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546 lines
12 KiB
C
546 lines
12 KiB
C
15 years ago
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/*
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* ----------------------------------------------------------------------------
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* "THE BEER-WARE LICENSE" (Revision 42):
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* <joerg@FreeBSD.ORG> wrote this file. As long as you retain this notice you
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* can do whatever you want with this stuff. If we meet some day, and you think
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* this stuff is worth it, you can buy me a beer in return. Joerg Wunsch
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* ----------------------------------------------------------------------------
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*
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* More advanced AVR demonstration. Controls a LED attached to OCR1A.
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* The brightness of the LED is controlled with the PWM. A number of
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* methods are implemented to control that PWM.
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*
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* $Id: largedemo.c,v 1.3 2007/01/19 22:17:10 joerg_wunsch Exp $
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*/
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#include <stdint.h>
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#include <stdlib.h>
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#include <avr/eeprom.h>
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#include <avr/interrupt.h>
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#include <avr/io.h>
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#include <avr/pgmspace.h>
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#include <avr/sleep.h>
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#include <avr/wdt.h>
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/* Part 1: Macro definitions */
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#define CONTROL_PORT PORTD
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#define CONTROL_DDR DDRD
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#if defined(__AVR_ATtiny2313__)
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/* no PD7 and no ADC available on ATtiny2313 */
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# define TRIGGER_DOWN PD2
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# define TRIGGER_UP PD3
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# define FLASH PD4
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# define CLOCKOUT PD6
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#else
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# define TRIGGER_DOWN PD2
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# define TRIGGER_UP PD3
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# define TRIGGER_ADC PD4
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# define CLOCKOUT PD6
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# define FLASH PD7
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#endif
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#if defined(__AVR_ATmega16__)
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# define PWMDDR DDRD
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# define PWMOUT PD5
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#elif defined(__AVR_ATmega8__) || defined(__AVR_ATmega48__) ||\
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defined(__AVR_ATmega88__) || defined(__AVR_ATmega168__)
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# define PWMDDR DDRB
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# define PWMOUT PB1
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#elif defined(__AVR_ATtiny2313__)
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# define PWMDDR DDRB
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# define PWMOUT PB3
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# define HAVE_ADC 0
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# define USART_RXC_vect USART_RX_vect
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# define MCUCSR MCUSR
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#else
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# error "Unsupported MCU type"
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#endif
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#if defined(__AVR_ATmega48__) || defined(__AVR_ATmega88__) ||\
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defined(__AVR_ATmega168__)
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/* map ATmega8/16 names to ATmegaX8 names */
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# define USART_RXC_vect USART_RX_vect
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# define UDR UDR0
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# define UCSRA UCSR0A
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# define UCSRB UCSR0B
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# define FE FE0
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# define TXEN TXEN0
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# define RXEN RXEN0
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# define RXCIE RXCIE0
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# define UDRE UDRE0
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# define U2X U2X0
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# define UBRRL UBRR0L
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# define TIMSK TIMSK1
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# define MCUCSR MCUSR
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#endif
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#if !defined(HAVE_ADC)
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# define HAVE_ADC 1
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#endif
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#define F_CPU 1000000UL /* CPU clock in Hertz */
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#define SOFTCLOCK_FREQ 100 /* internal software clock */
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/*
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* Timeout to wait after last PWM change till updating the EEPROM.
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* Measured in internal clock ticks (approx. 100 Hz).
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*/
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#define EE_UPDATE_TIME (3 * SOFTCLOCK_FREQ) /* ca. 3 seconds */
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/*
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* Timer1 overflow interrupt will be called with F_CPU / 2048
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* frequency. This interrupt routine further divides that value,
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* resulting in an internal update interval of approx. 10 ms.
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* (The complicated looking scaling by 10 / addition of 9 is
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* poor man's fixed-point rounding algorithm...)
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*/
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#define TMR1_SCALE ((F_CPU * 10) / (2048UL * SOFTCLOCK_FREQ) + 9) / 10
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/* Part 2: Variable definitions */
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/*
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* Bits that are set inside interrupt routines, and watched outside in
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* the program's main loop.
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*/
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volatile struct
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{
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uint8_t tmr_int: 1;
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uint8_t adc_int: 1;
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uint8_t rx_int: 1;
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}
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intflags;
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/*
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* Last character read from the UART.
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*/
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volatile char rxbuff;
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/*
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* Last value read from ADC.
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*/
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volatile uint16_t adcval;
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/*
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* Where to store the PWM value in EEPROM. This is used in order
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* to remember the value across a RESET or power cycle.
