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## === CPU settings ===
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# CPU type
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MCU = atmega328p
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# CPU frequency
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F_CPU = 16000000
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# Fuses
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LFUSE = 0xFF
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HFUSE = 0xDE
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EFUSE = 0x05
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## === Source files ===
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# Main C file
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MAIN = main.c
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# Extra C files in this folder
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LOCAL_SOURCE =
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# Library directory (with C files)
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EXTRA_SOURCE_DIR = lib/
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# C files in the library directory
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EXTRA_SOURCE_FILES = uart.c iopins.c stream.c adc.c dht11.c sonar.c onewire.c
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#Files that need config file:
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# EXTRA_SOURCE_FILES += lcd.c
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# EXTRA_SOURCE_FILES += color.c wsrgb.c
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# EXTRA_SOURCE_FILES += debouce.c
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## === Programmer ===
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PROGRAMMER_TYPE = arduino
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PROGRAMMER_ARGS = -b 57600 -P /dev/ttyUSB0
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## === C flags ===
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CFLAGS = -std=gnu99 -mmcu=$(MCU) -DF_CPU=$(F_CPU)UL -I. -I$(EXTRA_SOURCE_DIR)
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CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
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CFLAGS += -Wall -Wno-main -Wno-strict-prototypes -Wno-comment
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CFLAGS += -g2 -Wextra -Wfatal-errors -Wno-unused-but-set-variable
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CFLAGS += -ffunction-sections -fdata-sections -Wl,--gc-sections -Wl,--relax
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# CFLAGS += -lm ## Math
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# CFLAGS += -Wl,-u,vfprintf -lprintf_flt -lm ## for floating-point printf
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# CFLAGS += -Wl,-u,vfprintf -lprintf_min ## for smaller printf
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CFLAGS_BUILD = $(CFLAGS) -Os
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# ---------------------------------------------------------------------------
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## Defined programs / locations
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CC = avr-gcc
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OBJCOPY = avr-objcopy
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OBJDUMP = avr-objdump
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AVRSIZE = avr-size
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AVRDUDE = avrdude
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## === File lists ===
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TARGET = $(strip $(basename $(MAIN)))
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SRC1 = $(TARGET).c
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SRC = $(SRC1)
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EXTRA_SOURCE = $(addprefix $(EXTRA_SOURCE_DIR), $(EXTRA_SOURCE_FILES))
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SRC += $(EXTRA_SOURCE)
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SRC += $(LOCAL_SOURCE)
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HEADERS = $(SRC:.c=.h)
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OBJ = $(SRC:.c=.o)
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## === File generation ===
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all: $(TARGET).hex size |
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pre: $(TARGET).pre |
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%.hex: %.elf |
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$(OBJCOPY) -R .eeprom -O ihex $< $@
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%.elf: $(SRC) |
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$(CC) $(CFLAGS_BUILD) $(SRC) --output $@
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%.pre: $(SRC1) |
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$(CC) $(CFLAGS) -E $(SRC1) --output $@
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%.eeprom: %.elf |
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$(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O ihex $< $@
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%.lst: %.elf |
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$(OBJDUMP) -S $< > $@
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# Show debug info
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debug: |
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@echo
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@echo "Source files:" $(SRC)
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@echo "MCU, F_CPU, BAUD:" $(MCU), $(F_CPU), $(BAUD)
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@echo
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# Disassemble the ELF
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disassemble: $(TARGET).lst |
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dis: disassemble |
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lst: disassemble |
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# Make eeprom file
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eeprom: $(TARGET).eeprom |
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# Show how big the resulting program is
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size: $(TARGET).elf |
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$(AVRSIZE) -C --mcu=$(MCU) $(TARGET).elf
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# Clean all produced trash
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clean: |
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rm -f $(TARGET).elf $(TARGET).hex $(TARGET).obj \
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$(TARGET).o $(TARGET).d $(TARGET).eep $(TARGET).lst \
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$(TARGET).lss $(TARGET).sym $(TARGET).map $(TARGET)~ \
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$(TARGET).eeprom
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# Clean all trash
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purge: |
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rm -f *.elf *.hex *.obj *.o *.d *.eep *.lst *.lss *.sym *.map *~
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## === avrdude ===
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flash: $(TARGET).hex |
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -U flash:w:$<
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flashe: $(TARGET).eeprom |
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -U eeprom:w:$<
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shell: |
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -nt
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fser: all flash ser |
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ser: |
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gtkterm -p /dev/ttyUSB0
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# === fuses ===
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FUSE_STRING = -U lfuse:w:$(LFUSE):m -U hfuse:w:$(HFUSE):m -U efuse:w:$(EFUSE):m
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fuses: |
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) \
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$(PROGRAMMER_ARGS) $(FUSE_STRING)
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show_fuses: |
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -nv
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set_default_fuses: FUSE_STRING = -U lfuse:w:$(LFUSE):m -U hfuse:w:$(HFUSE):m -U efuse:w:$(EFUSE):m |
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set_default_fuses: fuses |
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@ -0,0 +1,46 @@ |
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#include <avr/io.h> |
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#include <stdbool.h> |
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#include "calc.h" |
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#include "adc.h" |
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/** Initialize the ADC */ |
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void adc_init() |
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{ |
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ADCSRA |= _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0); // 128 prescaler -> 125 kHz
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ADMUX |= _BV(REFS0); // Voltage reference
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sbi(ADCSRA, ADEN); // Enable ADC
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} |
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/** Disable AD */ |
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void adc_disable() |
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{ |
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cbi(ADCSRA, ADEN); |
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} |
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/** Sample analog pin with 8-bit precision */ |
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uint8_t adc_read_byte(uint8_t channel) |
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{ |
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set_low_nibble(ADMUX, channel); // Select channel to sample
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sbi(ADMUX, ADLAR); // Align result to left
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sbi(ADCSRA, ADSC); // Start conversion
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while(bit_is_high(ADCSRA, ADSC)); // Wait for it...
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return ADCH; // The upper 8 bits of ADC result
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} |
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/** Sample analog pin with 10-bit precision */ |
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uint16_t adc_read_word(uint8_t channel) |
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{ |
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set_low_nibble(ADMUX, channel); // Select channel to sample
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cbi(ADMUX, ADLAR); // Align result to right
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sbi(ADCSRA, ADSC); // Start conversion
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while(get_bit(ADCSRA, ADSC)); // Wait for it...
