spokepov.lss

来自「旋转16个LED灯控制程序」· LSS 代码 · 共 1,919 行 · 第 1/5 页

  // 15ms must elapse per trigger, which translates to about 4000
  // rpm.
  
  if (hall_debounce > HALL_DEBOUNCE_THRESH) {
    stopcomputertx = 1;

  // We know the number of ms since the last hall sensor trigger
  // and there are 128 radial 'pixels' per sweep so divide to get
  // the necessary ms between the pixel interrupts
    
  // QUESTION: 128 or 256?
    
  // Then we just make TIMER1 trigger at that rate!
    
  // Reset the Timer Count Register for TIMER1 to 0, so it will
  // begin counting up.
    
  TCNT1 = 0;
    
  // sensor_timer contains the number of TIMER0 interrupts since
  // the last time we updated TIMER1.  If it has a reasonable
  // value, then we use it to reset the TIMER1 clock.
    
  if ((sensor_timer < 0xFF) && (sensor_timer > 0x3)) {
    
    // TIMER1 works differently from TIMER0.  It's a 16-bit timer
    // that apparently increments at the system clock rate.
    //
    // Because TIMER0 increments at 1/256 of the clock rate, and
    // fires the interrupt only when it overflows, sensor_timer
    // is incremented once ever 256*256 cycles.
    //
    // We want TIMER1 to fire off 256 times around the loop, so
    // we can display 256 lines of pixels.  We do this by putting
    // sensor_timer into the high byte of TIMER1's comparator
    // value, and the residual of TIMER0 (what it's counted up
    // to since the last time sensor_timer was incremented) into
    // the low byte, effectively a fractional value!
    //
    // Since TIMER0 is incrementing at 1/256 of the rate of TIMER1,
    // this results in TIMER1 firing off 256 times per rotation,
    // with excellent time resolution.
    //
    // I was quite touched by the elegance of how this works out;
    // it may be able to handle the extreme RPMs of BrightSaber
    // without modification...
      
    // Set the TIMER1 comparator value
      
    OCR1A = (sensor_timer << 8) | TCNT0;
      
    // Clear the residual of TIMER0
      
    TCNT0 = 0;
      
    // Set the character and pixel numbers so they will overflow
    // on the next pixel interrupt, and cause the correct data to
    // be loaded.
    
    charNum = 15;		// will wrap to 0, the first char
    pixelNum = 15;		// will wrap to 0, the first pixel
    clean = 0;			// flag that we changed things
          
    // Start TIMER1 on its merry way...
      
    TCCR1B |= _BV(CS10);		// increment at clock/1
    TIMSK |= _BV(OCIE1A);		// enable interrupt when it matches OCR1A
      
  } else {
    
    // Since we don't have a valid setting for the rotation
    // speed, set a couple of LEDs to let the human know we
    // aren't dead yet, and turn off the timer.
      
    set_led(2);
      
    TCCR1B &= ~_BV(CS10);		// no incrementing = no interrupting
  }   
    
  // Whether we're displaying or not, we reset sensor_timer so we can
  // time the next revolution.
    
  sensor_timer = 0;

  }
  
  // Finally, reset hall_debounce so we won't execute the timer reset code
  // until the Hall Effect sensor hasn't bothered us for a reasonable while.
  
  hall_debounce = 0;
  
  PORTB &= ~0x8;

}

// Initialize the IO pins on the ATMEL.

void ioinit(void) {

  // Set the data direction for the PORTD and PORTB pins; see the
  // circuit diagram for more information on this.
  
  DDRD = 0x73; // input on PD2 (button), PD3 (sensor), all other output
  DDRB = 0xDF; // input on MOSI/DI (for SPI), all others output

  // Deselect EEPROM.  Not being an EE, I'm not going to worry about
  // how the ATMEL talks to the EEPROM.  It's black magic.
  
  PORTB = _BV(SPIEE_CS);

  // Just above, we set PD2 and PD3 to input.  If we now set those
  // bits to 1, they set into pullup mode (again, not EE, claim
  // ignorance), which is essential for them to work.  We also set
  // the SENSORPOWER bit to 1, which sends out little dribbles of
  // electrons to the hall effect sensor (see circuit diagram)
  //
  // Finally, we write 0's to the FRONT and BACK pins, which control
  // which bank of 30 LEDs we are talking to.  Having both of these
  // on at the same time probably causes horrible things to happen.
  
  PORTD = (_BV(BUTTON) | _BV(SENSOR) | _BV(SENSORPOWER))  
    & ~_BV(FRONT) & ~_BV(BACK);

  // Rather than poll to see when the hall effect sensor and
  // button are pressed, we configure an interrupt handler.  If you
  // look at the circuit diagram, you'll see that PD3 and PD2, which
  // are wired to SENSOR IN and BUTTON IN, do double-duty as INT1
  // and INT0.  They are both SUPPOSEDLY set to interrupt on the
  // falling edge of a pulse from the devices.  (Page 63)
  
  // POSSIBLE BUG: ISC0{1,0} seems to be being set to 00, not 10
  // as ISC1{1,0} is being set to.  So ISC0 will trigger when
  // the button interrupt line goes low.  Either this is a bug,
  // or the original comment was not correct (likely, IMHO)
  
  MCUCR = _BV(ISC11) & ~_BV(ISC01) & ~_BV(ISC00) &  ~_BV(ISC10);

  // Activate the interrupts by setting the General Interrupt Mask
  // Register (Page 63)
  
  GIMSK = _BV(INT1) | _BV(INT0);

  // The ATMEL has built-in timers that can trigger an interrupt.
  // SpokePOV uses them to update the LEDs 256 times per rotation.
  
