diff --git a/adc.c b/adc.c deleted file mode 100644 index db0c476..0000000 --- a/adc.c +++ /dev/null @@ -1,65 +0,0 @@ -#include -#include - -#include "adc.h" -#include "buffer.h" - -volatile buffer_t adc_buf[4]; -volatile float adc_avrg[4]; - - -void initADC() -{ - ADMUX = 1 << REFS0 | 0 << REFS1; //Select external Vref - - //ADC Status Register A - ADCSRA = 1 << ADEN //Enable ADC - | 1 << ADIE //Enable ISR after conversion complete - //| 1< - -#include "buffer.h" - -void insert_to_buffer(uint16_t val, volatile buffer_t* buf){ - ATOMIC_BLOCK(ATOMIC_FORCEON){ - buf->position++; - if(buf->position == BUFFER_SIZE) - buf->position = 0; - buf->values[buf->position] = val; - } -} - -float get_buffer_mean(volatile buffer_t* buf){ - - ///* discard lowest and highest value */ - //uint16_t low=0xFFFF; - //uint16_t high=0; - //uint16_t index_l = 0; - //uint16_t index_h = 0; - //for(uint16_t i=0; ivalues[i] < low){ - // low=buf->values[i]; - // index_l = i; - // } - // if(buf->values[i] > high){ - // high=buf->values[i]; - // index_h = i; - // } - //} - - - uint32_t sum = 0; - for(uint16_t i=0; ivalues[i]; - } - - uint16_t res = sum/(BUFFER_SIZE/*-2*/); - return res; -} diff --git a/buffer.h b/buffer.h deleted file mode 100644 index d2e4399..0000000 --- a/buffer.h +++ /dev/null @@ -1,16 +0,0 @@ -#ifndef _BUFFER_H_ -#define _BUFFER_H_ - -#include - -#define BUFFER_SIZE 200 - -typedef struct { - uint16_t values[BUFFER_SIZE]; - uint16_t position; -} buffer_t; - -void insert_to_buffer(uint16_t val, volatile buffer_t* buf); -float get_buffer_mean(volatile buffer_t* buf); - -#endif//_BUFFER_H_ diff --git a/i2c.c b/i2c.c index b484b73..2e758b2 100644 --- a/i2c.c +++ b/i2c.c @@ -1,9 +1,9 @@ -/* - * i2c.c - * - * Created: 20.01.2018 12:50:54 - * Author: Ulrich - */ +/* + * i2c.c + * + * Created: 20.01.2018 12:50:54 + * Author: Ulrich + */ #include "i2c.h" @@ -41,17 +41,17 @@ uint8_t i2c_byte (uint8_t byte){ if((timeout++) > 1000) return 1; } return 0; -} - -//*************************************************************************************** -uint8_t i2c_readNak(void) -{ - uint16_t timeout = 0; - TWCR = (1< 1000) return 0; - } - return TWDR; +} + +//*************************************************************************************** +uint8_t i2c_readNak(void) +{ + uint16_t timeout = 0; + TWCR = (1< 1000) return 0; + } + return TWDR; } //*************************************************************************************** diff --git a/i2c.h b/i2c.h index 5ee4a34..9776d83 100644 --- a/i2c.h +++ b/i2c.h @@ -1,26 +1,26 @@ -/* - * i2c.h - * - * Created: 20.01.2018 12:51:11 - * Author: Ulrich - */ - -#ifndef I2C_H_ - #define I2C_H_ - - #include - #include - +/* + * i2c.h + * + * Created: 20.01.2018 12:51:11 + * Author: Ulrich + */ + +#ifndef I2C_H_ + #define I2C_H_ + + #include + #include + //I2C #define SDA_PIN PC4 //PIN am Atmel #define SCL_PIN PC5 //PIN am Atmel #define I2C_PORT PORTC //PORT am Atmel - #define SCL_CLOCK 100000UL - - void i2c_init(void); - uint8_t i2c_start (uint8_t); - uint8_t i2c_byte (uint8_t); - uint8_t i2c_readNak(void); - void i2c_stop (void); - + #define SCL_CLOCK 100000UL + + void i2c_init(void); + uint8_t i2c_start (uint8_t); + uint8_t i2c_byte (uint8_t); + uint8_t i2c_readNak(void); + void i2c_stop (void); + #endif /* I2C_H_ */ \ No newline at end of file diff --git a/i2cmaster.h b/i2cmaster.h deleted file mode 100644 index 7c39cef..0000000 --- a/i2cmaster.h +++ /dev/null @@ -1,178 +0,0 @@ -#ifndef _I2CMASTER_H -#define _I2CMASTER_H -/************************************************************************* -* Title: C include file for the I2C master interface -* (i2cmaster.S or twimaster.c) -* Author: Peter Fleury -* File: $Id: i2cmaster.h,v 1.12 2015/09/16 09:27:58 peter Exp $ -* Software: