Revision 728
Changed bom_init and bom_on so that only bom_init needs the type argument. At the moment trying to debug some strange issue where PC4 and PC5 do not turn off.
| lbom.c | ||
|---|---|---|
| 37 | 37 |
#include <avr/io.h> |
| 38 | 38 |
#include "lbom.h" |
| 39 | 39 |
|
| 40 |
#define ALL_ON 0b1111 |
|
| 41 |
#define BOM 0 |
|
| 42 |
#define BOM1_5 1 |
|
| 43 |
#define RBOM 2 |
|
| 44 |
#define BOM0 DDC4 |
|
| 45 |
#define BOM1 DDC5 |
|
| 46 |
#define BOM2 DDC6 |
|
| 47 |
#define BOM3 DDC7 |
|
| 48 |
|
|
| 49 | 40 |
static char bom_mode; |
| 41 |
static char led_mask; |
|
| 50 | 42 |
|
| 51 | 43 |
/** |
| 52 | 44 |
* @defgroup lbom LBOM (Bearing and Orientation Module) |
| ... | ... | |
| 65 | 57 |
|
| 66 | 58 |
/** @brief Sets up the LBOM to be used. **/ |
| 67 | 59 |
void bom_init(char type){
|
| 68 |
//set_leds(ALL_ON);
|
|
| 60 |
set_leds(BOM_ALL_ON);
|
|
| 69 | 61 |
DDRC |= _BV(BOM0)|_BV(BOM1)|_BV(BOM2)|_BV(BOM3); |
| 70 |
PORTC |= 0b11110000; |
|
| 71 | 62 |
DDRD |= _BV(DDD7); //sets bom carrier to write |
| 72 | 63 |
bom_mode = type; |
| 73 |
bom_on(type); |
|
| 74 |
} |
|
| 75 |
/** @brief Turns the LBOM on. **/ |
|
| 76 |
void bom_on(void){
|
|
| 77 |
//start timer 2 if not already started |
|
| 78 |
TCCR2A = _BV(COM2A1)|_BV(COM2A0)|_BV(WGM21)|_BV(WGM20); |
|
| 79 |
TCCR2B = _BV(CS20); |
|
| 80 |
switch(bom_mode){
|
|
| 64 |
usb_puti(DDRC); |
|
| 65 |
switch(bom_mode){
|
|
| 66 |
case RBOM: |
|
| 67 |
//set the carrier to produce a 31kHz 50% duty cycle signal |
|
| 68 |
TCCR2A = _BV(COM2A1)|_BV(COM2A0)|_BV(WGM21)|_BV(WGM20); |
|
| 69 |
TCCR2B = _BV(CS20); |
|
| 70 |
OCR2A = 127; |
|
| 81 | 71 |
case BOM: |
| 82 |
OCR2A = 1; |
|
| 83 | 72 |
case BOM1_5: |
| 84 |
OCR2A = 1; |
|
| 85 |
case RBOM: |
|
| 86 |
OCR2A = 127; |
|
| 87 | 73 |
default: |
| 88 |
OCR2A = 1;
|
|
| 74 |
PORTD |= _BV(PD7);
|
|
| 89 | 75 |
} |
| 90 | 76 |
} |
| 77 |
/** @brief Turns the LBOM on. **/ |
|
| 78 |
void bom_on(void){
|
|
| 79 |
PORTC |= led_mask; |
|
| 80 |
usb_putc('N');
|
|
| 81 |
usb_puti(PORTC); |
|
| 82 |
} |
|
| 91 | 83 |
/** @brief Turns the LBOM off. **/ |
| 92 | 84 |
void bom_off(void){
|
| 93 |
OCR2A = 0; |
|
| 85 |
PORTC &= ~led_mask; |
|
| 86 |
usb_putc('F');
|
|
| 87 |
usb_puti(PORTC); |
|
| 94 | 88 |
} |
| 95 | 89 |
/** @brief Sets which emitters are in use. **/ |
| 96 | 90 |
void set_leds(int bit_field){
|
| 97 |
DDRC |= (bit_field << 4); |
|
| 91 |
led_mask = ((bit_field&BOM_ALL_ON) << 4); |
|
| 92 |
usb_puti(led_mask); |
|
| 98 | 93 |
} |
| 99 | 94 |
|
| 100 | 95 |
/** @} **/ //end group |
Also available in: Unified diff