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annotate controller.ino @ 4:e2ec8dc3a6d8 default tip

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Always empty the receive buffer
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Thu, 15 Sep 2016 00:03:04 +0200
parents 9f41bcaa3cee
children
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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1 #include <Wire.h>
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2 #include "pwm.h"
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5 const uint8_t I2C_ADDRESS = 0x09;
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6 const uint8_t MAX_PINS = 18;
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7 const uint32_t PWM_PERIOD = 20000L; // 50Hz
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8
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9 volatile uint8_t *ports[MAX_PINS] = {
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10 &PORTD, &PORTD,
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11 &PORTD, &PORTD, &PORTD, &PORTD, &PORTD, &PORTD, &PORTB, &PORTB,
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12 &PORTB, &PORTB, &PORTB, &PORTB, &PORTC, &PORTC, &PORTC, &PORTC,
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13 };
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14 uint8_t pins[MAX_PINS] = {
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15 1, 0,
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16 2, 3, 4, 5, 6, 7, 0, 1,
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17 2, 3, 4, 5, 0, 1, 2, 3,
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18 };
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19 volatile bool changed = false;
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22 void receive(int16_t count) {
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23 union {
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24 byte bytes[2];
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25 uint16_t value;
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26 } bytes2int;
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27 uint8_t servo = Wire.read();
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28 while ((Wire.available() >= 2) && (servo < MAX_PINS)) {
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29 bytes2int.bytes[0] = Wire.read();
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30 bytes2int.bytes[1] = Wire.read();
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31 pwm_set_phase_batch(servo, bytes2int.value);
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32 ++servo;
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33 }
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34 while (Wire.available()) {
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35 Wire.read();
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36 }
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37 changed = true;
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38 }
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41 void setup() {
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42 pwm_init(ports, pins, MAX_PINS, PWM_PERIOD);
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43 for (uint8_t i = 0; i < MAX_PINS; ++i) {
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44 pwm_set_phase_batch(i, 0);
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45 }
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46 pwm_apply_batch();
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47 Wire.begin(I2C_ADDRESS);
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48 Wire.onReceive(receive);
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49 }
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52 void loop() {
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53 if (changed) {
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54 pwm_apply_batch();
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55 changed = false;
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56 }
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57 }