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*/
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uint16_t ee_pwm __attribute__((section(".eeprom"))) = 42;
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/*
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* Current value of the PWM.
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*/
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int16_t pwm;
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/*
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* EEPROM backup timer. Bumped by the PWM update routine. If it
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* expires, the current PWM value will be written to EEPROM.
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*/
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int16_t pwm_backup_tmr;
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/*
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* Mirror of the MCUCSR register, taken early during startup.
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*/
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uint8_t mcucsr __attribute__((section(".noinit")));
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/* Part 3: Interrupt service routines */
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ISR(TIMER1_OVF_vect)
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{
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static uint8_t scaler = TMR1_SCALE;
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if (--scaler == 0)
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{
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scaler = TMR1_SCALE;
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intflags.tmr_int = 1;
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}
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}
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#if HAVE_ADC
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/*
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* ADC conversion complete. Fetch the 10-bit value, and feed the
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* PWM with it.
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*/
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ISR(ADC_vect)
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{
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adcval = ADCW;
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ADCSRA &= ~_BV(ADIE); /* disable ADC interrupt */
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intflags.adc_int = 1;
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}
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#endif /* HAVE_ADC */
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/*
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* UART receive interrupt. Fetch the character received and buffer
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* it, unless there was a framing error. Note that the main loop
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* checks the received character only once per 10 ms.
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*/
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ISR(USART_RXC_vect)
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{
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uint8_t c;
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c = UDR;
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if (bit_is_clear(UCSRA, FE))
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{
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rxbuff = c;
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intflags.rx_int = 1;
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}
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}
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/* Part 4: Auxiliary functions */
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/*
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* Read out and reset MCUCSR early during startup.
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*/
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void handle_mcucsr(void)
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__attribute__((section(".init3")))
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__attribute__((naked));
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void handle_mcucsr(void)
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{
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mcucsr = MCUCSR;
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MCUCSR = 0;
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}
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/*
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* Do all the startup-time peripheral initializations.
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*/
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static void
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ioinit(void)
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{
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uint16_t pwm_from_eeprom;
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/*
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* Set up the 16-bit timer 1.
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*
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* Timer 1 will be set up as a 10-bit phase-correct PWM (WGM10 and
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* WGM11 bits), with OC1A used as PWM output. OC1A will be set when
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* up-counting, and cleared when down-counting (COM1A1|COM1A0), this
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* matches the behaviour needed by the STK500's low-active LEDs.
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* The timer will runn on full MCU clock (1 MHz, CS10 in TCCR1B).
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*/
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TCCR1A = _BV(WGM10) | _BV(WGM11) | _BV(COM1A1) | _BV(COM1A0);
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TCCR1B = _BV(CS10);
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OCR1A = 0; /* set PWM value to 0 */
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/* enable pull-ups for pushbuttons */
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#if HAVE_ADC
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CONTROL_PORT = _BV(TRIGGER_DOWN) | _BV(TRIGGER_UP) | _BV(TRIGGER_ADC);
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#else
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CONTROL_PORT = _BV(TRIGGER_DOWN) | _BV(TRIGGER_UP);
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#endif
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/*
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* Enable Port D outputs: PD6 for the clock output, PD7 for the LED
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* flasher. PD1 is UART TxD but not DDRD setting is provided for
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* that, as enabling the UART transmitter will automatically turn
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* this pin into an output.
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*/
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CONTROL_DDR = _BV(CLOCKOUT) | _BV(FLASH);
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/*
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* As the location of OC1A differs between supported MCU types, we
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* enable that output separately here. Note that the DDRx register
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* *might* be the same as CONTROL_DDR above, so make sure to not
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* clobber it.
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*/
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PWMDDR |= _BV(PWMOUT);
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UCSRA = _BV(U2X); /* improves baud rate error @ F_CPU = 1 MHz */
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UCSRB = _BV(TXEN)|_BV(RXEN)|_BV(RXCIE); /* tx/rx enable, rx complete intr */
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UBRRL = (F_CPU / (8 * 9600UL)) - 1; /* 9600 Bd */
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#if HAVE_ADC
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/*
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* enable ADC, select ADC clock = F_CPU / 8 (i.e. 125 kHz)
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*/
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ADCSRA = _BV(ADEN) | _BV(ADPS1) | _BV(ADPS0);
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#endif
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TIMSK = _BV(TOIE1);
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sei(); /* enable interrupts */
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/*
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* Enable the watchdog with the largest prescaler. Will cause a
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* watchdog reset after approximately 2 s @ Vcc = 5 V
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*/
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wdt_enable(WDTO_2S);
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/*
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* Read the value from EEPROM. If it is not 0xffff (erased cells),
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* use it as the starting value for the PWM.
