arducontrol/output.c

   1 #include <avr/io.h>
   2 #include "interface.h"
   3 #include "output.h"
   4 #include "timer.h"
   5
   6 OutputPacket packet;
   7 uint8_t out_bit;
   8 uint8_t out_time;
   9 uint8_t out_data;
  10 uint8_t delay_time;
  11
  12 void output_init()
  13 {
  14         DDRD = (DDRD&0xF3)|0x0C;
  15         PORTD &= ~0x08;
  16
  17         timer_start_hz(0, 80000, 1);
  18 }
  19
  20 void clear_packet()
  21 {
  22         packet.ready = 0;
  23         packet.sending = 0;
  24         packet.done = 0;
  25 }
  26
  27 void output_set_power(uint8_t p)
  28 {
  29         if(p==POWER_ON)
  30                 PORTD |= 0x08;
  31         else
  32                 PORTD &= ~0x08;
  33 }
  34
  35 uint8_t output_command()
  36 {
  37         if(cmd_buf[0]==POWER_ON || cmd_buf[0]==POWER_OFF)
  38         {
  39                 if(cmd_length!=1)
  40                         return LENGTH_ERROR;
  41
  42                 output_set_power(cmd_buf[0]==POWER_ON);
  43         }
  44         else
  45                 return INVALID_COMMAND;
  46
  47         return COMMAND_OK;
  48 }
  49
  50 static inline void output_tick()
  51 {
  52         if(delay_time && --delay_time)
  53                 return;
  54
  55         if(out_time && !--out_time)
  56         {
  57                 ++out_bit;
  58                 if(out_bit>=packet.length)
  59                 {
  60                         PORTD &= ~0x04;
  61                         if(packet.repeat_count>1)
  62                         {
  63                                 if(packet.repeat_count<0xFF)
  64                                         --packet.repeat_count;
  65                                 delay_time = packet.repeat_delay;
  66                                 packet.sending = 0;
  67                         }
  68                         else
  69                         {
  70                                 delay_time = packet.final_delay;
  71                                 packet.done = 1;
  72                         }
  73                 }
  74                 else
  75                 {
  76                         if((out_bit&7)==0)
  77                                 out_data = packet.data[out_bit>>3];
  78                         else
  79                                 out_data >>= 1;
  80
  81                         if(out_data&1)
  82                                 PORTD |= 0x04;
  83                         else
  84                                 PORTD &= ~0x04;
  85
  86                         out_time = packet.bit_duration;
  87                 }
  88
  89                 return;
  90         }
  91
  92         if(packet.ready && !packet.sending)
  93         {
  94                 packet.sending = 1;
  95                 out_bit = 0;
  96                 out_time = packet.bit_duration;
  97                 out_data = packet.data[0];
  98                 if(out_data&1)
  99                         PORTD |= 0x04;
 100                 else
 101                         PORTD &= ~0x04;
 102         }
 103 }
 104
 105 TIMER_SET_CALLBACK(0, output_tick)