AVR-GCC 4.x -* Target: any AVR device -* Usage: see Doxygen manual -**************************************************************************/ - -/** - @file - @defgroup pfleury_ic2master I2C Master library - @code #include @endcode - - @brief I2C (TWI) Master Software Library - - Basic routines for communicating with I2C slave devices. This single master - implementation is limited to one bus master on the I2C bus. - - This I2c library is implemented as a compact assembler software implementation of the I2C protocol - which runs on any AVR (i2cmaster.S) and as a TWI hardware interface for all AVR with built-in TWI hardware (twimaster.c). - Since the API for these two implementations is exactly the same, an application can be linked either against the - software I2C implementation or the hardware I2C implementation. - - Use 4.7k pull-up resistor on the SDA and SCL pin. - - Adapt the SCL and SDA port and pin definitions and eventually the delay routine in the module - i2cmaster.S to your target when using the software I2C implementation ! - - Adjust the CPU clock frequence F_CPU in twimaster.c or in the Makfile when using the TWI hardware implementaion. - - @note - The module i2cmaster.S is based on the Atmel Application Note AVR300, corrected and adapted - to GNU assembler and AVR-GCC C call interface. - Replaced the incorrect quarter period delays found in AVR300 with - half period delays. - - @author Peter Fleury pfleury@gmx.ch http://tinyurl.com/peterfleury - @copyright (C) 2015 Peter Fleury, GNU General Public License Version 3 - - @par API Usage Example - The following code shows typical usage of this library, see example test_i2cmaster.c - - @code - - #include - - - #define Dev24C02 0xA2 // device address of EEPROM 24C02, see datasheet - - int main(void) - { - unsigned char ret; - - i2c_init(); // initialize I2C library - - // write 0x75 to EEPROM address 5 (Byte Write) - i2c_start_wait(Dev24C02+I2C_WRITE); // set device address and write mode - i2c_write(0x05); // write address = 5 - i2c_write(0x75); // write value 0x75 to EEPROM - i2c_stop(); // set stop conditon = release bus - - - // read previously written value back from EEPROM address 5 - i2c_start_wait(Dev24C02+I2C_WRITE); // set device address and write mode - - i2c_write(0x05); // write address = 5 - i2c_rep_start(Dev24C02+I2C_READ); // set device address and read mode - - ret = i2c_readNak(); // read one byte from EEPROM - i2c_stop(); - - for(;;); - } - @endcode - -*/ - - -/**@{*/ - -#if (__GNUC__ * 100 + __GNUC_MINOR__) < 304 -#error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !" -#endif - -#include - -/** defines the data direction (reading from I2C device) in i2c_start(),i2c_rep_start() */ -#define I2C_READ 1 - -/** defines the data direction (writing to I2C device) in i2c_start(),i2c_rep_start() */ -#define I2C_WRITE 0 - - -/** - @brief initialize the I2C master interace. Need to be called only once - @return none - */ -extern void i2c_init(void); - - -/** - @brief Terminates the data transfer and releases the I2C bus - @return none - */ -extern void i2c_stop(void); - - -/** - @brief Issues a start condition and sends address and transfer direction - - @param addr address and transfer direction of I2C device - @retval 0 device accessible - @retval 1 failed to access device - */ -extern unsigned char i2c_start(unsigned char addr); - - -/** - @brief Issues a repeated start condition and sends address and transfer direction - - @param addr address and transfer direction of I2C device - @retval 0 device accessible - @retval 1 failed to access device - */ -extern unsigned char i2c_rep_start(unsigned char addr); - - -/** - @brief Issues a start condition and sends address and transfer direction - - If device is busy, use