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return ADCW; // The whole ADC word (10 bits)
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} |
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@ -0,0 +1,19 @@ |
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#pragma once |
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//
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// Utilities for build-in A/D converter
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//
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#include <avr/io.h> |
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/** Initialize the ADC */ |
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void adc_init(); |
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/** Disable AD (for power saving?) */ |
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void adc_disable(); |
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/** Sample analog pin with 8-bit precision */ |
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uint8_t adc_read_byte(uint8_t channel); |
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/** Sample analog pin with 10-bit precision */ |
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uint16_t adc_read_word(uint8_t channel); |
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@ -0,0 +1,95 @@ |
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#include <avr/io.h> |
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#include <util/delay.h> |
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#include <stdint.h> |
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#include "iopins.h" |
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#include "nsdelay.h" |
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#include "color.h" |
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// --- HSL ---
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#ifdef HSL_LINEAR |
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const uint8_t FADE_128[] = { |
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0, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 3, 3, 3, 4, 4, 4, 4, |
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5, 5, 6, 6, 6, 7, 7, 8, 8, 8, 9, 10, 10, 10, 11, 12, 13, 14, |
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14, 15, 16, 17, 18, 20, 21, 22, 24, 26, 27, 28, 30, 31, 32, 34, 35, 36, |
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38, 39, 40, 41, 42, 44, 45, 46, 48, 49, 50, 52, 54, 56, 58, 59, 61, 63, |
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65, 67, 68, 69, 71, 72, 74, 76, 78, 80, 82, 85, 88, 90, 92, 95, 98, 100, |
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103, 106, 109, 112, 116, 119, 122, 125, 129, 134, 138, 142, 147, 151, |
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153, 156, 160, 163, 165, 170, 175, 180, 185, 190, 195, 200, 207, 214, 218, |
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221, 225, 228, 232, 234, 241, 248, 254, 255 |
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}; |
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#endif |
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// based on: https://github.com/lewisd32/avr-hsl2rgb
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xrgb_t hsl_xrgb(const hsl_t cc) |
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{ |
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// 0 .. 256*3
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const uint16_t hh = (uint16_t) cc.h * 3; |
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const uint8_t hue_mod = hh % 256; |
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uint8_t r_temp, g_temp, b_temp; |
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if (hh < 256) { |
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r_temp = hue_mod ^ 255; |
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g_temp = hue_mod; |
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b_temp = 0; |
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} else if (hh < 512) { |
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r_temp = 0; |
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g_temp = hue_mod ^ 255; |
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b_temp = hue_mod; |
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} else if (hh < 768) { |
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r_temp = hue_mod; |
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g_temp = 0; |
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b_temp = hue_mod ^ 255; |
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} else { |
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r_temp = 0; |
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g_temp = 0; |
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b_temp = 0; |
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} |
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const uint8_t inverse_sat = (cc.s ^ 255); |
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xrgb_t rgb; |
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uint8_t t8; |
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uint16_t t16; |
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#ifdef HSL_LINEAR |
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const uint8_t bri = FADE_128[cc.l>>1]; |
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#else |
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const uint8_t bri = cc.l; |
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#endif |
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t8 = r_temp; |
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t16 = t8 * cc.s + t8; |
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t16 = t16 + t8; |
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t8 = t16 >> 8; |
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t8 = t8 + inverse_sat; |
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t16 = t8 * bri; |
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t16 = t16 + t8; |
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t8 = t16 >> 8; |
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rgb.r = t8; |
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t8 = g_temp; |
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t16 = t8 * cc.s; |
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t16 = t16 + t8; |
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t8 = t16 >> 8; |
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t8 = t8 + inverse_sat; |
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t16 = t8 * bri; |
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t16 = t16 + t8; |
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t8 = t16 >> 8; |
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rgb.g = t8; |
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t8 = b_temp; |
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t16 = t8 * cc.s; |
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t16 = t16 + t8; |
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t8 = t16 >> 8; |
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t8 = t8 + inverse_sat; |
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t16 = t8 * bri; |
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t16 = t16 + t8; |
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t8 = t16 >> 8; |
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rgb.b = t8; |
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return rgb; |
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} |
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@ -0,0 +1,55 @@ |
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#pragma once |
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// --- color types ---
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//
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// The XXXc macros don't use cast, so they can be used in array initializers.
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//
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// xrgb ... 3-byte true-color RGB (8 bits per component)
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// rgb24 ... 24-bit color value, with equal nr of bits per component
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//
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// XX_r (_g, _b) ... extract component from the color, and convert it to 0..255
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// Define HSL_LINEAR to get more linear brightness in hsl->rgb conversion
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typedef struct { |
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uint8_t r; |
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uint8_t g; |
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uint8_t b; |
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} xrgb_t; |
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typedef uint32_t rgb24_t; |
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#define xrgb(rr, gg, bb) ((xrgb_t)xrgbc(rr, gg, bb)) |
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// xrgb for constant array declarations
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#define xrgbc(rr, gg, bb) { .r = ((uint8_t)(rr)), .g = ((uint8_t)(gg)), .b = ((uint8_t)(bb)) } |
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#define xrgb_r(c) ((uint8_t)(c.r)) |
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#define xrgb_g(c) ((uint8_t)(c.g)) |
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#define xrgb_b(c) ((uint8_t)(c.b)) |
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#define xrgb_rgb24(c) ((((rgb24_t)c.r) << 16) | (((rgb24_t)c.g) << 8) | (((rgb24_t)c.b))) |
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#define xrgb_rgb15(c) (((((rgb15_t)c.r) & 0xF8) << 7) | ((((rgb15_t)c.g) & 0xF8) << 2) | ((((rgb15_t)c.b) & 0xF8) >> 3)) |
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#define xrgb_rgb12(c) (((((rgb12_t)c.r) & 0xF0) << 4) | ((((rgb12_t)c.g) & 0xF0)) | ((((rgb12_t)c.b) & 0xF0) >> 4)) |
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#define xrgb_rgb6(c) (((((rgb6_t)c.r) & 0xC0) >> 2) | ((((rgb6_t)c.g) & 0xC0) >> 4) | ((((rgb6_t)c.b) & 0xC0) >> 6)) |
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#define rgb24c(r,g,b) (((((rgb24_t)r) & 0xFF) << 16) | ((((rgb24_t)g) & 0xFF) << 8) | (((rgb24_t)b) & 0xFF)) |
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#define rgb24(r,g,b) ((rgb24_t) rgb24(r,g,b)) |
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#define rgb24_r(c) ((((rgb24_t) (c)) >> 16) & 0xFF) |
