main.c


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/* Name: main.c

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 * Author: <insert your name here>

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 * Copyright: <insert your copyright message here>

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 * License: <insert your license reference here>

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 */

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#include <avr/io.h>

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#include <util/delay.h>

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#include <avr/interrupt.h> 

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#include "lcd_routines.h"

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#define GREEN_LED  PD2

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#define GREEN_LED_ON  ( PORTD &= ~(1<<GREEN_LED) )

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#define  GREEN_LED_OFF  ( PORTD |= (1<<GREEN_LED) )

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#define  SERVO  PD3

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#define SERVO_ON  ( PORTD &= ~(1<<SERVO) )

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#define  SERVO_OFF  ( PORTD |= (1<<SERVO) )

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#define STEPSIZE  10

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#define  TIMER1_START ( TCCR1B  |=(1<<CS11) | (1<<WGM13) | (1<<WGM12) )  // clk/8 + CTC-mode12 (ICR1)

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#define TIMER1_STOP  ( TCCR1B = 0x00 )

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#define  IMPULS_BREAK  40000  //(us)

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#define  IMPULS_STEP_SIZE  10

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#define  BUT_UP  PIND4

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#define  BUT_DWN  PIND7

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#define BUT_LF  PIND5

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#define BUT_RI  PIND6

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#define  SETUP_TIMEOUT  30  //After 20 x 100ms Setup start is gone

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struct {

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  unsigned bNormal:1;  // 1 bit for NORMAL Mode

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  unsigned bSetup:1;  // 1 bit for SETUP Mode

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  unsigned bDebug:1;  // 1 bit for DEBUG Mode

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  unsigned bError:1;  // 1 bit for ERROR Mode

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  unsigned bRS232:1;  // 1 Bit RS232 Enable 

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  unsigned bADU:1;  // 1 Bit ADU Enable

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  unsigned bI2C:1;  // 1 Bit I2C Enable

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} Mode;

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volatile unsigned int  centi_sec=0;

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volatile unsigned short ucCompValue=1500;

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/* timer0 overflow */

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ISR(TIMER0_OVF_vect)   {

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  /* wait state loop */

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  if (!Mode.bNormal) {

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    centi_sec++;

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    TCNT0=0xB1;

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    if ( (PIND & (1<<GREEN_LED)) ) {

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      GREEN_LED_ON;

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    }

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    else {

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      GREEN_LED_OFF;

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    }

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    if (centi_sec == SETUP_TIMEOUT) {

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      Mode.bNormal=1;

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      centi_sec=0;

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      GREEN_LED_OFF;

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    }    

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  }

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  /* setup state loop */

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  if (Mode.bSetup) {

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    TCNT0=0x3C;

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    if ( (PIND & (1<<GREEN_LED)) ) {

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      GREEN_LED_ON;

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    }

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    else {

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      GREEN_LED_OFF;

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    }

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  }

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}

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/* timer1 compare */

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ISR(TIMER1_COMPB_vect) {

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  SERVO_OFF;

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  OCR1B = ucCompValue;

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}

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/* timer1 overflow */

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ISR(TIMER1_COMPA_vect)   {

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  SERVO_ON;

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  OCR1B = ucCompValue;

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  OCR1A = IMPULS_BREAK;  //(20ms)

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}

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void vFIncreaseServo(void);

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void vFDecreaseServo(void);

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int main(void)

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{  

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    /* insert your hardware initialization here */

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  PORTD |= (1<<PD2) | (1<<PD3);  //active pull-ups

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  DDRD |= (1<<DDD2) | (1<<DDD3);  //pin as output

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  DDRD &= ~( ( 1 << DDD6 ) | ( 1<<DDD7) );  //pin as inputs

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  /* display setting */

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    lcd_init();

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  /* global interrupts on */

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  sei();

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  /* timer0 setting */

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  TCNT0 =0xB1;  // timer0 start value (100ms)

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  TIMSK |=(1<<TOIE0);  //timer0 overflow interrupt enabled

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  TCCR0 |=(1<<CS00) |(1<<CS02);  //timer0 start

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  /* timer1 for PWM (16bit) */

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    /*8 MHz Chip clock, appr. 1° -> 0,004ms per clock  */

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  TIMSK |=(1<<OCIE1A) | (1<<OCIE1B); //compare + overflow interr enable

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  OCR1A = IMPULS_BREAK;  //(20ms) TOP

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  OCR1B = ucCompValue;

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  TCCR1A = 0x00;

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  TCCR1B  |=(1<<CS11) | (1<<WGM12);

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  SERVO_OFF;

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  /* power on state */

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    while(1)

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  {

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    /* wait state */

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    while(!Mode.bNormal)

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    {

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      if ( !(PIND & (1<<BUT_DWN)) ) {

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        TCCR0 =00;  // timer0 stop

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        Mode.bSetup =1;    //setup state set

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        Mode.bNormal =1;  //normal state set

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        TCNT0=0x3C;  // new timer0 start value (250ms)

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        TCCR0 |=(1<<CS00) |(1<<CS02);  // timer0 start

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      }

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      lcd_string("1");

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    }

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    /* setup state */

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    while(Mode.bSetup)

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    {

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      if ( !(PIND & (1<<BUT_UP)) ) {

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        TCCR0 =00;  // timer0 stop

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        Mode.bSetup =0;

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        Mode.bNormal =1;

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      }

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      lcd_string("2");

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    }

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    /* normal state */

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    while(Mode.bNormal)

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    {

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      GREEN_LED_ON;

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      lcd_string("3");

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      if(TCCR1B == 0x00) {

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      }

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      /* increase compare low */

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      if ( !(PIND & (1<<BUT_RI)) ) {

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        vFIncreaseServo();

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      }

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      /* decrease compare low */

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      if ( !(PIND & (1<<BUT_LF)) ) {

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        vFDecreaseServo();

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      }

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    }

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    }

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  set_cursor(0,2);

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  lcd_string("bye");

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    return 0;   /* never reached */

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}

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void vFIncreaseServo(void) {

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  if(ucCompValue < (2000 - STEPSIZE) )

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    ucCompValue = ucCompValue + STEPSIZE;

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}

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void vFDecreaseServo(void) {

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  if(ucCompValue > (1000 + STEPSIZE))

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    ucCompValue = ucCompValue - STEPSIZE;

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}