ack polling to wait until device ready - @param addr address and transfer direction of I2C device - @return none - */ -extern void i2c_start_wait(unsigned char addr); - - -/** - @brief Send one byte to I2C device - @param data byte to be transfered - @retval 0 write successful - @retval 1 write failed - */ -extern unsigned char i2c_write(unsigned char data); - - -/** - @brief read one byte from the I2C device, request more data from device - @return byte read from I2C device - */ -extern unsigned char i2c_readAck(void); - -/** - @brief read one byte from the I2C device, read is followed by a stop condition - @return byte read from I2C device - */ -extern unsigned char i2c_readNak(void); - -/** - @brief read one byte from the I2C device - - Implemented as a macro, which calls either @ref i2c_readAck or @ref i2c_readNak - - @param ack 1 send ack, request more data from device
- 0 send nak, read is followed by a stop condition - @return byte read from I2C device - */ -extern unsigned char i2c_read(unsigned char ack); -#define i2c_read(ack) (ack) ? i2c_readAck() : i2c_readNak(); - - - -/**@}*/ -#endif diff --git a/lcd.c b/lcd.c index 15d2f49..c0b3728 100644 --- a/lcd.c +++ b/lcd.c @@ -1,8 +1,8 @@ -/* - * lcd.c - * - * Created: 20.01.2018 12:51:11 - * Author: Ulrich +/* + * lcd.c + * + * Created: 20.01.2018 12:51:11 + * Author: Ulrich */ #include "lcd.h" @@ -108,80 +108,80 @@ void lcd_print_str(char *str) { } } -//*************************************************************************************** -void lcd_write_P (const char *Buffer,...) -{ - va_list ap; - va_start (ap, Buffer); - - int format_flag; - char str_buffer[10]; - char str_null_buffer[10]; - char move = 0; - char Base = 0; - int tmp = 0; - char by; - char *ptr; - - //Ausgabe der Zeichen - for(;;){ - by = pgm_read_byte(Buffer++); - if(by==0) break; // end of format string - - if (by == '%'){ - by = pgm_read_byte(Buffer++); - if (isdigit(by)>0){ - str_null_buffer[0] = by; - str_null_buffer[1] = '\0'; - move = atoi(str_null_buffer); - by = pgm_read_byte(Buffer++); - } - - switch (by){ - case 's': - ptr = va_arg(ap,char *); - while(*ptr) { lcd_write_char(*ptr++); } - break; - case 'b': - Base = 2; - goto ConversionLoop; - case 'c': - //Int to char - format_flag = va_arg(ap,int); - lcd_write_char (format_flag++); - break; - case 'i': - Base = 10; - goto ConversionLoop; - case 'o': - Base = 8; - goto ConversionLoop; - case 'x': - Base = 16; - //**************************** - ConversionLoop: - //**************************** - itoa(va_arg(ap,int),str_buffer,Base); - int b=0; - while (str_buffer[b++] != 0){}; - b--; - if (b0){ + str_null_buffer[0] = by; + str_null_buffer[1] = '\0'; + move = atoi(str_null_buffer); + by = pgm_read_byte(Buffer++); + } + + switch (by){ + case 's': + ptr = va_arg(ap,char *); + while(*ptr) { lcd_write_char(*ptr++); } + break; + case 'b': + Base = 2; + goto ConversionLoop; + case 'c': + //Int to char + format_flag = va_arg(ap,int); + lcd_write_char (format_flag++); + break; + case 'i': + Base = 10; + goto ConversionLoop; + case 'o': + Base = 8; + goto ConversionLoop; + case 'x': + Base = 16; + //**************************** + ConversionLoop: + //**************************** + itoa(va_arg(ap,int),str_buffer,Base); + int b=0; + while (str_buffer[b++] != 0){}; + b--; + if (b #include #include - #include - #include + #include + #include #include #include #include diff --git a/lcdpcf8574.c b/lcdpcf8574.c deleted file mode 100644 index 70073c1..0000000 --- a/lcdpcf8574.c +++ /dev/null @@ -1,479 +0,0 @@ -/* -lcdpcf8574 lib 0x03 - -copyright (c) Davide Gironi, 2013 - -Released under GPLv3. -Please refer to LICENSE file for licensing information. -*/ - -#include -#include -#include - -#include "pcf8574.h" -#include "lcdpcf8574.h" - -#define