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#define rgb24_g(c) ((((rgb24_t) (c)) >> 8) & 0xFF) |
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#define rgb24_b(c) ((((rgb24_t) (c)) >> 0) & 0xFF) |
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#define rgb24_xrgb(c) xrgb(rgb24_r(c), rgb24_g(c), rgb24_b(c)) |
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#define rgb24_xrgbc(c) xrgbc(rgb24_r(c), rgb24_g(c), rgb24_b(c)) |
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#define add_xrgb(x, y) ((xrgb_t) { (((y).r > (255 - (x).r)) ? 255 : ((x).r + (y).r)), (((y).g > (255 - (x).g)) ? 255 : ((x).g + (y).g)), (((y).b > 255 - (x).b) ? 255 : ((x).b + (y).b)) }) |
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// HSL data structure
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typedef struct { |
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uint8_t h; |
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uint8_t s; |
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uint8_t l; |
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} hsl_t; |
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/* Convert HSL to XRGB */ |
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xrgb_t hsl_xrgb(const hsl_t color); |
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@ -0,0 +1,45 @@ |
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#include <avr/io.h> |
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#include <stdbool.h> |
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#include "debounce.h" |
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#include "calc.h" |
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#include "iopins.h" |
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#include "debo_config.h" |
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/** Debounce data array */ |
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uint8_t debo_next_slot = 0; |
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uint8_t debo_register(PORT_P reg, uint8_t bit, bool invert) |
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{ |
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debo_slots[debo_next_slot] = (debo_slot_t){ |
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.reg = reg, |
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.bit = bit | ((invert & 1) << 7) | (get_bit_p(reg, bit) << 6), // bit 7 = invert, bit 6 = state
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.count = 0, |
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}; |
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return debo_next_slot++; |
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} |
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/** Check debounced pins, should be called periodically. */ |
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void debo_tick() |
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{ |
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for (uint8_t i = 0; i < debo_next_slot; i++) { |
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// current pin value (right 3 bits, xored with inverse bit)
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bool value = get_bit_p(debo_slots[i].reg, debo_slots[i].bit & 0x7); |
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if (value != get_bit(debo_slots[i].bit, 6)) { |
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// different pin state than last recorded state
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if (debo_slots[i].count < DEBO_TICKS) { |
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debo_slots[i].count++; |
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} else { |
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// overflown -> latch value
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set_bit(debo_slots[i].bit, 6, value); // set state bit
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debo_slots[i].count = 0; |
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} |
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} else { |
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debo_slots[i].count = 0; // reset the counter
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} |
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} |
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} |
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@ -0,0 +1,64 @@ |
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#pragma once |
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//
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// An implementation of button debouncer.
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//
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// ----
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//
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// You must provide a config file debo_config.h (next to your main.c)
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//
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// A pin is registered like this:
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//
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// #define BTN1 12 // pin D12
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// #define BTN2 13
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//
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// debo_add(BTN0); // The function returns number assigned to the pin (0, 1, ...)
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// debo_add_rev(BTN1); // active low
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// debo_register(&PINB, PB2, 0); // direct access - register, pin & invert
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//
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// Then periodically call the tick function (perhaps in a timer interrupt):
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//
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// debo_tick();
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//
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// To check if input is active, use
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//
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// debo_get_pin(0); // state of input #0 (registered first)
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// debo_get_pin(1); // state of input #1 (registered second)
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//
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#include <avr/io.h> |
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#include <stdbool.h> |
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#include "calc.h" |
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#include "pins.h" |
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// Your config file
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#include "debo_config.h" |
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/*
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#define DEBO_CHANNELS 2 |
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#define DDEBO_TICKS 5 |
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*/ |
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/* Internal deboucer entry */ |
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typedef struct { |
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PORT_P reg; // pointer to IO register
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uint8_t bit; // bits 6 and 7 of this hold "state" & "invert" flag
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uint8_t count; // number of ticks this was in the new state
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} debo_slot_t; |
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debo_slot_t debo_slots[DEBO_CHANNELS]; |
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/** Add a pin for debouncing (must be used with constant args) */ |
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#define debo_add_rev(pin) debo_register(&_pin(pin), _pn(pin), 1) |
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#define debo_add(pin) debo_register(&_pin(pin), _pn(pin), 0) |
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/** Add a pin for debouncing (low level function) */ |
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uint8_t debo_register(PORT_P pin_reg_pointer, uint8_t bit, bool invert); |
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/** Check debounced pins, should be called periodically. */ |
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void debo_tick(); |
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/** Get a value of debounced pin */ |
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#define debo_get_pin(i) (get_bit(debo_slots[i].bit, 6) ^ get_bit(debo_slots[i].bit, 7)) |
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@ -0,0 +1,88 @@ |
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#include <avr/io.h> |
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#include <util/delay.h> |
||||
#include <stdint.h> |
||||
#include <stdbool.h> |
||||
|
||||
#include "iopins.h" |
||||
#include "dht11.h" |
||||
|
||||
/** Read one bit */ |
||||
bool _dht11_rxbit(const uint8_t pin) |
||||
{ |
||||
// Wait until start of pulse
|
||||
while (is_low_n(pin)); |
||||
|
||||
uint8_t cnt = 0; |
||||
while (is_high_n(pin)) |
||||
{ |
||||
cnt++; |
||||
_delay_us(5); |
||||
} |
||||
|
||||
return (cnt > 8); |
||||
} |
||||
|
||||
|
||||
/** Read one byte */ |
||||
uint8_t _dht11_rxbyte(const uint8_t pin) |
||||
{ |
||||
uint8_t byte = 0; |
||||
|
||||
for (uint8_t i = 0; i < 8; i++) |
||||
{ |
||||
if (_dht11_rxbit(pin)) |
||||
byte |= (1 << (7 - i)); |
||||
} |
||||
|
||||
return byte; |
||||
} |
||||
|
||||
|
||||
/** Read tehmperature and humidity from the DHT11, returns false on failure */ |
||||
bool dht11_read(const uint8_t pin, dht11_result_t* result) |
||||
{ |
||||
// bus down for > 18 ms
|
||||
as_output_n(pin); |
||||
pin_low_n(pin); |
||||
_delay_ms(20); |
||||
|
||||
// bus up for 20-40us
|
||||
pin_high_n(pin); |
||||
_delay_us(20); |
||||
|
||||
// release
|
||||
as_input_pu_n(pin); |
||||
|
||||
// DHT should send 80us LOW & 80us HIGH
|
||||
|
||||
_delay_us(40); |
||||
if (!is_low_n(pin)) |
||||
return false; // init error
|
||||
|
||||
_delay_us(80); |
||||
if (!is_high_n(pin)) |
||||
return false; // init error
|
||||
|
||||
// skip to start of first bit
|
||||
_delay_us(50); |
||||
|
||||
// Receive 5 data bytes (Rh int, Rh dec, Temp int, Temp dec, Checksum)
|
||||
// Decimal bytes are zero for DHT11 -> we can ignore them.
