Mercurial > controller
changeset 1:7b2d0a758e63
Add pcb and finish i2c slave
| author | Radomir Dopieralski <sheep-devel@sheep.art.pl> |
|---|---|
| date | Tue, 12 Jan 2016 22:28:22 +0100 |
| parents | 2b5078b37907 |
| children | 9f41bcaa3cee |
| files | controller.ino pwm.cpp servo.fzz |
| diffstat | 3 files changed, 36 insertions(+), 10 deletions(-) [+] |
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--- a/controller.ino Tue Jan 12 19:33:31 2016 +0100 +++ b/controller.ino Tue Jan 12 22:28:22 2016 +0100 @@ -1,26 +1,52 @@ +#include <Wire.h> #include "pwm.h" + +const uint8_t I2C_ADDRESS = 0x09; const uint8_t MAX_PINS = 18; -const uint32_t SERIAL_SPEED = 115200L; const uint32_t PWM_PERIOD = 20000L; -volatile uint8_t *ports[18] = { + +volatile uint8_t *ports[MAX_PINS] = { &PORTD, &PORTD, &PORTD, &PORTD, &PORTD, &PORTD, &PORTD, &PORTD, &PORTB, &PORTB, &PORTB, &PORTB, &PORTB, &PORTB, &PORTC, &PORTC, &PORTC, &PORTC, }; -uint8_t pins[18] = { +uint8_t pins[MAX_PINS] = { 1, 0, 2, 3, 4, 5, 6, 7, 0, 1, 2, 3, 4, 5, 0, 1, 2, 3, }; -void setup() { - pwm_init(ports, pins, MAX_PINS, PWM_PERIOD); - for (uint8_t i = 0; i < MAX_PINS; ++i) { - pwm_set_phase_batch(i, 1500); + +void receive(int16_t count) { + union { + byte bytes[2]; + uint16_t value; + } bytes2int; + uint8_t servo = Wire.read(); + while (Wire.available() >= 2) { + if (servo >= MAX_PINS) { + return; + } + bytes2int.bytes[0] = Wire.read(); + bytes2int.bytes[1] = Wire.read(); + pwm_set_phase_batch(servo, bytes2int.value); + ++servo; } pwm_apply_batch(); } + +void setup() { + pwm_init(ports, pins, MAX_PINS, PWM_PERIOD); + for (uint8_t i = 0; i < MAX_PINS; ++i) { + pwm_set_phase_batch(i, 0); + } + pwm_apply_batch(); + Wire.begin(I2C_ADDRESS); + Wire.onReceive(receive); +} + + void loop() { }
--- a/pwm.cpp Tue Jan 12 19:33:31 2016 +0100 +++ b/pwm.cpp Tue Jan 12 22:28:22 2016 +0100 @@ -74,9 +74,9 @@ * check any new chips which you want to use this library with. */ void pwm_init(volatile uint8_t *ports[], - uint8_t pins[], - uint8_t count, - uint32_t period) { + uint8_t pins[], + uint8_t count, + uint32_t period) { _count = (count <= PWM_MAX_PINS ? count : PWM_MAX_PINS);