lcd_e_delay() __asm__ __volatile__( "rjmp 1f\n 1:" ); -#define lcd_e_toggle() toggle_e() - -#if LCD_LINES==1 -#define LCD_FUNCTION_DEFAULT LCD_FUNCTION_4BIT_1LINE -#else -#define LCD_FUNCTION_DEFAULT LCD_FUNCTION_4BIT_2LINES -#endif - -volatile uint8_t dataport = 0; - -/* -** function prototypes -*/ -static void toggle_e(void); - -/* -** local functions -*/ - - - -/************************************************************************* - delay loop for small accurate delays: 16-bit counter, 4 cycles/loop -*************************************************************************/ -static inline void _delayFourCycles(unsigned int __count) -{ - if ( __count == 0 ) - __asm__ __volatile__( "rjmp 1f\n 1:" ); // 2 cycles - else - __asm__ __volatile__ ( - "1: sbiw %0,1" "\n\t" - "brne 1b" // 4 cycles/loop - : "=w" (__count) - : "0" (__count) - ); -} - - -/************************************************************************* -delay for a minimum of microseconds -the number of loops is calculated at compile-time from MCU clock frequency -*************************************************************************/ -#define delay(us) _delayFourCycles( ( ( 1*(F_CPU/4000) )*us)/1000 ) - - -/* toggle Enable Pin to initiate write */ -static void toggle_e(void) -{ - pcf8574_setoutputpinhigh(LCD_PCF8574_DEVICEID, LCD_E_PIN); - lcd_e_delay(); - pcf8574_setoutputpinlow(LCD_PCF8574_DEVICEID, LCD_E_PIN); -} - - -/************************************************************************* -Low-level function to write byte to LCD controller -Input: data byte to write to LCD - rs 1: write data - 0: write instruction -Returns: none -*************************************************************************/ -static void lcd_write(uint8_t data,uint8_t rs) -{ - if (rs) /* write data (RS=1, RW=0) */ - dataport |= _BV(LCD_RS_PIN); - else /* write instruction (RS=0, RW=0) */ - dataport &= ~_BV(LCD_RS_PIN); - dataport &= ~_BV(LCD_RW_PIN); - pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport); - - /* output high nibble first */ - dataport &= ~_BV(LCD_DATA3_PIN); - dataport &= ~_BV(LCD_DATA2_PIN); - dataport &= ~_BV(LCD_DATA1_PIN); - dataport &= ~_BV(LCD_DATA0_PIN); - if(data & 0x80) dataport |= _BV(LCD_DATA3_PIN); - if(data & 0x40) dataport |= _BV(LCD_DATA2_PIN); - if(data & 0x20) dataport |= _BV(LCD_DATA1_PIN); - if(data & 0x10) dataport |= _BV(LCD_DATA0_PIN); - pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport); - lcd_e_toggle(); - - /* output low nibble */ - dataport &= ~_BV(LCD_DATA3_PIN); - dataport &= ~_BV(LCD_DATA2_PIN); - dataport &= ~_BV(LCD_DATA1_PIN); - dataport &= ~_BV(LCD_DATA0_PIN); - if(data & 0x08) dataport |= _BV(LCD_DATA3_PIN); - if(data & 0x04) dataport |= _BV(LCD_DATA2_PIN); - if(data & 0x02) dataport |= _BV(LCD_DATA1_PIN); - if(data & 0x01) dataport |= _BV(LCD_DATA0_PIN); - pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport); - lcd_e_toggle(); - - /* all data pins high (inactive) */ - dataport |= _BV(LCD_DATA0_PIN); - dataport |= _BV(LCD_DATA1_PIN); - dataport |= _BV(LCD_DATA2_PIN); - dataport |= _BV(LCD_DATA3_PIN); - pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport); -} - - -/************************************************************************* -Low-level function to read byte from LCD controller -Input: rs 1: read data - 0: read busy flag / address counter -Returns: byte read from LCD controller -*************************************************************************/ -static uint8_t lcd_read(uint8_t rs) -{ - uint8_t data; - - if (rs) /* write data (RS=1, RW=0) */ - dataport |= _BV(LCD_RS_PIN); - else /* write instruction (RS=0, RW=0) */ - dataport &= ~_BV(LCD_RS_PIN); - dataport |= _BV(LCD_RW_PIN); - pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport); - - /* read