|
||||
uint8_t bytes[5]; |
||||
uint8_t sum = 0; |
||||
|
||||
for (uint8_t i = 0; i < 5; i++) |
||||
{ |
||||
uint8_t b = _dht11_rxbyte(pin); |
||||
bytes[i] = b; |
||||
if (i < 4) sum += b; |
||||
} |
||||
|
||||
// Verify checksum
|
||||
if (sum != bytes[4]) return false; |
||||
|
||||
result->rh = bytes[0]; |
||||
result->temp = bytes[2]; |
||||
|
||||
return true; |
||||
} |
||||
@ -0,0 +1,16 @@ |
||||
#pragma once |
||||
|
||||
//
|
||||
// Reading temperature and relative humidity from DHT11
|
||||
//
|
||||
|
||||
#include <stdint.h> |
||||
#include <stdbool.h> |
||||
|
||||
typedef struct { |
||||
int8_t temp; |
||||
int8_t rh; |
||||
} dht11_result_t; |
||||
|
||||
/** Read tehmperature and humidity from the DHT11, returns false on failure */ |
||||
bool dht11_read(const uint8_t pin, dht11_result_t* result); |
||||
@ -0,0 +1,358 @@ |
||||
#include <stdbool.h> |
||||
#include <stdint.h> |
||||
#include <avr/io.h> |
||||
#include <avr/pgmspace.h> |
||||
#include <util/delay.h> |
||||
|
||||
#include "calc.h" |
||||
#include "iopins.h" |
||||
#include "nsdelay.h" |
||||
#include "lcd.h" |
||||
#include "lcd_config.h" |
||||
|
||||
// Start address of rows
|
||||
const uint8_t LCD_ROW_ADDR[] = {0x00, 0x40, 0x14, 0x54}; |
||||
|
||||
|
||||
// Shared stream instance
|
||||
static STREAM _lcd_singleton; |
||||
STREAM* lcd; |
||||
|
||||
|
||||
// Internal prototypes
|
||||
void _lcd_mode_r(); |
||||
void _lcd_mode_w(); |
||||
void _lcd_clk(); |
||||
void _lcd_wait_bf(); |
||||
void _lcd_write_byte(uint8_t bb); |
||||
uint8_t _lcd_read_byte(); |
||||
|
||||
|
||||
// Write utilities
|
||||
#define _lcd_write_low(bb) _lcd_write_nibble((bb) & 0x0F) |
||||
#define _lcd_write_high(bb) _lcd_write_nibble(((bb) & 0xF0) >> 4) |
||||
#define _lcd_write_nibble(nib) do { \ |
||||
set_pin(LCD_D7, get_bit((nib), 3)); \
|
||||
set_pin(LCD_D6, get_bit((nib), 2)); \
|
||||
set_pin(LCD_D5, get_bit((nib), 1)); \
|
||||
set_pin(LCD_D4, get_bit((nib), 0)); \
|
||||
} while(0) |
||||
|
||||
|
||||
// 0 W, 1 R
|
||||
bool _lcd_mode; |
||||
|
||||
struct { |
||||
uint8_t x; |
||||
uint8_t y; |
||||
} _pos; |
||||
|
||||
enum { |
||||
TEXT = 0, |
||||
CG = 1 |
||||
} _addrtype; |
||||
|
||||
|
||||
/** Initialize the display */ |
||||
void lcd_init() |
||||
{ |
||||
// configure pins as output
|
||||
as_output(LCD_E); |
||||
as_output(LCD_RW); |
||||
as_output(LCD_RS); |
||||
_lcd_mode = 1; // force data pins to output
|
||||
_lcd_mode_w(); |
||||
|
||||
// Magic sequence to invoke Cthulhu (or enter 4-bit mode)
|
||||
_delay_ms(16); |
||||
_lcd_write_nibble(0b0011); |
||||
_lcd_clk(); |
||||
_delay_ms(5); |
||||
_lcd_clk(); |
||||
_delay_ms(5); |
||||
_lcd_clk(); |
||||
_delay_ms(5); |
||||
_lcd_write_nibble(0b0010); |
||||
_lcd_clk(); |
||||
_delay_us(100); |
||||
|
||||
// Configure the display
|
||||
lcd_command(LCD_IFACE_4BIT_2LINE); |
||||
lcd_command(LCD_DISABLE); |
||||
lcd_command(LCD_CLEAR); |
||||
lcd_command(LCD_MODE_INC); |
||||
|
||||
// mark as enabled
|
||||
lcd_enable(); |
||||
|
||||
_lcd_singleton.tx = &lcd_write; |
||||
_lcd_singleton.rx = &lcd_read; |
||||
|
||||
// Stream
|
||||
lcd = &_lcd_singleton; |
||||
|
||||
_pos.x = 0; |
||||
_pos.y = 0; |
||||
_addrtype = TEXT; |
||||
} |
||||
|
||||
|
||||
/** Send a pulse on the ENABLE line */ |
||||
void _lcd_clk() |
||||
{ |
||||
pin_high(LCD_E); |
||||
delay_ns(450); |
||||
pin_low(LCD_E); |
||||
} |
||||
|
||||
|
||||
/** Enter READ mode */ |
||||
void _lcd_mode_r() |
||||
{ |
||||
if (_lcd_mode == 1) return; // already in R mode
|
||||
|
||||
pin_high(LCD_RW); |
||||
|
||||
as_input_pu(LCD_D7); |
||||
as_input_pu(LCD_D6); |
||||
as_input_pu(LCD_D5); |
||||
as_input_pu(LCD_D4); |
||||
|
||||
_lcd_mode = 1; |
||||
} |
||||
|
||||
|
||||
/** Enter WRITE mode */ |
||||
void _lcd_mode_w() |
||||
{ |
||||
if (_lcd_mode == 0) return; // already in W mode
|
||||
|
||||
pin_low(LCD_RW); |
||||
|
||||
as_output(LCD_D7); |
||||
as_output(LCD_D6); |
||||
as_output(LCD_D5); |
||||
as_output(LCD_D4); |
||||
|
||||
_lcd_mode = 0; |
||||
} |
||||
|
||||
|
||||
/** Read a byte */ |
||||
uint8_t _lcd_read_byte() |
||||
{ |
||||
_lcd_mode_r(); |
||||
|
||||
uint8_t res = 0; |
||||
|
||||
_lcd_clk(); |
||||
res = (get_pin(LCD_D7) << 7) | (get_pin(LCD_D6) << 6) | (get_pin(LCD_D5) << 5) | (get_pin(LCD_D4) << 4); |
||||
|
||||
_lcd_clk(); |
||||
res |= (get_pin(LCD_D7) << 3) | (get_pin(LCD_D6) << 2) | (get_pin(LCD_D5) << 1) | (get_pin(LCD_D4) << 0); |
||||
|
||||
return res; |
||||
} |
||||
|
||||
|
||||
/** Write an instruction byte */ |
