/**
* CAN RGB LED. This application is used to control a RGB LED.
* Still under heavy development
*
* @date 2007-02-10
* @author Martin Nordén
*
* TODO: Better CAN Integration, Failsafe mode, Tempsensors etc.
* Also, check current/destination intensity better when in a program?
*
* A little comment here :)
*/
/*-----------------------------------------------------------------------------
* Includes
*---------------------------------------------------------------------------*/
/* system files */
#include <avr/interrupt.h>
#include <inttypes.h>
#include <stdio.h>
#include <avr/pgmspace.h> //To allow read/write from flash
#include <drivers/timer/timebase.h>
#include <config.h> // All configuration parameters
#include <bios.h> // BIOS interface declarations, including CAN structure and ID defines.
/* lib files */
#include <bios.h>
#include <funcdefs/funcdefs.h>
/*----------------------------------------------------------------------------
* Defines
* -------------------------------------------------------------------------*/
//Working on implementing all of these...
#define RGBLED_CMD_STATUS 0x00 /* Get status */
#define RGBLED_CMD_SETRGB 0x01 /* Set RGB Triplet */
#define RGBLED_CMD_CHANGERGB 0x02 /* Change RGB +/- */
#define RGBLED_CMD_SETPROGRAM 0x03 /* Set program */
#define RGBLED_CMD_SETFADESPEED 0x04 /* Set fadespeed */
#define RGBLED_CMD_SETDIMSPEED 0x05 /* Set dimspeed */
#define RGBLED_CMD_SETINTENS 0x10 /* Set intensity */
#define APP_TYPE 0xf001
#define APP_VERSION 0x0001
#define GROUP_ID 0x01L // FIXME
#define TRUE 1
#define FALSE !TRUE
/*----------------------------------------------------------------------------
* Ehm, struct?
* -------------------------------------------------------------------------*/
typedef struct
{
uint8_t R;
uint8_t G;
uint8_t B;
uint8_t Intens;
} Color;
/*-----------------------------------------------------------------------------
* Programs! There will be a better way to add programs here.. some day.
*---------------------------------------------------------------------------*/
//Special combinations that means something special
//The combinations are useless for lighting anyway
//So we might as well use them!
//0x00, 0x00, 0x00, 0x00 means end of program, keep looping it
//0x00, 0x00, 0x00, 0x01 means end of program, halt
Color pgm1[] PROGMEM = {
{0xff,0x00,0x00,0x64},
{0xff,0xff,0x00,0x10},
{0x00,0xff,0x00,0xa0},
{0x00,0xff,0xff,0x7f},
{0x00,0x00,0xff,0x7f},
{0xff,0x00,0xff,0x40},
{0x00,0x00,0x00,0x00}
};
Color pgm2[] PROGMEM = {
{0xff,0x00,0x00,0x00},
{0xff,0xff,0x00,0x00},
{0xff,0xff,0xff,0x00},
{0xa0,0x00,0xa0,0x00},
{0x00,0x00,0xff,0x00},
{0x00,0x00,0x00,0x00}
};
Color pgm3[] PROGMEM = {
{0xff,0xff,0xff,0x00},
{0x00,0x00,0x00,0x01}
};
Color* programs[] PROGMEM = {
(Color*)pgm1,
(Color*)pgm2,
(Color*)pgm3
};
/*-----------------------------------------------------------------------------
* Global variables
*---------------------------------------------------------------------------*/
uint32_t timeStamp; //TimeStamp to keep track of time
uint32_t dimStamp; //Timestamp to keep track of dimmer changes
Color currColor; //Current color
Color destColor; //Destination color
uint16_t fadeSpeed; //Fadingspeed. 16bit for reaaaally slow fading. Sets the speed of colorchange.
uint8_t dimSpeed; //Dimmer speed. Sets the speed of intensitychange.
uint8_t currProgram; //This variable keeps track of what program is currently running.