  // Timer 0 is set to update at a rate system-clock / 256 and
  // interrupt when it overflows (8 bit).  This means that it
  // triggers every 65536 cycles.
  
  TCCR0A = 0;				// normal, overflow (count up to 256 == num pixels)
  TCCR0B = _BV(CS02);		// clk/256
  TIMSK |= _BV(TOIE0);		// turn on overflow interrupt
  
  // Timer 1 (T1) is the pixel timer, which is used to update the
  // LEDs 256 times per rotation.  It's set up as a normal timer
  // as well.  See Page 108&71; it is apparently being set into CTC
  // mode 4.  This means that the counter is compared to a 16-bit value
  // and interrupts when it reaches this value.
  //
  // Adjusting this value is how the SpokePOV compensates for
  // changes in the rotation speed of the device.
  //
  // Note that at this point, the timer is initialized, but not
  // activated.
  
  TCCR1A = 0;
  TCCR1B = _BV(WGM12);

  // Clear the debounce values, which I haven't sussed out yet.
  
  hall_debounce = 0;
  sensor_timer = 0;
  
}

// Delay for a specified number of milliseconds using some
// assembly code.  Will this be dependant on the clock speed?

void delay_ms(unsigned char ms)
{
  unsigned short delay_count = F_CPU / 4000;
  b0:	20 ed       	ldi	r18, 0xD0	; 208
  b2:	37 e0       	ldi	r19, 0x07	; 7

000000b4 <L_dl137>:
  
  unsigned short cnt;
  asm volatile ("\n"
  b4:	e2 2f       	mov	r30, r18
  b6:	f3 2f       	mov	r31, r19

000000b8 <L_dl237>:
  b8:	31 97       	sbiw	r30, 0x01	; 1
  ba:	f1 f7       	brne	.-4      	; 0xb8 <L_dl237>
  bc:	a8 95       	wdr
  be:	8a 95       	dec	r24
  c0:	c9 f7       	brne	.-14     	; 0xb4 <L_dl137>
  c2:	08 95       	ret

000000c4 <__vector_1>:
  c4:	1f 92       	push	r1
  c6:	0f 92       	push	r0
  c8:	0f b6       	in	r0, 0x3f	; 63
  ca:	0f 92       	push	r0
  cc:	11 24       	eor	r1, r1
  ce:	2f 93       	push	r18
  d0:	3f 93       	push	r19
  d2:	4f 93       	push	r20
  d4:	5f 93       	push	r21
  d6:	6f 93       	push	r22
  d8:	7f 93       	push	r23
  da:	8f 93       	push	r24
  dc:	9f 93       	push	r25
  de:	af 93       	push	r26
  e0:	bf 93       	push	r27
  e2:	cf 93       	push	r28
  e4:	df 93       	push	r29
  e6:	ef 93       	push	r30
  e8:	ff 93       	push	r31
  ea:	c2 9a       	sbi	0x18, 2	; 24
  ec:	c0 e0       	ldi	r28, 0x00	; 0
  ee:	d0 e0       	ldi	r29, 0x00	; 0
  f0:	82 99       	sbic	0x10, 2	; 16
  f2:	05 c0       	rjmp	.+10     	; 0xfe <__stack+0x1f>
  f4:	21 96       	adiw	r28, 0x01	; 1
  f6:	81 e0       	ldi	r24, 0x01	; 1
  f8:	db df       	rcall	.-74     	; 0xb0 <delay_ms>
  fa:	82 9b       	sbis	0x10, 2	; 16
  fc:	fb cf       	rjmp	.-10     	; 0xf4 <__stack+0x15>
  fe:	c5 36       	cpi	r28, 0x65	; 101
 100:	d1 05       	cpc	r29, r1
 102:	60 f0       	brcs	.+24     	; 0x11c <__stack+0x3d>
 104:	c4 5f       	subi	r28, 0xF4	; 244
 106:	d1 40       	sbci	r29, 0x01	; 1
 108:	18 f4       	brcc	.+6      	; 0x110 <__stack+0x31>
 10a:	88 e0       	ldi	r24, 0x08	; 8
 10c:	81 bd       	out	0x21, r24	; 33
 10e:	ff cf       	rjmp	.-2      	; 0x10e <__stack+0x2f>
 110:	8f ef       	ldi	r24, 0xFF	; 255
 112:	9f ef       	ldi	r25, 0xFF	; 255
 114:	90 93 8c 00 	sts	0x008C, r25
 118:	80 93 8b 00 	sts	0x008B, r24
 11c:	c2 98       	cbi	0x18, 2	; 24
 11e:	ff 91       	pop	r31
 120:	ef 91       	pop	r30
 122:	df 91       	pop	r29
 124:	cf 91       	pop	r28
 126:	bf 91       	pop	r27
 128:	af 91       	pop	r26
 12a:	9f 91       	pop	r25
 12c:	8f 91       	pop	r24
 12e:	7f 91       	pop	r23
 130:	6f 91       	pop	r22
 132:	5f 91       	pop	r21
 134:	4f 91       	pop	r20
 136:	3f 91       	pop	r19
 138:	2f 91       	pop	r18
 13a:	0f 90       	pop	r0
 13c:	0f be       	out	0x3f, r0	; 63
 13e:	0f 90       	pop	r0
 140:	1f 90       	pop	r1
 142:	18 95       	reti