high nibble first */ - pcf8574_setoutputpinhigh(LCD_PCF8574_DEVICEID, LCD_E_PIN); - lcd_e_delay(); - data = 0; - if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA0_PIN)) data |= 0x10; - if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA1_PIN)) data |= 0x20; - if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA2_PIN)) data |= 0x40; - if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA3_PIN)) data |= 0x80; - pcf8574_setoutputpinlow(LCD_PCF8574_DEVICEID, LCD_E_PIN); - - /* Enable 500ns low */ - lcd_e_delay(); - - /* read low nibble */ - pcf8574_setoutputpinhigh(LCD_PCF8574_DEVICEID, LCD_E_PIN); - lcd_e_delay(); - if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA0_PIN)) data |= 0x01; - if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA1_PIN)) data |= 0x02; - if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA2_PIN)) data |= 0x04; - if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA3_PIN)) data |= 0x08; - pcf8574_setoutputpinlow(LCD_PCF8574_DEVICEID, LCD_E_PIN); - - return data; -} - - -/************************************************************************* -loops while lcd is busy, returns address counter -*************************************************************************/ -static uint8_t lcd_waitbusy(void) -{ - register uint8_t c; - - /* wait until busy flag is cleared */ - while ( (c=lcd_read(0)) & (1<= LCD_START_LINE2) && (pos < LCD_START_LINE4) ) - addressCounter = LCD_START_LINE3; - else if ( (pos >= LCD_START_LINE3) && (pos < LCD_START_LINE2) ) - addressCounter = LCD_START_LINE4; - else - addressCounter = LCD_START_LINE1; -#endif - lcd_command((1< 7) { - return 1; - } - lcd_command((1 << LCD_CGRAM) + charnum * 8); // set CGRAM address charnum * 8 byte - for (; j < 8; j++) { - lcd_putc (*(p + j)); // write 8 byte data (one character) to CGRAM - } - return (0); -} - - -/************************************************************************* -Set cursor to specified position -Input: x horizontal position (0: left most position) - y vertical position (0: first line) -Returns: none -*************************************************************************/ -void lcd_gotoxy(uint8_t x, uint8_t y) -{ -#if LCD_LINES==1 - lcd_command((1<>4; - dataport |= _BV(LCD_DATA0_PIN); // _BV(LCD_FUNCTION_8BIT)>>4; - pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport); - - lcd_e_toggle(); - delay(4992); /* delay, busy flag can't be checked here */ - - /* repeat last command */ - lcd_e_toggle(); - delay(64); /* delay, busy flag can't be checked here */ - - /* repeat last command a third time */ - lcd_e_toggle(); - delay(64); /* delay, busy flag can't be checked here */ - - /* now configure for 4bit mode */ - dataport &= ~_BV(LCD_DATA0_PIN); - pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport); - lcd_e_toggle(); - delay(64); /* some displays need this additional delay */ - - /* from now the LCD only accepts 4 bit I/O, we can use lcd_command() */ - - lcd_command(LCD_FUNCTION_DEFAULT); /* function set: display lines */ - - lcd_command(LCD_DISP_OFF); /* display off */ - lcd_clrscr(); /* display clear */ - lcd_command(LCD_MODE_DEFAULT); /* set entry mode */ - lcd_command(dispAttr); /* display/cursor control */ - -}/* lcd_init */ diff --git a/lcdpcf8574.h b/lcdpcf8574.h deleted file mode 100644 index 192fbdd..0000000 --- a/lcdpcf8574.h +++ /dev/null @@ -1,223 +0,0 @@ -/* -lcdpcf8574 lib 0x03 - -copyright (c) Davide Gironi, 2013 - -Released under GPLv3. -Please refer to LICENSE file for licensing information. - -References: - + based on lcd library by Peter Fleury - http://jump.to/fleury - + CGRAM functions by Péter Papp -*/ - - -#ifndef LCD_H -#define LCD_H - -#include -#include - -#define LCD_PCF8574_INIT 1 //init pcf8574 - -#define