WebSVN – HomeAutomation – Blame – /trunk/EmbeddedSoftware/AVR/CanRGB/main.c

Rev	Author	Line No.	Line
285	noddan	1	/**
		2	* CAN Test. This program sends a CAN message once every second. The ID of the
		3	* message is increased each time for testing purposes.
		4	*
		5	* @date 2006-11-21
		6	* @author Jimmy Myhrman
		7	*
		8	*/
		9
		10	/*-----------------------------------------------------------------------------
		11	* Includes
		12	---------------------------------------------------------------------------/
		13	/* system files */
		14	#include <avr/io.h>
		15	#include <avr/interrupt.h>
		16	#include <avr/wdt.h>
		17	#include <stdio.h>
		18	/* lib files */
		19	#include <can.h>
		20	#include <serial.h>
		21	#include <timebase.h>
		22	#include <math.h>
		23
		24	/*-----------------------------------------------------------------------------
		25	* Variables
		26	---------------------------------------------------------------------------/
		27
		28	uint8_t currRed; //Current Red PWM dutycycle
		29	uint8_t currGreen; //Current Green PWM dutycycle
		30	uint8_t currBlue; //Current Blue PWM dutycycle
		31
		32	uint8_t destRed; //Destination Red PWM dutycycle
		33	uint8_t destGreen; //Destination Green PWM dutycycle
		34	uint8_t destBlue; //Destination Blue PWM dutycycle
		35
		36	uint16_t fadeSpeed; //Fadingspeed. 16bit for reaaaally slow fading
		37	uint8_t program; //This variable keeps track of what program is currently running. 0 means no program.
		38	uint8_t programstate; //This variable keeps track of where in a program we currently are.
		39
		40	/*----------------------------------------------------------------------------
		41	* Functions
		42	* -------------------------------------------------------------------------*/
		43	void updateLED();
		44
		45
		46	/*-----------------------------------------------------------------------------
		47	* Main Program
		48	---------------------------------------------------------------------------/
		49	int main(void) {
		50	Timebase_Init();
		51	Serial_Init();
		52
		53	//Setting up OC1A, 16 bit counter used as 8 bit.
		54	/* Use OC1A */
		55	TCCR1A \|= (1<<COM1A1) \| (1<<WGM11); /* Set OC1A at TOP, mode 14 */
		56	TCCR1B \|= (1<<WGM13) \| (1<<WGM12) \| (1<<CS11); /* Timer uses main system clock with 1/8 prescale */
		57	ICR1 = 256; //8 bit precision to match the other two counters.
		58	OCR1A = 128; //50% as standard
		59	DDRB \|= (1<<PB1); /* Enable pin as output */
		60
		61	//Initialize variables
		62	destRed = 128;
		63	fadeSpeed = 10;
		64	uint32_t timeStamp = 0;
		65
		66	Can_Message_t rxMsg;
		67
		68	sei();
		69
		70	/* main loop */
		71	while (1) {
		72	/* service the CAN routines */
		73	Can_Service();
		74
		75	/* Time to see if we want to update our values */
		76	if (Timebase_PassedTimeMillis(timeStamp) >= fadeSpeed) {
		77	timeStamp = Timebase_CurrentTime();
		78	updateLED();
		79	}
		80
		81
		82	/* This code really needs cleaning up. Support for fade-programs */
		83	/* Maybe create a struct for one program-step? TargetRED, TargetGREEN, TargetBLUE, Speed, NextAction? */
		84	if (program != 0){
		85	switch(program){
		86	case 1:
		87	if (destRed != 255){
		88	destRed = destRed + 1;
		89	}
		90	break;
		91	case 2:
		92	if (destRed != 0){
		93	destRed = destRed - 1;
		94	}
		95	break;
		96	case 3:
		97	switch(programstate){
		98	case 0:
		99	destRed = 0;
		100	fadeSpeed = 10;
		101	if (currRed == 0){
		102	programstate = 1;
		103	}
		104	break;
		105	case 1:
		106	destRed = 255;
		107	fadeSpeed = 100;
		108	if (currRed == 255){
		109	programstate = 2;
		110	}
		111	break;
		112	case 2:
		113	destRed = 60;
		114	fadeSpeed = 5;
		115	if (currRed == 60){
		116	programstate = 3;
		117	}
		118	break;
		119	case 3:
		120	destRed = 170;
		121	fadeSpeed = 20;
		122	if (currRed == 170){
		123	programstate = 4;
		124	}
		125	break;
		126	case 4:
		127	destRed = 0;
		128	fadeSpeed = 40;
		129	if (currRed == 40){
		130	programstate = 0;
		131	program = 0;
		132	}
		133	break;
		134	}
		135	break;
		136	}
		137	}
		138
		139
		140
		141	/* check if any messages have been received */
		142	/* A lot of remote control crap going on here now for testing */
		143	while (Can_Receive(&rxMsg) == CAN_OK) {
		144	if ((rxMsg.Data.bytes[0] == 0x0)&(rxMsg.Data.bytes[3] == 0x20)){
		145	program = 1;
		146	fadeSpeed = 0;
		147	}
		148
		149	if ((rxMsg.Data.bytes[0] == 0x0)&(rxMsg.Data.bytes[3] == 0x21)){
		150	program = 2;
		151	fadeSpeed = 0;
		152	}
		153
		154	if ((rxMsg.Data.bytes[0] == 0xf)&(rxMsg.Data.bytes[3] == 0x20)){
		155	program = 0;
		156
		157	}
		158
		159	if ((rxMsg.Data.bytes[0] == 0xf)&(rxMsg.Data.bytes[3] == 0x21)){
		160	program = 0;
		161	}
		162
		163
		164	//Ready-made programs!
		165	if ((rxMsg.Data.bytes[0] == 0xf)&(rxMsg.Data.bytes[3] == 0x01)){
		166	destRed = 255;
		167	}
		168
		169	if ((rxMsg.Data.bytes[0] == 0xf)&(rxMsg.Data.bytes[3] == 0x02)){
		170	destRed = 0;
		171	}
		172
		173	if ((rxMsg.Data.bytes[0] == 0xf)&(rxMsg.Data.bytes[3] == 0x04)){
		174	destRed = 0;
		175	fadeSpeed = 0;
		176	}
		177
		178	if ((rxMsg.Data.bytes[0] == 0xf)&(rxMsg.Data.bytes[3] == 0x05)){
		179	destRed = 255;
		180	fadeSpeed = 10;
		181	}
		182
		183	if ((rxMsg.Data.bytes[0] == 0xf)&(rxMsg.Data.bytes[3] == 0x07)){
		184	program = 3;
		185	programstate = 0;
		186	}
		187
		188	}
		189
		190
		191	}
		192
		193	return 0;
		194	}
		195
		196
		197
		198
		199
		200	void updateLED(){
		201	//Red
		202	if (currRed < destRed){
		203	currRed = currRed + 1;
		204	OCR1A = currRed;
		205	} else if (currRed > destRed){
		206	currRed = currRed - 1;
		207	OCR1A = currRed;
		208	}
		209	//Green
		210	//Blue
		211	}
		212

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