||||
void lcd_command(uint8_t bb) |
||||
{ |
||||
_lcd_wait_bf(); |
||||
pin_low(LCD_RS); // select instruction register
|
||||
_lcd_write_byte(bb); // send instruction byte
|
||||
} |
||||
|
||||
|
||||
/** Write a data byte */ |
||||
void lcd_write(uint8_t bb) |
||||
{ |
||||
if (_addrtype == TEXT) { |
||||
if (bb == '\r') { |
||||
// CR
|
||||
_pos.x = 0; |
||||
lcd_xy(_pos.x, _pos.y); |
||||
return; |
||||
} |
||||
|
||||
if (bb == '\n') { |
||||
// LF
|
||||
_pos.y++; |
||||
lcd_xy(_pos.x, _pos.y); |
||||
return; |
||||
} |
||||
|
||||
_pos.x++; |
||||
} |
||||
|
||||
_lcd_wait_bf(); |
||||
pin_high(LCD_RS); // select data register
|
||||
_lcd_write_byte(bb); // send data byte
|
||||
} |
||||
|
||||
|
||||
/** Read BF & Address */ |
||||
uint8_t lcd_read_bf_addr() |
||||
{ |
||||
pin_low(LCD_RS); |
||||
return _lcd_read_byte(); |
||||
} |
||||
|
||||
|
||||
/** Read CGRAM or DDRAM */ |
||||
uint8_t lcd_read() |
||||
{ |
||||
if (_addrtype == TEXT) _pos.x++; |
||||
|
||||
pin_high(LCD_RS); |
||||
return _lcd_read_byte(); |
||||
} |
||||
|
||||
|
||||
/** Write a byte using the 4-bit interface */ |
||||
void _lcd_write_byte(uint8_t bb) |
||||
{ |
||||
_lcd_mode_w(); // enter W mode
|
||||
|
||||
_lcd_write_high(bb); |
||||
_lcd_clk(); |
||||
|
||||
_lcd_write_low(bb); |
||||
_lcd_clk(); |
||||
} |
||||
|
||||
|
||||
|
||||
/** Wait until the device is ready */ |
||||
void _lcd_wait_bf() |
||||
{ |
||||
uint8_t d = 0; |
||||
while(d++ < 120 && lcd_read_bf_addr() & _BV(7)) |
||||
_delay_us(1); |
||||
} |
||||
|
||||
|
||||
/** Send a string to LCD */ |
||||
void lcd_puts(char* str_p) |
||||
{ |
||||
char c; |
||||
while ((c = *str_p++)) |
||||
lcd_putc(c); |
||||
} |
||||
|
||||
|
||||
/** Print from progmem */ |
||||
void lcd_puts_P(const char* str_p) |
||||
{ |
||||
char c; |
||||
while ((c = pgm_read_byte(str_p++))) |
||||
lcd_putc(c); |
||||
} |
||||
|
||||
|
||||
/** Sedn a char to LCD */ |
||||
void lcd_putc(const char c) |
||||
{ |
||||
lcd_write(c); |
||||
} |
||||
|
||||
|
||||
/** Set cursor position */ |
||||
void lcd_xy(const uint8_t x, const uint8_t y) |
||||
{ |
||||
_pos.x = x; |
||||
_pos.y = y; |
||||
lcd_addr(LCD_ROW_ADDR[y] + (x)); |
||||
} |
||||
|
||||
|
||||
uint8_t _lcd_old_cursor = CURSOR_NONE; |
||||
bool _lcd_enabled = false; |
||||
|
||||
/** Set LCD cursor. If not enabled, only remember it. */ |
||||
void lcd_cursor(uint8_t type) |
||||
{ |
||||
_lcd_old_cursor = (type & CURSOR_BOTH); |
||||
|
||||
if (_lcd_enabled) lcd_command(LCD_CURSOR_NONE | _lcd_old_cursor); |
||||
} |
||||
|
||||
|
||||
/** Display display (preserving cursor) */ |
||||
void lcd_disable() |
||||
{ |
||||
lcd_command(LCD_DISABLE); |
||||
_lcd_enabled = false; |
||||
} |
||||
|
||||
|
||||
/** Enable display (restoring cursor) */ |
||||
void lcd_enable() |
||||
{ |
||||
_lcd_enabled = true; |
||||
lcd_cursor(_lcd_old_cursor); |
||||
} |
||||
|
||||
|
||||
/** Go home */ |
||||
void lcd_home() |
||||
{ |
||||
lcd_command(LCD_HOME); |
||||
_pos.x = 0; |
||||
_pos.y = 0; |
||||
_addrtype = TEXT; |
||||
} |
||||
|
||||
|
||||
/** Clear the screen */ |
||||
void lcd_clear() |
||||
{ |
||||
lcd_command(LCD_CLEAR); |
||||
_pos.x = 0; |
||||
_pos.y = 0; |
||||
_addrtype = TEXT; |
||||
} |
||||
|
||||
|
||||
/** Define a glyph */ |
||||
void lcd_glyph(const uint8_t index, const uint8_t* array) |
||||
{ |
||||
lcd_addr_cg(index * 8); |
||||
for (uint8_t i = 0; i < 8; ++i) { |
||||
lcd_write(array[i]); |
||||
} |
||||
|
||||
// restore previous position
|
||||
lcd_xy(_pos.x, _pos.y); |
||||
_addrtype = TEXT; |
||||
} |
||||
|
||||
|
||||
/** Define a glyph */ |
||||
void lcd_glyph_P(const uint8_t index, const uint8_t* array) |
||||
{ |
||||
lcd_addr_cg(index * 8); |
||||
for (uint8_t i = 0; i < 8; ++i) { |
||||
lcd_write(pgm_read_byte(&array[i])); |
||||
} |
||||
|
||||
// restore previous position
|
||||
lcd_xy(_pos.x, _pos.y); |
||||
_addrtype = TEXT; |
||||
} |
||||
|
||||
|
||||
/** Set address in CGRAM */ |
||||
void lcd_addr_cg(const uint8_t acg) |
||||
{ |
||||
_addrtype = CG; |
||||
lcd_command(0b01000000 | ((acg) & 0b00111111)); |
||||
} |
||||
|
||||
|
||||
/** Set address in DDRAM */ |
||||
void lcd_addr(const uint8_t add) |
||||
{ |
||||
_addrtype = TEXT; |
||||
lcd_command(0b10000000 | ((add) & 0b01111111)); |
||||
} |
||||
@ -0,0 +1,146 @@ |
||||
#pragma once |
||||
|
||||
// HD44780 LCD display driver - 4-bit mode
|
||||
//
|
||||
// LCD pins are configured using a file lcd_config.h, which you
|
||||
// have to add next to your main.c file.