LCD_PCF8574_DEVICEID 0 //device id, addr = pcf8574 base addr + LCD_PCF8574_DEVICEID - - -/** - * @name Definitions for Display Size - * Change these definitions to adapt setting to your display - */ -#define LCD_LINES 2 /**< number of visible lines of the display */ -#define LCD_DISP_LENGTH 16 /**< visibles characters per line of the display */ -#define LCD_LINE_LENGTH 0x40 /**< internal line length of the display */ -#define LCD_START_LINE1 0x00 /**< DDRAM address of first char of line 1 */ -#define LCD_START_LINE2 0x40 /**< DDRAM address of first char of line 2 */ -#define LCD_START_LINE3 0x14 /**< DDRAM address of first char of line 3 */ -#define LCD_START_LINE4 0x54 /**< DDRAM address of first char of line 4 */ -#define LCD_WRAP_LINES 1 /**< 0: no wrap, 1: wrap at end of visibile line */ - - - -#define LCD_DATA0_PIN 4 /**< pin for 4bit data bit 0 */ -#define LCD_DATA1_PIN 5 /**< pin for 4bit data bit 1 */ -#define LCD_DATA2_PIN 6 /**< pin for 4bit data bit 2 */ -#define LCD_DATA3_PIN 7 /**< pin for 4bit data bit 3 */ -#define LCD_RS_PIN 0 /**< pin for RS line */ -#define LCD_RW_PIN 1 /**< pin for RW line */ -#define LCD_E_PIN 2 /**< pin for Enable line */ -#define LCD_LED_PIN 3 /**< pin for Led */ - - -/** - * @name Definitions for LCD command instructions - * The constants define the various LCD controller instructions which can be passed to the - * function lcd_command(), see HD44780 data sheet for a complete description. - */ - -/* instruction register bit positions, see HD44780U data sheet */ -#define LCD_CLR 0 /* DB0: clear display */ -#define LCD_HOME 1 /* DB1: return to home position */ -#define LCD_ENTRY_MODE 2 /* DB2: set entry mode */ -#define LCD_ENTRY_INC 1 /* DB1: 1=increment, 0=decrement */ -#define LCD_ENTRY_SHIFT 0 /* DB2: 1=display shift on */ -#define LCD_ON 3 /* DB3: turn lcd/cursor on */ -#define LCD_ON_DISPLAY 2 /* DB2: turn display on */ -#define LCD_ON_CURSOR 1 /* DB1: turn cursor on */ -#define LCD_ON_BLINK 0 /* DB0: blinking cursor ? */ -#define LCD_MOVE 4 /* DB4: move cursor/display */ -#define LCD_MOVE_DISP 3 /* DB3: move display (0-> cursor) ? */ -#define LCD_MOVE_RIGHT 2 /* DB2: move right (0-> left) ? */ -#define LCD_FUNCTION 5 /* DB5: function set */ -#define LCD_FUNCTION_8BIT 4 /* DB4: set 8BIT mode (0->4BIT mode) */ -#define LCD_FUNCTION_2LINES 3 /* DB3: two lines (0->one line) */ -#define LCD_FUNCTION_10DOTS 2 /* DB2: 5x10 font (0->5x7 font) */ -#define LCD_CGRAM 6 /* DB6: set CG RAM address */ -#define LCD_DDRAM 7 /* DB7: set DD RAM address */ -#define LCD_BUSY 7 /* DB7: LCD is busy */ - -/* set entry mode: display shift on/off, dec/inc cursor move direction */ -#define LCD_ENTRY_DEC 0x04 /* display shift off, dec cursor move dir */ -#define LCD_ENTRY_DEC_SHIFT 0x05 /* display shift on, dec cursor move dir */ -#define LCD_ENTRY_INC_ 0x06 /* display shift off, inc cursor move dir */ -#define LCD_ENTRY_INC_SHIFT 0x07 /* display shift on, inc cursor move dir */ - -/* display on/off, cursor on/off, blinking char at cursor position */ -#define LCD_DISP_OFF 0x08 /* display off */ -#define LCD_DISP_ON 0x0C /* display on, cursor off */ -#define LCD_DISP_ON_BLINK 0x0D /* display on, cursor off, blink char */ -#define LCD_DISP_ON_CURSOR 0x0E /* display on, cursor on */ -#define LCD_DISP_ON_CURSOR_BLINK 0x0F /* display on, cursor on, blink char */ - -/* move cursor/shift display */ -#define LCD_MOVE_CURSOR_LEFT 0x10 /* move cursor left (decrement) */ -#define LCD_MOVE_CURSOR_RIGHT 0x14 /* move cursor right (increment) */ -#define LCD_MOVE_DISP_LEFT 0x18 /* shift display left */ -#define LCD_MOVE_DISP_RIGHT 0x1C /* shift display right */ - -/* function set: set interface data length and number of display lines */ -#define LCD_FUNCTION_4BIT_1LINE 0x20 /* 4-bit interface, single