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942 arune 1 
 
954 runge 2 
#include "act_RGBdriver.h"
942 arune 3 
#define ALGO_FREQ       5
954 runge 4 
#define TARGET_CURRENT  250UL
5 
#define TARGET_ADC      TARGET_CURRENT*4UL*1024UL/5000UL
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954 runge 7 
#define TARGET_CURRENT2 50UL
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#define TARGET_ADC2     TARGET_CURRENT2*4UL*3UL*1024UL/5000UL
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#define TARGET_CURRENT3 50UL
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#define TARGET_ADC3     TARGET_CURRENT3*4UL*3UL*1024UL/5000UL
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#define TARGET_CURRENT4 50UL
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#define TARGET_ADC4     TARGET_CURRENT4*4UL*3UL*1024UL/5000UL
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/*
17 
 
18 
50mA*0.1R = 5mV
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5mV*40ggr = 200mV
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200mV*1024/5V = 41
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50mA*0.1R = 5mV
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5mV*40ggr = 200mV
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50mA*0.1*40*1024/5 = 41
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50mA*4*1024/5 = 41
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*/
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28 
void calculatePWM(uint8_t timer) {
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    uint16_t adcValue;
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    adcValue = ADC_Get(5);
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32 
    if (adcValue > TARGET_ADC+5)
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        OCR1B -=1;
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    else if (adcValue < TARGET_ADC)
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        OCR1B++;
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    else if (adcValue > TARGET_ADC+10)
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        OCR1B=0;
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39 
 
40 
    adcValue = ADC_Get(4);
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    if (adcValue > TARGET_ADC2+5)
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        OCR1A -=1;
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    else if (adcValue < TARGET_ADC2)
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        OCR1A++;
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    else if (adcValue > TARGET_ADC2+10)
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        OCR1A=0;
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49 
 
50 
    adcValue = ADC_Get(2);
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    if (adcValue > TARGET_ADC3+5)
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        OCR0A -=1;
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    else if (adcValue < TARGET_ADC3)
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        OCR0A++;
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    else if (adcValue > TARGET_ADC3+10)
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        OCR0A=0;
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59 
 
60 
    adcValue = ADC_Get(0);
61 
 
62 
    if (adcValue > TARGET_ADC4+5)
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        OCR0B -=1;
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    else if (adcValue < TARGET_ADC4)
65 
        OCR0B++;
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    else if (adcValue > TARGET_ADC4+10)
67 
        OCR0B=0;
68 
 
69 
}
70 
 
71 
void sendADCvalue(uint8_t timer) {
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    StdCan_Msg_t txMsg;
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    StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
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    StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
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    txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_RGBDRIVER;
76 
    txMsg.Header.ModuleId = act_RGBdriver_ID;
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    txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_DEBUG;
78 
    txMsg.Length = 6;
79 
 
80 
    //txMsg.Data[0] = (uint8_t)(ADC_Get(5)>>2);
81 
    txMsg.Data[0] = (uint8_t)(ADC_Get(5)&0xff);
82 
    txMsg.Data[1] = 0;
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    txMsg.Data[2] = OCR1B;
84 
    txMsg.Data[3] = 0;
85 
 
86 
    txMsg.Data[4] = TARGET_CURRENT;
87 
    txMsg.Data[5] = TARGET_ADC;
88 
 
89 
    StdCan_Put(&txMsg);
90 
}
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942 arune 92 
void act_RGBdriver_Init(void)
93 
{
954 runge 94 
    ADC_Init();
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942 arune 96 
    //DDRB &= ~(1<<PB1);
954 runge 97 
    //DDRB &= ~(1<<PB2);    //never set PB2 as input
98 
    TCCR1A = 0;
99 
    TCCR1B = 0;
100 
    TCCR1A |= (1 << WGM10) | (0 << WGM11);  //8-bit pwm with top=0xff
101 
    TCCR1B |= (1 << WGM12);     //fast pwm
102 
    cli();
103 
    OCR1A = 0;  // set on time (tp)
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    OCR1B = 0;  // set on time (tp)
105 
    sei();
106 
    DDRB |= _BV(PB2);           //set port to output
107 
    TCCR1A |= (1<<COM1A1);      //enable output compare
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    DDRB |= _BV(PB1);           //set port to output
109 
    TCCR1A |= (1<<COM1B1);      //enable output compare
110 
 
111 
    //cli();
112 
    //OCR1A = 10;  // set on time (tp)
113 
    //OCR1B = 40;  // set on time (tp)
114 
    //sei();
115 
 
942 arune 116 
    TCCR1B |= (1 << CS10);      //enable timer, prescaler=1
954 runge 117 
 
118 
 
942 arune 119 
    // Contrast
120 
    TCCR0A |= (1<<WGM01)|(1<<WGM00);
954 runge 121 
    TCCR0B |= (1<<CS00);
122 
    cli();
123 
    OCR0A = 0;  // set on time (tp)
124 
    OCR0B = 0;  // set on time (tp)
942 arune 125 
    sei();
954 runge 126 
    DDRD |= (1<<DDD5);
127 
    DDRD |= (1<<DDD6);
942 arune 128 
    TCCR0A |= (1<<COM0B1)|(1<<COM0A1);
954 runge 129 
 
130 
    Timer_SetTimeout(act_RGBdriver_ADC_SEND_TIMER, 2000, TimerTypeFreeRunning, sendADCvalue);
131 
    Timer_SetTimeout(act_RGBdriver_REGULATOR_TIMER, ALGO_FREQ, TimerTypeFreeRunning, calculatePWM);
942 arune 132 
}
133 
 
134 
void act_RGBdriver_Process(void)
135 
{
136 
    ///TODO: Stuff that needs doing is done here
137 
}
138 
 
139 
void act_RGBdriver_HandleMessage(StdCan_Msg_t *rxMsg)
140 
{
954 runge 141 
    if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_ACT &&
142 
        StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_TO_OWNER &&
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        rxMsg->Header.ModuleType == CAN_MODULE_TYPE_ACT_RGBDRIVER &&
942 arune 144 
        rxMsg->Header.ModuleId == act_RGBdriver_ID)
145 
    {
146 
        switch (rxMsg->Header.Command)
147 
        {
148 
        case 0:
149 
        ///TODO: Do something dummy
150 
        break;
151 
        }
152 
    }
153 
}
154 
 
155 
void act_RGBdriver_List(uint8_t ModuleSequenceNumber)
156 
{
157 
    StdCan_Msg_t txMsg;
158 
 
954 runge 159 
    StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
160 
    StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
161 
    txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_RGBDRIVER;
942 arune 162 
    txMsg.Header.ModuleId = act_RGBdriver_ID;
954 runge 163 
    txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
942 arune 164 
    txMsg.Length = 6;
165 
 
166 
    txMsg.Data[0] = NODE_HW_ID_BYTE0;
167 
    txMsg.Data[1] = NODE_HW_ID_BYTE1;
168 
    txMsg.Data[2] = NODE_HW_ID_BYTE2;
169 
    txMsg.Data[3] = NODE_HW_ID_BYTE3;
170 
 
171 
    txMsg.Data[4] = NUMBER_OF_MODULES;
172 
    txMsg.Data[5] = ModuleSequenceNumber;
173 
 
174 
    StdCan_Put(&txMsg);
175 
}