uint8_t programMode; //This keeps track of what mode we are currently using. 0: the program obeyes the current brightness, 1: the program is allowed to set it's own brightness
uint8_t msg_received = FALSE;
Can_Message_t txMsg;
Can_Message_t rxMsg;
/*----------------------------------------------------------------------------
* Functions
* -------------------------------------------------------------------------*/
void updateLED();
void reformatRGB(uint8_t R, uint8_t G, uint8_t B, uint8_t setBright);
void changeColor(int8_t amount, uint8_t* color);
void fade(uint8_t* current, uint8_t* destination);
/* Takes care about incoming messages and parses them if this node is adressed */
void can_receive(Can_Message_t *msg){
uint32_t act;
uint8_t m, act_type, group, node;
if( ((msg->Id & CLASS_MASK) >> CLASS_MASK_BITS) == CLASS_ACT ){
act = (msg->Id & TYPE_MASK) >> TYPE_MASK_BITS;
act_type = (act & ACT_TYPE_MASK) >> ACT_TYPE_BITS;
group = (act & ACT_GROUP_MASK) >> ACT_GROUP_BITS;
node = (act & ACT_NODE_MASK) >> ACT_NODE_BITS;
/* Check if it is command to control this servo */
if(act_type == ACT_TYPE_RGBLED){
if(group == GROUP_ID || node == NODE_ID){
for(m=0;m<msg->DataLength;m++){
rxMsg.Data.bytes[m] = msg->Data.bytes[m];
}
msg_received = TRUE;
}
}
}
}
/*-----------------------------------------------------------------------------
* Main Program
*---------------------------------------------------------------------------*/
int main(void) {
//Setting up OC1A, 16 bit counter used as 8 bit.
TCCR1A |= (1<<COM1A1) | (1<<WGM11); /* Set OC1A at TOP, mode 14 */
TCCR1B |= (1<<WGM13) | (1<<WGM12) | (1<<CS12); /* Timer uses main system clock with ? prescale */
ICR1 = 256; //8 bit precision to match the other two counters.
OCR1A = 0; //0% as standard
DDRB |= (1<<PB1); /* Enable pin as output */
//Setting up OC0A
TCCR0A |= (1<<COM0A1)|(1<<WGM01)|(1<<WGM00); /* Set OC0A at TOP, Mode 7 */
TCCR0B |= (1<<CS02); /* Prescaler updating now */
OCR0A = 0; //0% standard
DDRD |= (1<<PD6);
//Setting up OC0B
TCCR0A |= (1<<COM0B1);
OCR0B = 0;
DDRD |= (1<<PD5);
//Initialize variables
fadeSpeed = 10;
dimSpeed = 10;
timeStamp = 0;
dimStamp = 0;
reformatRGB(0x00,0x00,0x00,1);
destColor.Intens = 50;
currColor = destColor;
//Just temporary for now, they keep track of some kind of demo-program.
currProgram = 1;
programMode = 0;
uint16_t temp_adress = pgm_read_word(&programs[currProgram-1]); //Get adress for program 0
sei();
BIOS_CanCallback = &can_receive;
//Send a message that we are alive!
txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
txMsg.DataLength = 4;
txMsg.RemoteFlag = 0;
txMsg.ExtendedFlag = 1;
txMsg.Data.words[0] = APP_TYPE;
txMsg.Data.words[1] = APP_VERSION;
BIOS_CanSend(&txMsg);
//Lets get timebase up and running
Timebase_Init();
/* main loop */
while (1) {
/* Time to fade color? */
if ((Timebase_CurrentTime() - timeStamp) >= fadeSpeed) {
fade(&currColor.R, &destColor.R);
fade(&currColor.G, &destColor.G);
fade(&currColor.B, &destColor.B);
timeStamp = Timebase_CurrentTime();
updateLED();
}
/* Time to fade intensity? */
if (Timebase_CurrentTime() - dimStamp >= dimSpeed) {
fade(&currColor.Intens, &destColor.Intens);
dimStamp = Timebase_CurrentTime();
updateLED();
}
/* Program management */
if (currProgram != 0) { //Check if a program is currently running
if ((currColor.R == destColor.R)&(currColor.G == destColor.G)&(currColor.B == destColor.B)&(currColor.Intens == destColor.Intens)){//Is the current sequence finished?
//Now we have to check if the program is finished and if we should loop
if ((pgm_read_byte(temp_adress)==0)&(pgm_read_byte(temp_adress+1)==0)&(pgm_read_byte(temp_adress+2)==0)){
//The program has ended! Shall we loop it?
if (pgm_read_byte(temp_adress+3)==0){
//Yes, let's loop it
temp_adress = pgm_read_word(&programs[currProgram-1]);
} else {
//No, halt!
currProgram = 0;
}
} else {
//The program has not ended, let's get the next RGB-triplet!