00000144 <ioinit>:
 144:	83 e7       	ldi	r24, 0x73	; 115
 146:	81 bb       	out	0x11, r24	; 17
 148:	8f ed       	ldi	r24, 0xDF	; 223
 14a:	87 bb       	out	0x17, r24	; 23
 14c:	80 e1       	ldi	r24, 0x10	; 16
 14e:	88 bb       	out	0x18, r24	; 24
 150:	8c e4       	ldi	r24, 0x4C	; 76
 152:	82 bb       	out	0x12, r24	; 18
 154:	98 e0       	ldi	r25, 0x08	; 8
 156:	95 bf       	out	0x35, r25	; 53
 158:	80 ec       	ldi	r24, 0xC0	; 192
 15a:	8b bf       	out	0x3b, r24	; 59
 15c:	10 be       	out	0x30, r1	; 48
 15e:	84 e0       	ldi	r24, 0x04	; 4
 160:	83 bf       	out	0x33, r24	; 51
 162:	89 b7       	in	r24, 0x39	; 57
 164:	82 60       	ori	r24, 0x02	; 2
 166:	89 bf       	out	0x39, r24	; 57
 168:	1f bc       	out	0x2f, r1	; 47
 16a:	9e bd       	out	0x2e, r25	; 46
 16c:	10 92 8a 00 	sts	0x008A, r1
 170:	10 92 8c 00 	sts	0x008C, r1
 174:	10 92 8b 00 	sts	0x008B, r1
 178:	08 95       	ret

0000017a <spi_transfer>:
		"L_dl1%=:\n\t"
		"mov %A0, %A2\n\t"
		"mov %B0, %B2\n"
		"L_dl2%=:\n\t"
		"sbiw %A0, 1\n\t"
		"brne L_dl2%=\n\t"
		"wdr\n\t"
		"dec %1\n\t" "brne L_dl1%=\n\t":"=&w" (cnt)
		:"r"(ms), "r"((unsigned short) (delay_count))
		);
}

// All of the following routines have been modified so they
// only deal with the front leds, for speed, and to save
// code space!

// Sends the 4-byte LED pixel data block out
// over the serial link.  Front LEDs only

void clock_leds(void) {

  // QUESTION: this code sends 4 bytes over the link to
  // update the LEDs.  But spieeprom_read_into_leds() in
  // eeprom.c sends 5.  Why the difference?
  
  spi_transfer(fleds[3]);
  spi_transfer(fleds[2]);
  spi_transfer(fleds[1]);
  spi_transfer(fleds[0]);
  LATCH_SELECT_PORT |= _BV(FRONT);
  NOP; NOP; NOP; NOP;
  LATCH_SELECT_PORT &= ~_BV(FRONT);
}

// Turn on a single LED, turning off all the other LEDs

void set_led(uint8_t led) {

  fleds[0] = fleds[1] = fleds[2] = fleds[3] = 0xFF;
  fleds[led/8] = ~_BV(led%8);

  clock_leds();
}

// Set all the LEDs on a side to have the same
// repeating 8-bit value (ie: 0x00 = all on, 0xFF = all off)
// Added by RJW to permit a more comprehensive reset display

void set_all(uint8_t blockValue) {

  fleds[0] = fleds[1] = fleds[2] = fleds[3] = blockValue;
  
  clock_leds();
}

// Test the LEDs on power-on.  Runs through them
// quickly, then displays alternating LEDs, and
// finally puts them all on.  This test sequence
// is slightly modified from the original, and
// makes it easier to see problems with the LEDs.

void test_leds(void) {
  uint8_t i;

  // Quick run through the LEDs
  
  for(i=0; i< 33; i++) {
    set_led(i);
    delay_ms(10);
  }
  
  // Set groups of 8 LEDs to the same value.
  // Note that the LED state is the opposite
  // of what you might expect:
  //
  // 0 bits = on, 1 bits = off!
  
  // Light every other LED
  
  set_all(0xAA);
  delay_ms(50);
  
  // Now light the other LEDs
  
  set_all(0x55);
  set_all(0x55);
  delay_ms(50);
  
  // Now light all LEDs
  
  set_all(0x00);
  delay_ms(255);
  delay_ms(255);