Colony

#include "lights.h"

#include "dragonfly_lib.h"

#include <avr/interrupt.h>

#define ORB_RESET 1025

#define ORBPORT PORTC

#define ORBDDR DDRC

#define ORBMASK 0x77

/***** Port and Pin Definitions ****/

//Orb Ports and Registers

#define ORB_PORT        PORTC

#define ORB_DDR         DDRC

//Orb Pins

#define ORB1_RED        0x01

#define ORB1_GREEN      0x02

#define ORB1_BLUE       0x04

#define ORB2_RED        0x10

#define ORB2_GREEN      0x20

#define ORB2_BLUE       0x40

//this used to be 8 but i changed it. i suspect it was 8 cuz of the led pins + 2 enc pins, but not sure

#define ORB_COUNT 6        //please dont change this, or bad things might happen, number of orb pins off port, this should more accurately be called LED_COUNT i think

// an orb node

struct ORB_NODE {

   uint8_t num;

   uint16_t angle;

   uint16_t port_val;

   int time_split; // this will store the amount of time the timer needs to be set to from previous pin

} ORB_NODE;

// the status of the orbs

struct ORB_STATUS_STRUCT {

   struct ORB_NODE orbs[ORB_COUNT];

   int changes[ORB_COUNT]; // when an orb changes, its number will go from 0 to 1

   uint8_t change_count;

   uint8_t new_angles;

   uint8_t current_orb;

} ORB_STATUS;

struct ORB_CHANGED_ORBS {

        int orb_number;

        uint16_t new_angle;

} ORB_CHANGED_ORBS;

struct ORB_CHANGED_ORBS_STRUCT {

        struct ORB_CHANGED_ORBS changed_orbs[ORB_COUNT];

} ORB_CHANGED_ORBS_STRUCT;

struct ORB_ORDER { // 0 will store number of first orb to turn off, 1 of second, etc.

        int order[ORB_COUNT];

} ORB_ORDER;

void sort_orbs(void); // this function will copy new values into angle values

void calc_split_times(void); // this function will calculate split times and place them in the appropriate orbs

// use compare C to reset every pulse + check new times

SIGNAL (SIG_OUTPUT_COMPARE3C){

      ORB_STATUS.current_orb=0; // reset the orb we're looking at

                if(ORB_STATUS.change_count>0)

                {

                        sort_orbs();

                        calc_split_times();

                }

          // now that we've done everything, turn on all the lights

          ORB_PORT |= ORBMASK;

          // reset the time

          OCR3C = TCNT3+ORB_RESET;

          // turn ocr3a back on and set the time for the lights off counter

          ETIMSK |= _BV(OCIE3A); //turn on oc3a interrupt

          OCR3A = TCNT3+ORB_STATUS.orbs[0].time_split; //set time

}

// use compare A for turning lights off

SIGNAL (SIG_OUTPUT_COMPARE3A){

                //pull the correct ones down

      ORBPORT &= ~(ORB_STATUS.orbs[ORB_ORDER.order[ORB_STATUS.current_orb]].port_val);

          int num_updated_orbs = 1;

                // HERE, YOU ALSO NEED TO CHECK IF ANY OTHER ORBS HAVE THE SAME TIME!!!!!!!!!!!!!!!!@#!#!@#!@#!@#, update num updated

          ORB_STATUS.current_orb+=num_updated_orbs; //now look at next orb transition

      if (ORB_STATUS.current_orb < ORB_COUNT) { //if it isnt the end...

                        //setup timer for next pull down

         OCR3C = TCNT3+ORB_STATUS.orbs[ORB_STATUS.current_orb].time_split;

     }

      else { //we are done with these pulses

                //turn off this timer until it is reset

                ETIMSK &= ~(_BV(OCIE3A)); 

          }

}

void orb_init()

{

   uint8_t mysreg;

      int i;

        ORBDDR |= ORBMASK;        //make all the pins output ports

        mysreg=SREG;

        cli(); //turn off interrupts for now

        //we're looking at the 1st orb

        ORB_STATUS.current_orb=0;

        //store values

        for (i = 0; i < ORB_COUNT; ++i) {

      ORB_STATUS.orbs[i].num = i;

          //i'm not sure why he starts at 1023, so i'm making it 0 for now

      ORB_STATUS.orbs[i].angle = 0; //1023;        //127 is a pretty stupid start angle, but oh well

          ORB_STATUS.changes[i]=1; // each orb has been "changed"

        }

        ORB_STATUS.orbs[0].port_val=ORB1_RED;

        ORB_STATUS.orbs[1].port_val=ORB1_GREEN;

        ORB_STATUS.orbs[2].port_val=ORB1_BLUE;

        ORB_STATUS.orbs[3].port_val=ORB2_RED;

        ORB_STATUS.orbs[4].port_val=ORB2_GREEN;

        ORB_STATUS.orbs[5].port_val=ORB2_BLUE;

        //init timer3

        TCCR3A = 0; // sets normal operation

        TCCR3B = _BV(CS31); //set a prescale of 8

        TCCR3C = 0; // sets normal operation

        ETIMSK |= _BV(OCIE3C); //turn on oc3c interrupt

        ETIMSK |= _BV(OCIE3A); //turn on oc3a interrupt

        OCR3C = TCNT3+ORB_RESET; // WHAT HAPPENS IF THE TIMER IS ON FOR A VERY LONG TIME; OVERFLOW?

        OCR3A = TCNT3+ORB_RESET;

        SREG=mysreg;

}

//sets a channel to a value

void orb_set_angle(int orb, int angle) {

        uint8_t mysreg;

        orb=orb&0x07; //only have 8

        angle=angle&0xff; //only accept 0-255

        angle=255-angle; //inverse intensity

/*

        angle=angle<<2; //scale up so that we dont run it too often

        angle+=3; //0 values dont really work

  */

        // check if the angle is different, if it is, update our status

        if(angle!=ORB_STATUS.orbs[orb].angle)

        {

                ORB_STATUS.new_angles++;

                ORB_STATUS.changes[orb]=1;

        }

        mysreg=SREG;

        cli();

  ORB_CHANGED_ORBS_STRUCT.changed_orbs[orb].new_angle=angle;

//    ORB_STATUS.orbs[orb].angle = angle; //update angle

        SREG = mysreg;

  // dont see why you need to track changes, so might as well just change it

  /*

        mysreg=SREG;

        cli();

    ORB_STATUS.orb_angles[orb] = angle; //update angle

        SREG = mysreg;

        */

/*

        if (ORB_STATUS.orb_angles[orb] != angle) { //if the angle has changed

          mysreg=SREG; 

          cli(); //disable interrupts

      ORB_STATUS.orb_angles[orb] = angle; //update angle

      ORB_STATUS.new_angles = 1;

          SREG=mysreg; //put interrupt status back

   }

   */

}

void orb1_set(unsigned char red, unsigned char green, unsigned char blue)

{

        orb_set_angle(0,red);

        orb_set_angle(1,green);

        orb_set_angle(2,blue);

}

void orb2_set(unsigned char red, unsigned char green, unsigned char blue)

{

        orb_set_angle(3,red);

        orb_set_angle(4,green);

        orb_set_angle(5,blue);

}

/*

        PORTC = 0bFF; //turns on all lights

        PORTC &= ~0x08; //turns off light in 4th bit (enc_cs)

*/