|
||||
//
|
||||
// Content can be something like this:
|
||||
//
|
||||
//
|
||||
|
||||
#include <stdint.h> |
||||
#include <stdbool.h> |
||||
|
||||
#include "stream.h" |
||||
|
||||
// Your file with configs
|
||||
#include "lcd_config.h" |
||||
/*
|
||||
#define LCD_RS 10 |
||||
#define LCD_RW 11 |
||||
#define LCD_E 12 |
||||
#define LCD_D4 13 |
||||
#define LCD_D5 14 |
||||
#define LCD_D6 15 |
||||
#define LCD_D7 16 |
||||
*/ |
||||
|
||||
|
||||
|
||||
// Shared LCD stream object
|
||||
// Can be used with functions from stream.h once LCD is initialized
|
||||
extern STREAM* lcd; |
||||
|
||||
|
||||
// --- Commands ---
|
||||
|
||||
// Clear screen (reset)
|
||||
#define LCD_CLEAR 0b00000001 |
||||
// Move cursor to (0,0), unshift...
|
||||
#define LCD_HOME 0b00000010 |
||||
|
||||
// Set mode: Increment + NoShift
|
||||
#define LCD_MODE_INC 0b00000110 |
||||
// Set mode: Increment + Shift
|
||||
#define LCD_MODE_INC_SHIFT 0b00000111 |
||||
|
||||
// Set mode: Decrement + NoShift
|
||||
#define LCD_MODE_DEC 0b00000100 |
||||
// Set mode: Decrement + Shift
|
||||
#define LCD_MODE_DEC_SHIFT 0b00000101 |
||||
|
||||
// Disable display (data remains untouched)
|
||||
#define LCD_DISABLE 0b00001000 |
||||
|
||||
// Disable cursor
|
||||
#define LCD_CURSOR_NONE 0b00001100 |
||||
// Set cursor to still underscore
|
||||
#define LCD_CURSOR_BAR 0b00001110 |
||||
// Set cursor to blinking block
|
||||
#define LCD_CURSOR_BLINK 0b00001101 |
||||
// Set cursor to both of the above at once
|
||||
#define LCD_CURSOR_BOTH (LCD_CURSOR_BAR | LCD_CURSOR_BLINK) |
||||
|
||||
// Move cursor
|
||||
#define LCD_MOVE_LEFT 0b00010000 |
||||
#define LCD_MOVE_RIGHT 0b00010100 |
||||
|
||||
// Shift display
|
||||
#define LCD_SHIFT_LEFT 0b00011000 |
||||
#define LCD_SHIFT_RIGHT 0b00011100 |
||||
|
||||
// Set iface to 5x7 font, 1-line
|
||||
#define LCD_IFACE_4BIT_1LINE 0b00100000 |
||||
#define LCD_IFACE_8BIT_1LINE 0b00110000 |
||||
// Set iface to 5x7 font, 2-line
|
||||
#define LCD_IFACE_4BIT_2LINE 0b00101000 |
||||
#define LCD_IFACE_8BIT_2LINE 0b00111000 |
||||
|
||||
|
||||
/** Initialize the display */ |
||||
void lcd_init(); |
||||
|
||||
/** Write an instruction byte */ |
||||
void lcd_command(uint8_t bb); |
||||
|
||||
/** Write a data byte */ |
||||
void lcd_write(uint8_t bb); |
||||
|
||||
/** Read BF & Address */ |
||||
uint8_t lcd_read_bf_addr(); |
||||
|
||||
/** Read CGRAM or DDRAM */ |
||||
uint8_t lcd_read(); |
||||
|
||||
/** Send a string to LCD */ |
||||
void lcd_puts(char* str_p); |
||||
|
||||
/** Send a string to LCD from program memory */ |
||||
void lcd_puts_P(const char* str_p); |
||||
|
||||
/** Sedn a char to LCD */ |
||||
void lcd_putc(const char c); |
||||
|
||||
/** Show string at X, Y */ |
||||
#define lcd_puts_xy(x, y, str_p) do { lcd_xy((x), (y)); lcd_puts((str_p)); } while(0) |
||||
|
||||
/** Show string at X, Y */ |
||||
#define lcd_puts_xy_P(x, y, str_p) do { lcd_xy((x), (y)); lcd_puts_P((str_p)); } while(0) |
||||
|
||||
/** Show char at X, Y */ |
||||
#define lcd_putc_xy(x, y, c) do { lcd_xy((x), (y)); lcd_putc((c)); } while(0) |
||||
|
||||
/** Set cursor position */ |
||||
void lcd_xy(const uint8_t x, const uint8_t y); |
||||
|
||||
/** Set LCD cursor. If not enabled, only remember it. */ |
||||
#define CURSOR_NONE 0b00 |
||||
#define CURSOR_BAR 0b10 |
||||
#define CURSOR_BLINK 0b01 |
||||
#define CURSOR_BOTH 0b11 |
||||
void lcd_cursor(uint8_t type); |
||||
|
||||
/** Display display (preserving cursor) */ |
||||
void lcd_disable(); |
||||
|
||||
/** Enable display (restoring cursor) */ |
||||
void lcd_enable(); |
||||
|
||||
/** Go home */ |
||||
void lcd_home(); |
||||
|
||||
/** Clear the screen */ |
||||
void lcd_clear(); |
||||
|
||||
/** Define a glyph - 8 bytes, right 5 bits are used */ |
||||
void lcd_glyph(const uint8_t index, const uint8_t* array); |
||||
|
||||
/** Define a glyph that's in PROGMEM */ |
||||
void lcd_glyph_P(const uint8_t index, const uint8_t* array); |
||||
|
||||
/** Set address in CGRAM */ |
||||
void lcd_addr_cg(const uint8_t acg); |
||||
|
||||
/** Set address in DDRAM */ |
||||
void lcd_addr(const uint8_t add); |
||||
@ -0,0 +1,21 @@ |
||||
#pragma once |
||||
|
||||
//
|
||||
// Functions for precise delays (nanoseconds / cycles)
|
||||
//
|
||||
|
||||
#include <avr/io.h> |
||||
#include <util/delay_basic.h> |
||||
#include <stdint.h> |
||||
|
||||
/* Convert nanoseconds to cycle count */ |
||||
#define ns2cycles(ns) ( (ns) / (1000000000L / (signed long) F_CPU) ) |
||||
|
||||
/** Wait c cycles */ |
||||
#define delay_c(c) (((c) > 0) ? __builtin_avr_delay_cycles(c) : __builtin_avr_delay_cycles(0)) |
||||
|
||||
/** Wait n nanoseconds, plus c cycles */ |
||||
#define delay_ns_c(ns, c) delay_c(ns2cycles(ns) + (c)) |
||||
|
||||
/** Wait n nanoseconds */ |
||||