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*/
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if ((pwm_from_eeprom = eeprom_read_word(&ee_pwm)) != 0xffff)
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OCR1A = (pwm = pwm_from_eeprom);
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}
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/*
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* Some simple UART IO functions.
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*/
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/*
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* Send character c down the UART Tx, wait until tx holding register
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* is empty.
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*/
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static void
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putchr(char c)
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{
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loop_until_bit_is_set(UCSRA, UDRE);
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UDR = c;
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}
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/*
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* Send a C (NUL-terminated) string down the UART Tx.
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*/
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static void
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printstr(const char *s)
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{
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while (*s)
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{
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if (*s == '\n')
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putchr('\r');
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putchr(*s++);
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}
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}
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/*
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* Same as above, but the string is located in program memory,
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* so "lpm" instructions are needed to fetch it.
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*/
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static void
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printstr_p(const char *s)
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{
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char c;
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for (c = pgm_read_byte(s); c; ++s, c = pgm_read_byte(s))
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{
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if (c == '\n')
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putchr('\r');
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putchr(c);
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}
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}
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/*
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* Update the PWM value. If it has changed, send the new value down
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* the serial line.
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*/
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static void
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set_pwm(int16_t new)
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{
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char s[8];
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if (new < 0)
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new = 0;
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else if (new > 1000)
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new = 1000;
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if (new != pwm)
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{
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OCR1A = (pwm = new);
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/*
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* Calculate a "percentage". We just divide by 10, as we
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* limited the max value of the PWM to 1000 above.
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*/
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new /= 10;
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itoa(new, s, 10);
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printstr(s);
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putchr(' ');
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pwm_backup_tmr = EE_UPDATE_TIME;
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}
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}
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/* Part 5: main() */
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int
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main(void)
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{
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/*
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* Our modus of operation. MODE_UPDOWN means we watch out for
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* either PD2 or PD3 being low, and increase or decrease the
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* PWM value accordingly. This is the default.
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* MODE_ADC means the PWM value follows the value of ADC0 (PA0).
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* This is enabled by applying low level to PC1.
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* MODE_SERIAL means we get commands via the UART. This is
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* enabled by sending a valid V.24 character at 9600 Bd to the
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* UART.
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*/
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enum
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{
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MODE_UPDOWN,
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MODE_ADC,
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MODE_SERIAL
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} __attribute__((packed)) mode = MODE_UPDOWN;
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uint8_t flash = 0;
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ioinit();
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if ((mcucsr & _BV(WDRF)) == _BV(WDRF))
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printstr_p(PSTR("\nOoops, the watchdog bit me!"));
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printstr_p(PSTR("\nHello, this is the avr-gcc/libc "
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"demo running on an "
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#if defined(__AVR_ATmega16__)
|
||
|
|
"ATmega16"
|
||
|
|
#elif defined(__AVR_ATmega8__)
|
||
|
|
"ATmega8"
|
||
|
|
#elif defined(__AVR_ATmega48__)
|
||
|
|
"ATmega48"
|
||
|
|
#elif defined(__AVR_ATmega88__)
|
||
|
|
"ATmega88"
|
||
|
|
#elif defined(__AVR_ATmega168__)
|
||
|
|
"ATmega168"
|
||
|
|
#elif defined(__AVR_ATtiny2313__)
|
||
|
|
"ATtiny2313"
|
||
|
|
#else
|
||
|
|
"unknown AVR"
|
||
|
|
#endif
|
||
|
|
"\n"));
|
||
|
|
|
||
|
|
for (;;)
|
||
|
|
{
|
||
|
|
wdt_reset();
|
||
|
|
|
||
|
|
if (intflags.tmr_int)
|
||
|
|
{
|
||
|
|
/*
|
||
|
|
* Our periodic 10 ms interrupt happened. See what we can
|
||
|
|
* do about it.
|
||
|
|
*/
|
||
|
|
intflags.tmr_int = 0;
|
||
|
|
/*
|
||
|
|
* toggle PD6, just to show the internal clock; should
|
||
|
|
* yield ~ 48 Hz on PD6
|
||
|
|
*/
|
||
|
|
CONTROL_PORT ^= _BV(CLOCKOUT);
|
||
|
|
/*
|
||
|
|
* flash LED on PD7, approximately once per second
|
||
|
|
*/
|
||
|
|
flash++;
|
||
|
|
if (flash == 5)
|
||
|
|
CONTROL_PORT |= _BV(FLASH);
|
||
|
|
else if (flash == 100)
|
||
|
|
{
|
||
|
|
flash = 0;
|
||
|
|
CONTROL_PORT &= ~_BV(FLASH);
|
||
|
|
}
|
||
|
|
|
||
|
|
switch (mode)
|
||
|
|
{
|
||
|
|
case MODE_SERIAL:
|
||
|
|
/*
|
||
|
|
* In serial mode, there's nothing to do anymore here.