destColor.R = pgm_read_byte(temp_adress);
destColor.G = pgm_read_byte(temp_adress + 1);
destColor.B = pgm_read_byte(temp_adress + 2);
if (programMode == 1){
destColor.Intens = pgm_read_byte(temp_adress + 3);
}
temp_adress = temp_adress + 4;
}
}
}
/* check if any messages have been received */
if(msg_received){
/* This node that controls a RGB LED is adressed */
if( rxMsg.Data.bytes[0] == RGBLED_CMD_SETPROGRAM ){
/* Set a program! */
currProgram = rxMsg.Data.bytes[1];
temp_adress = pgm_read_word(&programs[currProgram-1]);
}else if( rxMsg.Data.bytes[0] == RGBLED_CMD_SETINTENS ){
/* Set intensity! */
if (rxMsg.Data.bytes[1] == TRUE){
currColor.Intens = rxMsg.Data.bytes[2];
}
destColor.Intens = rxMsg.Data.bytes[2];
if (rxMsg.Data.bytes[3] != 0){
dimSpeed = rxMsg.Data.bytes[3];
}
currProgram = rxMsg.Data.bytes[1];
temp_adress = pgm_read_word(&programs[currProgram-1]);
} else if( rxMsg.Data.bytes[0] == RGBLED_CMD_SETRGB) {
/* Set RGB-triplet! */
reformatRGB(rxMsg.Data.bytes[2],rxMsg.Data.bytes[3],rxMsg.Data.bytes[4],0);
if (rxMsg.Data.bytes[5] != 0){
destColor.Intens = rxMsg.Data.bytes[5];
}
if (rxMsg.Data.bytes[1] == TRUE){
currColor = destColor;
}
if (rxMsg.Data.bytes[7] != 0){
fadeSpeed = rxMsg.Data.bytes[6] * 255 + rxMsg.Data.bytes[7];
}
currProgram = 0;
}
msg_received = FALSE; //Let's clear the flag yes.
}
}
return 0;
}
/************************************************************************************************
* updateLED updates the PWM counter values and thus changes the color of the RGBLED. *
* It doesn't reculculate anything, except the values to write to the PWM registers. *
* TODO: Get rid of the tempcontainer! *
************************************************************************************************/
void updateLED(){
uint8_t tempcontainer;
tempcontainer = currColor.R * currColor.Intens / 255; //I really want to skip this, don't know how yet though.
OCR1A = tempcontainer;
OCR0A = currColor.G * currColor.Intens / 255;
OCR0B = currColor.B * currColor.Intens / 255;
//Bara för debugcrap
Can_Message_t txMsg;
txMsg.Id = 0x55;
txMsg.RemoteFlag = 0;
txMsg.ExtendedFlag = 1;
txMsg.DataLength = 4;
txMsg.Data.bytes[0] = currColor.R;
txMsg.Data.bytes[1] = currColor.G;
txMsg.Data.bytes[2] = currColor.B;
txMsg.Data.bytes[3] = currColor.Intens;
BIOS_CanSend(&txMsg);
}
/************************************************************************************************
* reformatRGB sets a new target RGB triplet to fade to. It reformats it so that *
* the highest color always gets 0xff. Brightness is recalculated. *
* if setBright is set to 0, the brightness will not be updated. *
* TODO: Smarter 16-bit arithmetics would be nice. *
************************************************************************************************/
void reformatRGB(uint8_t R, uint8_t G, uint8_t B, uint8_t setBright){
uint8_t maxvalue;
uint16_t tempcontainer;
if ((R>=G)&(R>=B)){
maxvalue = R;
} else if ((G>=R)&(G>=B)){
maxvalue = G;
} else {
maxvalue = B;
}
tempcontainer = R * 255;
destColor.R = tempcontainer/maxvalue;
tempcontainer = G * 255;
destColor.G = tempcontainer/maxvalue;
tempcontainer = B * 255;
destColor.B = tempcontainer/maxvalue;
if (setBright){
destColor.Intens = maxvalue;
}
}
/************************************************************************************************
* fade takes two pointers, current and destination and fades current *
* one tick closer to destination. *
************************************************************************************************/
void fade(uint8_t* current, uint8_t* destination){
if (*current > *destination){
*current = *current - 1;
} else if (*current < *destination){
*current = *current + 1;
}
}
/************************************************************************************************
* changeColor changes a color accord to amount. -127>127. *
* color is either dest och curr R,G,B. *
* Maybe TODO: If red is already 255 and we want to increase it, decrease the other ones. *
************************************************************************************************/
void changeColor(int8_t amount, uint8_t* color){
if ( ((amount > 0)&(*color < 255)) || ((amount < 0)&(*color > 0)) ) //Se till att vi inte slår över *color
*color = *color + amount;
}