#define delay_ns(ns) delay_c(ns2cycles(ns)) |
||||
@ -0,0 +1,225 @@ |
||||
#include <avr/io.h> |
||||
#include <util/delay.h> |
||||
#include <stdint.h> |
||||
#include <stdbool.h> |
||||
|
||||
#include "iopins.h" |
||||
#include "onewire.h" |
||||
|
||||
|
||||
/** Perform bus reset. Returns true if any device is connected */ |
||||
bool ow_reset(const uint8_t pin) |
||||
{ |
||||
as_output_n(pin); |
||||
pin_low_n(pin); |
||||
_delay_us(480); |
||||
|
||||
as_input_pu_n(pin); |
||||
_delay_us(70); |
||||
|
||||
const bool a = get_pin_n(pin); |
||||
|
||||
_delay_us(410); |
||||
|
||||
return a; |
||||
} |
||||
|
||||
|
||||
/** Send a single bit */ |
||||
void _ow_tx_bit(const uint8_t pin, const bool bit) |
||||
{ |
||||
as_output_n(pin); |
||||
pin_low_n(pin); |
||||
|
||||
if (bit) { |
||||
_delay_us(6); |
||||
as_input_pu_n(pin); |
||||
_delay_us(64); |
||||
} else { |
||||
_delay_us(60); |
||||
as_input_pu_n(pin); |
||||
_delay_us(10); |
||||
} |
||||
} |
||||
|
||||
|
||||
/** Send a single byte */ |
||||
void ow_send(const uint8_t pin, const uint8_t byte) |
||||
{ |
||||
for (uint8_t i = 0; i < 8; i++) |
||||
{ |
||||
_ow_tx_bit(pin, (byte >> i) & 0x01); |
||||
} |
||||
} |
||||
|
||||
|
||||
/** Read a single bit */ |
||||
bool _ow_rx_bit(const uint8_t pin) |
||||
{ |
||||
as_output_n(pin); |
||||
pin_low_n(pin); |
||||
_delay_us(6); |
||||
|
||||
as_input_pu_n(pin); |
||||
_delay_us(9); |
||||
|
||||
const bool a = get_pin_n(pin); |
||||
|
||||
_delay_us(55); |
||||
|
||||
return a; |
||||
} |
||||
|
||||
|
||||
/** Read a single byte */ |
||||
uint8_t ow_read(const uint8_t pin) |
||||
{ |
||||
uint8_t byte = 0; |
||||
|
||||
for (uint8_t i = 0; i < 8; i++) |
||||
{ |
||||
byte = (byte >> 1) | (_ow_rx_bit(pin) << 7); |
||||
} |
||||
|
||||
return byte; |
||||
} |
||||
|
||||
|
||||
/** Wait until the device is ready. Returns false on timeout */ |
||||
bool ow_wait_ready(const uint8_t pin) |
||||
{ |
||||
uint16_t timeout = 700; |
||||
as_input_pu_n(pin); |
||||
|
||||
while (--timeout > 0) |
||||
{ |
||||
if (is_high_n(pin)) return true; |
||||
_delay_ms(1); |
||||
} |
||||
|
||||
return false; |
||||
} |
||||
|
||||
|
||||
/** Read bytes into an array */ |
||||
void ow_read_arr(const uint8_t pin, uint8_t* array, const uint8_t count) |
||||
{ |
||||
for (uint8_t i = 0; i < count; i++) |
||||
{ |
||||
array[i] = ow_read(pin); |
||||
} |
||||
} |
||||
|
||||
|
||||
|
||||
// ---------- CRC utils ----------
|
||||
|
||||
/*
|
||||
Dallas 1-wire CRC routines for Arduino with examples of usage. |
||||
The 16-bit routine is new. |
||||
The 8-bit routine is from http://github.com/paeaetech/paeae/tree/master/Libraries/ds2482/
|
||||
|
||||
Copyright (C) 2010 Kairama Inc |
||||
|
||||
This program is free software: you can redistribute it and/or modify |
||||
it under the terms of the GNU General Public License as published by |
||||
the Free Software Foundation, either version 3 of the License, or |
||||
(at your option) any later version. |
||||
|
||||
This program is distributed in the hope that it will be useful, |
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
GNU General Public License for more details. |
||||
|
||||
You should have received a copy of the GNU General Public License |
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/ |
||||
// Dallas 1-wire 16-bit CRC calculation. Developed from Maxim Application Note 27.
|
||||
|
||||
/** Compute a CRC16 checksum */ |
||||
uint16_t crc16( uint8_t *data, uint8_t len) |
||||
{ |
||||
uint16_t crc = 0; |
||||
|
||||
for (uint8_t i = 0; i < len; i++) |
||||
{ |
||||
uint8_t inbyte = data[i]; |
||||
for (uint8_t j = 0; j < 8; j++) |
||||
{ |
||||
uint8_t mix = (crc ^ inbyte) & 0x01; |
||||
crc = crc >> 1; |
||||
if (mix) |
||||
crc = crc ^ 0xA001; |
||||
|
||||
inbyte = inbyte >> 1; |
||||
} |
||||
} |
||||
return crc; |
||||
} |
||||
|
||||
|
||||
// The 1-Wire CRC scheme is described in Maxim Application Note 27:
|
||||
// "Understanding and Using Cyclic Redundancy Checks with Maxim iButton Products"
|
||||
|
||||
/** Compute a CRC8 checksum */ |
||||
uint8_t crc8(uint8_t *addr, uint8_t len) |
||||
{ |
||||
uint8_t crc = 0; |
||||
|
||||
for (uint8_t i = 0; i < len; i++) |
||||
{ |
||||
uint8_t inbyte = addr[i]; |
||||
for (uint8_t j = 0; j < 8; j++) |
||||
{ |
||||
uint8_t mix = (crc ^ inbyte) & 0x01; |
||||
crc >>= 1; |
||||
if (mix) |
||||
crc ^= 0x8C; |
||||
|
||||
inbyte >>= 1; |
||||
} |
||||
} |
||||
|
||||
return crc; |
||||
} |
||||
|
||||
|
||||
// --- utils for DS1820 ---
|
||||
|
||||
|
||||
/** Read temperature in 0.0625°C, or TEMP_ERROR on error */ |
||||
int16_t ds1820_read_temp(uint8_t pin) |
||||
{ |
||||
ow_send(pin, READ_SCRATCHPAD); |
||||
uint8_t bytes[9]; |
||||
ow_read_arr(pin, bytes, 9); |
||||
|
||||
uint8_t crc = crc8(bytes, 8); |
||||
if (crc != bytes[8]) { |