|
||
|
|
*/
|
||
|
|
break;
|
||
|
|
|
||
|
|
case MODE_UPDOWN:
|
||
|
|
/*
|
||
|
|
* Query the pushbuttons.
|
||
|
|
*
|
||
|
|
* NB: watch out to use PINx for reading, as opposed
|
||
|
|
* to using PORTx which would be the mirror of the
|
||
|
|
* _output_ latch register (resp. pullup configuration
|
||
|
|
* bit for input pins)!
|
||
|
|
*/
|
||
|
|
if (bit_is_clear(PIND, TRIGGER_DOWN))
|
||
|
|
set_pwm(pwm - 10);
|
||
|
|
else if (bit_is_clear(PIND, TRIGGER_UP))
|
||
|
|
set_pwm(pwm + 10);
|
||
|
|
#if HAVE_ADC
|
||
|
|
else if (bit_is_clear(PIND, TRIGGER_ADC))
|
||
|
|
mode = MODE_ADC;
|
||
|
|
#endif
|
||
|
|
break;
|
||
|
|
|
||
|
|
case MODE_ADC:
|
||
|
|
#if HAVE_ADC
|
||
|
|
if (bit_is_set(PIND, TRIGGER_ADC))
|
||
|
|
mode = MODE_UPDOWN;
|
||
|
|
else
|
||
|
|
{
|
||
|
|
/*
|
||
|
|
* Start one conversion.
|
||
|
|
*/
|
||
|
|
ADCSRA |= _BV(ADIE);
|
||
|
|
ADCSRA |= _BV(ADSC);
|
||
|
|
}
|
||
|
|
#endif /* HAVE_ADC */
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (pwm_backup_tmr && --pwm_backup_tmr == 0)
|
||
|
|
{
|
||
|
|
/*
|
||
|
|
* The EEPROM backup timer expired. Save the current
|
||
|
|
* PWM value in EEPROM. Note that this function might
|
||
|
|
* block for a few milliseconds (after writing the
|
||
|
|
* first byte).
|
||
|
|
*/
|
||
|
|
eeprom_write_word(&ee_pwm, pwm);
|
||
|
|
printstr_p(PSTR("[EEPROM updated] "));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#if HAVE_ADC
|
||
|
|
if (intflags.adc_int)
|
||
|
|
{
|
||
|
|
intflags.adc_int = 0;
|
||
|
|
set_pwm(adcval);
|
||
|
|
}
|
||
|
|
#endif /* HAVE_ADC */
|
||
|
|
|
||
|
|
if (intflags.rx_int)
|
||
|
|
{
|
||
|
|
intflags.rx_int = 0;
|
||
|
|
|
||
|
|
if (rxbuff == 'q')
|
||
|
|
{
|
||
|
|
printstr_p(PSTR("\nThank you for using serial mode."
|
||
|
|
" Good-bye!\n"));
|
||
|
|
mode = MODE_UPDOWN;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if (mode != MODE_SERIAL)
|
||
|
|
{
|
||
|
|
printstr_p(PSTR("\nWelcome at serial control, "
|
||
|
|
"type +/- to adjust, or 0/1 to turn on/off\n"
|
||
|
|
"the LED, q to quit serial mode, "
|
||
|
|
"r to demonstrate a watchdog reset\n"));
|
||
|
|
mode = MODE_SERIAL;
|
||
|
|
}
|
||
|
|
switch (rxbuff)
|
||
|
|
{
|
||
|
|
case '+':
|
||
|
|
set_pwm(pwm + 10);
|
||
|
|
break;
|
||
|
|
|
||
|
|
case '-':
|
||
|
|
set_pwm(pwm - 10);
|
||
|
|
break;
|
||
|
|
|
||
|
|
case '0':
|
||
|
|
set_pwm(0);
|
||
|
|
break;
|
||
|
|
|
||
|
|
case '1':
|
||
|
|
set_pwm(1000);
|
||
|
|
break;
|
||
|
|
|
||
|
|
case 'r':
|
||
|
|
printstr_p(PSTR("\nzzzz... zzz..."));
|
||
|
|
for (;;)
|
||
|
|
;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
sleep_mode();
|
||
|
|
}
|
||
|
|
}
|