1 | /*
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2 | V-Kabel v0.2
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3 | V-Kabel für max. 4 Servos
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4 | MCU: Attiny24 @ 8 MHz
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5 | Reiner Pollingbetrieb
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6 | Erste Version
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7 | Servos: PA0..4
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8 | PPM: PA7
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9 | */
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10 |
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11 | #ifndef F_CPU
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12 | #define F_CPU 8000000UL
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13 | #endif
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14 |
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15 | #define VARIANT 0
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16 |
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17 | //Portdefinitionen, ggf. anpassen!
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18 | #define SERVOPORT PORTA
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19 | #define SERVODDR DDRA
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20 | #define SERVO0 PA0
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21 | #define SERVO1 PA1
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22 | #define SERVO2 PA2
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23 | #define SERVO3 PA3
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24 | #define PPMPORT SERVOPORT
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25 | #define PPMDDR SERVODDR
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26 | #define PPM_INPUTPIN PA7
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27 | #define PPMPIN PINA
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28 | #define PPMIN PINA7
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29 |
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30 | #include <avr/io.h>
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31 |
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32 | int main(void) {
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33 |
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34 | uint16_t pulse_in; //Eingangsimpuls
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35 | uint16_t pulse_out_0; //Ausgangsimpuls Servo 0
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36 | uint16_t pulse_out_1; //Ausgangsimpuls Servo 1
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37 | uint16_t pulse_out_2; //Ausgangsimpuls Servo 2
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38 | uint16_t pulse_out_3; //Ausgangsimpuls Servo 3
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39 |
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40 | uint8_t temp;
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41 |
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42 | //PORTB (ungenutzt) auf Eingang, Pullups an
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43 | DDRB = 0x0F;
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44 | PORTB = 0x0F;
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45 |
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46 | //Servoport konfigurieren
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47 | SERVOPORT &= ~(1 << SERVO0 | 1 << SERVO1 | 1 << SERVO2 | 1 << SERVO3);
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48 | SERVODDR |= 1 << SERVO0 | 1 << SERVO1 | 1 << SERVO2 | 1 << SERVO3;
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49 |
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50 | //PPM Eingang und ungenutzte Pins des PORTS konfigurieren
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51 | PPMDDR &= ~(1 << PA4 | 1 << PA5 | 1 << PA6 | 1 << PPM_INPUTPIN);
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52 | PPMPORT |= 1 << PA4 | 1 << PA5 | 1 << PA6;
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53 | PPMPORT &= ~(1 << PPM_INPUTPIN);
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54 |
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55 | //Timer 1 starten, prescaler 8
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56 | TCCR1B |= 1 << CS11;
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57 |
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58 | //ersten Impuls abwarten und verwerfen. Es kann nicht sichergestellt
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59 | //werden das ein vollständiger Impuls detektiert wird, da keine
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60 | //Flankenerkennung stattfindet
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61 | while(PPMPIN &(1 << PPMIN)) {};
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62 |
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63 | while(1) {
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64 | //Eingansipmuls ermitteln
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65 | while(!(PPMPIN &(1 << PPMIN))) {}; //warten auf Eingangsimpuls
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66 | TCNT1 = 0; //Timer1 0
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67 | while(PPMPIN &(1 << PPMIN)) {}; //warten auf Eingangsimpulsende
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68 | pulse_in = TCNT1; //Zählerwert holen -> Impulslänge in µs
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69 |
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70 | //Ausgangsimpulse berechnen
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71 | pulse_out_0 = pulse_in+10;
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72 | pulse_out_1 = pulse_in-10;
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73 | pulse_out_2 = pulse_in;
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74 | pulse_out_3 = pulse_in;
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75 |
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76 | #ifdef VARIANT
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77 | //Variante 1 -> alle Servos gleichzeitig starten
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78 | SERVOPORT |= (1 << SERVO0 | 1 << SERVO1 | 1 << SERVO2 | 1 << SERVO3);
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79 | TCNT1 = 0; //Timer 1 0
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80 | //warten auf erreichen der Impulslänge
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81 | temp = 15;
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82 | while((temp <<= 4) != 0) {
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83 | if(TCNT1 >= pulse_out_0) {SERVOPORT &= ~(1 << SERVO0);}
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84 | if(TCNT1 >= pulse_out_1) {SERVOPORT &= ~(1 << SERVO1);}
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85 | if(TCNT1 >= pulse_out_2) {SERVOPORT &= ~(1 << SERVO2);}
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86 | if(TCNT1 >= pulse_out_3) {SERVOPORT &= ~(1 << SERVO3);}
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87 | temp = SERVOPORT;
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88 | }
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89 | #endif
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90 | #ifndef VARIANT
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91 | //Variante 2 -> Servos in Reihe
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92 | //Servo0
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93 | SERVOPORT |= 1 << SERVO0;
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94 | TCNT1 = 0;
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95 | while(TCNT1 <= pulse_out_0) {};
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96 | SERVOPORT &= ~(1 << SERVO0);
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97 | //Servo1
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98 | SERVOPORT |= 1 << SERVO1;
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99 | TCNT1 = 0;
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100 | while(TCNT1 <= pulse_out_1) {};
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101 | SERVOPORT &= ~(1 << SERVO1);
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102 | //Servo2
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103 | SERVOPORT |= 1 << SERVO2;
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104 | TCNT1 = 0;
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105 | while(TCNT1 <= pulse_out_2) {};
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106 | SERVOPORT &= ~(1 << SERVO2);
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107 | //Servo3
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108 | SERVOPORT |= 1 << SERVO3;
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109 | TCNT1 = 0;
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110 | while(TCNT1 <= pulse_out_3) {};
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111 | SERVOPORT &= ~(1 << SERVO3);
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112 | #endif
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113 | }
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114 | return(1);
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115 | }
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