arducontrol/output.c

   1 #include <avr/io.h>
   2 #include "interface.h"
   3 #include "output.h"
   4 #include "timer.h"
   5
   6 #define POLARITY PORTD2
   7 #define ENABLE PORTD3
   8 #define BIT(x) (1<<(x))
   9
  10 OutputPacket packet;
  11 uint8_t out_bit;
  12 uint8_t out_time;
  13 uint8_t out_data;
  14 uint8_t delay_time;
  15
  16 void output_init()
  17 {
  18         DDRD = (DDRD&0xF3)|0x0C;
  19         PORTD &= ~BIT(ENABLE);
  20
  21         timer_start_hz(0, 80000, 1);
  22 }
  23
  24 void clear_packet()
  25 {
  26         packet.ready = 0;
  27         packet.sending = 0;
  28         packet.done = 0;
  29 }
  30
  31 void output_set_power(uint8_t p)
  32 {
  33         if(p==POWER_ON)
  34                 PORTD |= BIT(ENABLE);
  35         else
  36                 PORTD &= ~BIT(ENABLE);
  37 }
  38
  39 uint8_t output_command()
  40 {
  41         if(cmd_buf[0]==POWER_ON || cmd_buf[0]==POWER_OFF)
  42         {
  43                 if(cmd_length!=1)
  44                         return LENGTH_ERROR;
  45
  46                 output_set_power(cmd_buf[0]==POWER_ON);
  47         }
  48         else
  49                 return INVALID_COMMAND;
  50
  51         return COMMAND_OK;
  52 }
  53
  54 static inline void output_tick()
  55 {
  56         if(delay_time && --delay_time)
  57                 return;
  58
  59         if(out_time && !--out_time)
  60         {
  61                 ++out_bit;
  62                 if(out_bit>=packet.length)
  63                 {
  64                         PORTD &= ~BIT(POLARITY);
  65                         if(packet.repeat_count>1)
  66                         {
  67                                 if(packet.repeat_count<0xFF)
  68                                         --packet.repeat_count;
  69                                 delay_time = packet.repeat_delay;
  70                                 packet.sending = 0;
  71                         }
  72                         else
  73                         {
  74                                 delay_time = packet.final_delay;
  75                                 packet.done = 1;
  76                         }
  77                 }
  78                 else
  79                 {
  80                         if((out_bit&7)==0)
  81                                 out_data = packet.data[out_bit>>3];
  82                         else
  83                                 out_data >>= 1;
  84
  85                         if(out_data&1)
  86                                 PORTD |= BIT(POLARITY);
  87                         else
  88                                 PORTD &= ~BIT(POLARITY);
  89
  90                         out_time = packet.bit_duration;
  91                 }
  92
  93                 return;
  94         }
  95
  96         if(packet.ready && !packet.sending)
  97         {
  98                 packet.sending = 1;
  99                 out_bit = 0;
 100                 out_time = packet.bit_duration;
 101                 out_data = packet.data[0];
 102                 if(out_data&1)
 103                         PORTD |= BIT(POLARITY);
 104                 else
 105                         PORTD &= ~BIT(POLARITY);
 106         }
 107 }
 108
 109 TIMER_SET_CALLBACK(0, output_tick)