||||
return TEMP_ERROR; |
||||
} else { |
||||
int16_t a = ((bytes[1] << 8) | bytes[0]) >> 1; |
||||
a = a << 4; |
||||
a += (16 - bytes[6]) & 0x0F; |
||||
a -= 0x04; |
||||
|
||||
return a; |
||||
} |
||||
} |
||||
|
||||
/** Read temperature in 0.1°C, or TEMP_ERROR on error */ |
||||
int16_t ds1820_read_temp_c(uint8_t pin) |
||||
{ |
||||
int32_t temp = ds1820_read_temp(pin); |
||||
|
||||
if (temp == TEMP_ERROR) |
||||
return TEMP_ERROR; |
||||
|
||||
temp *= 625; |
||||
uint16_t rem = temp % 1000; |
||||
temp /= 1000; |
||||
if (rem >= 500) temp++; |
||||
|
||||
return (int16_t) temp; |
||||
} |
||||
|
||||
@ -0,0 +1,51 @@ |
||||
#pragma once |
||||
|
||||
//
|
||||
// Utils for Dallas OneWire bus (DS1820 etc)
|
||||
//
|
||||
|
||||
#include <stdint.h> |
||||
#include <stdbool.h> |
||||
|
||||
#define SKIP_ROM 0xCC |
||||
#define CONVERT_T 0x44 |
||||
#define READ_SCRATCHPAD 0xBE |
||||
|
||||
/** Perform bus reset. Returns true if any device is connected */ |
||||
bool ow_reset(const uint8_t pin); |
||||
|
||||
/** Send a single byte */ |
||||
void ow_send(const uint8_t pin, const uint8_t byte); |
||||
|
||||
/** Read a single byte */ |
||||
uint8_t ow_read(const uint8_t pin); |
||||
|
||||
/** Wait until the device is ready. Returns false on timeout */ |
||||
bool ow_wait_ready(const uint8_t pin); |
||||
|
||||
/** Read bytes into an array */ |
||||
void ow_read_arr(const uint8_t pin, uint8_t* array, const uint8_t count); |
||||
|
||||
/** Compute a CRC16 checksum */ |
||||
uint16_t crc16( uint8_t *data, uint8_t len); |
||||
|
||||
/** Compute a CRC8 checksum */ |
||||
uint8_t crc8(uint8_t *addr, uint8_t len); |
||||
|
||||
// --- utils for DS1820 ---
|
||||
|
||||
#define TEMP_ERROR -32768 |
||||
|
||||
/**
|
||||
* Read temperature in 0.0625°C, or TEMP_ERROR on error |
||||
* Use this where you'd normally use READ_SCRATCHPAD |
||||
*/ |
||||
int16_t ds1820_read_temp(uint8_t pin); |
||||
|
||||
|
||||
/**
|
||||
* Read temperature in 0.1°C, or TEMP_ERROR on error |
||||
* Use this where you'd normally use READ_SCRATCHPAD |
||||
*/ |
||||
int16_t ds1820_read_temp_c(uint8_t pin); |
||||
|
||||
@ -0,0 +1,139 @@ |
||||
#include <avr/io.h> |
||||
#include <util/delay.h> |
||||
#include <stdint.h> |
||||
#include <stdbool.h> |
||||
|
||||
#include "iopins.h" |
||||
#include "sonar.h" |
||||
|
||||
// Currently measured sonar
|
||||
static sonar_t* _so; |
||||
|
||||
// Flag that measurement is in progress
|
||||
volatile bool sonar_busy; |
||||
|
||||
// Result of last measurement, in millimeters
|
||||
volatile int16_t sonar_result; |
||||
|
||||
|
||||
void _sonar_init_do(sonar_t* so, PORT_P port, uint8_t ntx, PORT_P pin, uint8_t nrx) |
||||
{ |
||||
so->port = port; |
||||
so->ntx = ntx; |
||||
so->pin = pin; |
||||
so->nrx = nrx; |
||||
|
||||
switch((const uint16_t) pin) { |
||||
case ((const uint16_t) &PINB): so->bank = 0; break; |
||||
case ((const uint16_t) &PINC): so->bank = 1; break; |
||||
case ((const uint16_t) &PIND): so->bank = 2; break; |
||||
} |
||||
} |
||||
|
||||
|
||||
/**
|
||||
* Start sonar measurement |
||||
* Interrupts must be enabled |
||||
* TIMER 1 will be used for the async measurement |
||||
* Timer 1 overflow and Pin Change interrupts must invoke Sonar handlers. |
||||
*/ |
||||
bool sonar_start(sonar_t* so) |
||||
{ |
||||
if (sonar_busy) return false; |
||||
|
||||
_so = so; |
||||
|
||||
sonar_busy = true; |
||||
|
||||
// make sure the timer is stopped (set clock to NONE)
|
||||
TCCR1B = 0; |
||||
|
||||
// Timer overflow interrupt enable
|
||||
// We'll stop measuring on overflow
|
||||
sbi(TIMSK1, TOIE1); |
||||
|
||||
// Clear the timer value
|
||||
TCNT1 = 0; |
||||
|
||||
// Set up pin change interrupt mask for the RX pin
|
||||
switch(so->bank) { |
||||
case 0: sbi(PCMSK0, so->nrx); break; |
||||
case 1: sbi(PCMSK1, so->nrx); break; |
||||
case 2: sbi(PCMSK2, so->nrx); break; |
||||
} |
||||
|
||||
// send positive pulse
|
||||
sbi_p(so->port, so->ntx); |
||||
_delay_us(_SNR_TRIG_TIME); |
||||
cbi_p(so->port, so->ntx); |
||||
|
||||
// Wait for start of response
|
||||
while (bit_is_low_p(so->pin, so->nrx)); |
||||
|
||||
// Set timer clock source: F_CPU / 8 (0.5 us resolution)
|
||||
TCCR1B = (0b010 << CS10); |
||||
|
||||
// Enable pin change interrupt
|
||||
sbi(PCICR, so->bank); |
||||
|
||||
return true; |
||||
} |
||||
|
||||
|
||||
/** Stop the timer */ |
||||
void _sonar_stop() |
||||
{ |
||||
// stop timer
|
||||
TCCR1B = 0; |
||||
|
||||
// Disable RX pin interrupt mask
|
||||
switch(_so->bank) { |
||||
case 0: PCMSK0 &= ~(1 << (_so->nrx)); break; |
||||
case 1: PCMSK1 &= ~(1 << (_so->nrx)); break; |
||||
case 2: PCMSK2 &= ~(1 << (_so->nrx)); break; |
||||
} |
||||
|
||||
// Disable timer1 overflow interrupt
|
||||
cbi(TIMSK1, TOIE1); |
||||
|
||||
sonar_busy = false; |
||||
} |
||||