orb_disable_timer (); |
||
692 | |||
693 | enable_orb_pwm=false;
|
||
694 | apply_orbs (); |
||
695 | } |
||
696 | else { // orb_mode_pwm |
||
697 | enable_orb_pwm=true;
|
||
698 | apply_orbs (); |
||
699 | |||
700 | orb_enable_timer (); |
||
701 | } |
||
702 | } |
||
703 | |||
704 | |||
705 | // ********************
|
||
706 | // ** Initialization **
|
||
707 | // ********************
|
||
708 | |||
709 | // Orb initialization code common to all modes.
|
||
710 | static void orb_init_common (void) { |
||
711 | // Enable the output ports and turn off the LEDs
|
||
712 | ORBPORT |= all_orbs_mask; |
||
713 | ORBDDR |= all_orbs_mask; |
||
714 | |||
715 | // Set all orbs to "off"
|
||
716 | orb_set (0, 0, 0); |
||
717 | |||
718 | #ifdef LIGHTS_DEBUG
|
||
719 | LIGHTS_DEBUG_INIT |
||
720 | #endif
|
||
721 | } |
||
722 | |||
723 | 8 | bcoltin | /**
|
724 | 1142 | deffi | * Initializes the orbs in PWM mode. One of the orb_init* functions must be called before the orbs can be used.
|
725 | *
|
||
726 | * @see orb_init_pwm
|
||
727 | 8 | bcoltin | **/
|
728 | 1142 | deffi | void orb_init_binary (void) { |
729 | orb_init_common (); |
||
730 | orb_set_mode (orb_mode_binary); |
||
731 | 8 | bcoltin | } |
732 | |||
733 | 1142 | deffi | /**
|
734 | * Initializes the orbs in PWM mode. One of the orb_init* functions must be called before the orbs can be used.
|
||
735 | *
|
||
736 | * @see orb_init_binary
|
||
737 | **/
|
||
738 | void orb_init_pwm (void) { |
||
739 | orb_init_common (); |
||
740 | orb_set_mode (orb_mode_pwm); |
||
741 | } |
||
742 | 8 | bcoltin | |
743 | 1142 | deffi | /**
|
744 | * Initializes the orbs in default mode. One of the orb_init* functions must be called before the orbs can be used. Use
|
||
745 | * the orb_init_binary or orb_init_pwm function if you want one specific mode.
|
||
746 | *
|
||
747 | * @see orb_init_pwm
|
||
748 | * @see orb_init_binary
|
||
749 | **/
|
||
750 | void orb_init () {
|
||
751 | orb_init_pwm (); |
||
752 | } |