line, 5x7 dots */ -#define LCD_FUNCTION_4BIT_2LINES 0x28 /* 4-bit interface, dual line, 5x7 dots */ -#define LCD_FUNCTION_8BIT_1LINE 0x30 /* 8-bit interface, single line, 5x7 dots */ -#define LCD_FUNCTION_8BIT_2LINES 0x38 /* 8-bit interface, dual line, 5x7 dots */ - - -#define LCD_MODE_DEFAULT ((1< -#include -#include - -#include "pcf8574.h" - -//path to i2c fleury lib -#include PCF8574_I2CFLEURYPATH - -/* - * initialize - */ -void pcf8574_init() { - #if PCF8574_I2CINIT == 1 - //init i2c - i2c_init(); - _delay_us(10); - #endif - - //reset the pin status - uint8_t i = 0; - for(i=0; i= 0 && deviceid < PCF8574_MAXDEVICES)) { - data = pcf8574_pinstatus[deviceid]; - } - return data; -} - -/* - * get output pin status - */ -int8_t pcf8574_getoutputpin(uint8_t deviceid, uint8_t pin) { - int8_t data = -1; - if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES) && (pin >= 0 && pin < PCF8574_MAXPINS)) { - data = pcf8574_pinstatus[deviceid]; - data = (data >> pin) & 0b00000001; - } - return data; -} - -/* - * set output pins - */ -int8_t pcf8574_setoutput(uint8_t deviceid, uint8_t data) { - if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES)) { - pcf8574_pinstatus[deviceid] = data; - i2c_start(((PCF8574_ADDRBASE+deviceid)<<1) | I2C_WRITE); - i2c_write(data); - i2c_stop(); - return 0; - } - return -1; -} - -/* - * set output pins, replace actual status of a device from pinstart for pinlength with data - */ -int8_t pcf8574_setoutputpins(uint8_t deviceid, uint8_t pinstart, uint8_t pinlength, int8_t data) { - //example: - //actual data is 0b01101110 - //want to change --- - //pinstart 4 - //data 101 (pinlength 3) - //result 0b01110110 - if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES) && (pinstart - pinlength + 1 >= 0 && pinstart - pinlength + 1 >= 0 && pinstart < PCF8574_MAXPINS && pinstart > 0 && pinlength > 0)) { - uint8_t b = 0; - b = pcf8574_pinstatus[deviceid]; - uint8_t mask = ((1 << pinlength) - 1) << (pinstart - pinlength + 1); - data <<= (pinstart - pinlength + 1); - data &= mask; - b &= ~(mask); - b |= data; - pcf8574_pinstatus[deviceid] = b; - //update device - i2c_start(((PCF8574_ADDRBASE+deviceid)<<1) | I2C_WRITE); - i2c_write(b); - i2c_stop(); - return 0; - } - return -1; -} - -/* - * set output pin - */ -int8_t pcf8574_setoutputpin(uint8_t deviceid, uint8_t pin, uint8_t data) { - if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES) && (pin >= 0 && pin < PCF8574_MAXPINS)) { - uint8_t b = 0; - b = pcf8574_pinstatus[deviceid]; - b = (data != 0) ? (b | (1 << pin)) : (b & ~(1 << pin)); - pcf8574_pinstatus[deviceid] = b; - //update device - i2c_start(((PCF8574_ADDRBASE+deviceid)<<1) | I2C_WRITE); - i2c_write(b); - i2c_stop(); - return 0; - } - return -1; -} - -/* - * set output pin high - */ -int8_t pcf8574_setoutputpinhigh(uint8_t deviceid, uint8_t pin) { - return pcf8574_setoutputpin(deviceid, pin, 1); -} - -/* - * set output pin low - */ -int8_t pcf8574_setoutputpinlow(uint8_t deviceid, uint8_t pin) { - return pcf8574_setoutputpin(deviceid, pin, 0); -} - - -/* - * get input data - */ -int8_t pcf8574_getinput(uint8_t deviceid) { - int8_t data = -1; - if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES)) { - i2c_start(((PCF8574_ADDRBASE+deviceid)<<1) | I2C_READ); - data = ~i2c_readNak(); - i2c_stop(); - } - return data; -} - -/* - * get input pin (up or low) - */ -int8_t pcf8574_getinputpin(uint8_t deviceid, uint8_t pin) { - int8_t data = -1; - if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES) && (pin >= 0 && pin < PCF8574_MAXPINS)) { - data = pcf8574_getinput(deviceid); - if(data != -1) { - data = (data >> pin) & 0b00000001; - } - } - return data; -} - diff --git a/pcf8574.h b/pcf8574.h deleted file mode 100644 index 6b47478..0000000 --- a/pcf8574.h +++ /dev/null @@ -1,39 +0,0 @@ -/* -pcf8574 lib 0x02 - -copyright (c) Davide Gironi, 2012 - -Released under GPLv3. -Please refer to LICENSE file for licensing information. -*/ - - -#ifndef PCF8574_H_ -#define PCF8574_H_ - -#define PCF8574_ADDRBASE (0x20) //device base address - -#define PCF8574_I2CINIT 1 //init i2c - -#define PCF8574_MAXDEVICES 1 //max devices, depends on address (3 bit) -#define PCF8574_MAXPINS 8 //max pin per device - -//settings -#define PCF8574_I2CFLEURYPATH "i2cmaster.h" //define the path to i2c fleury lib - -//pin status -volatile uint8_t pcf8574_pinstatus[PCF8574_MAXDEVICES]; - - -//functions -void pcf8574_init(); -extern int8_t pcf8574_getoutput(uint8_t deviceid); -extern int8_t pcf8574_getoutputpin(uint8_t deviceid, uint8_t pin); -extern int8_t pcf8574_setoutput(uint8_t deviceid, uint8_t data); -extern int8_t pcf8574_setoutputpins(uint8_t deviceid, uint8_t pinstart, uint8_t pinlength, int8_t data); -extern int8_t pcf8574_setoutputpin(uint8_t deviceid, uint8_t pin, uint8_t data); -extern int8_t pcf8574_setoutputpinhigh(uint8_t deviceid, uint8_t pin); -extern int8_t pcf8574_setoutputpinlow(uint8_t deviceid, uint8_t pin); -extern int8_t pcf8574_getinput(uint8_t deviceid); -extern int8_t pcf8574_getinputpin(uint8_t deviceid, uint8_t pin); -#endif diff --git a/pid.c b/pid.c deleted file mode 100644 index 76a161d..0000000 --- a/pid.c +++ /dev/null @@ -1,34 +0,0 @@ -#include -#include "pid.h" - -float pid_step(volatile struct pid* controller, float dt, float error) { - //TODO convert to integer; floats cause trouble ... - - // Calculate p term - float p = error * controller->kP; - - // Calculate i term - ATOMIC_BLOCK(ATOMIC_FORCEON){ - controller->integral += error * dt * controller->kI; - if(controller->integral > 80) - controller->integral = 80; - if(controller->integral < -80) - controller->integral = -80; - } - - // Calculate d term, taking care to not divide by zero - float d = dt == 0 ? 0 : ((error - controller->lastError) / dt) * controller->kD; - controller->lastError = error; - - return p + controller->integral + d; -} - -void init_pid(volatile struct pid* controller, float p, float i, float d){ - *controller = (struct pid){ - .kP = p, - .kI = i, - .kD = d, - .lastError = 0, - .integral = 0 - }; -} diff --git a/pid.h b/pid.h deleted file mode 100644 index d7e0580..0000000 --- a/pid.h +++ /dev/null @@ -1,14 +0,0 @@ -struct pid{ - // Controller gains - float kP; - float kI; - float kD; - - // State variables - float lastError; - float integral; -}; - -float pid_step(volatile struct pid* controller, float dt, float error); -void init_pid(volatile struct pid* controller, float p, float i, float d); - diff --git a/twimaster.c b/twimaster.c deleted file mode 100644 index aff4751..0000000 --- a/twimaster.c +++ /dev/null @@ -1,202 +0,0 @@ -/************************************************************************* -* Title: I2C master library using hardware TWI interface -* Author: Peter Fleury http://jump.to/fleury -* File: $Id: twimaster.c,v 1.4 2015/01/17 12:16:05 peter Exp $ -* Software: AVR-GCC 3.4.3 / avr-libc 1.2.3 -* Target: any AVR device with hardware TWI -* Usage: API compatible with I2C Software Library i2cmaster.h -**************************************************************************/ -#include -#include - -#include "i2cmaster.h" - - -/* define CPU frequency in hz here if not defined in Makefile */ -#ifndef F_CPU -#define F_CPU 4000000UL -#endif - -/* I2C clock in Hz */ -#define SCL_CLOCK 100000L - - -/************************************************************************* - Initialization of the I2C bus interface. Need to be called only once -*************************************************************************/ -void i2c_init(void) -{ - /* initialize TWI clock: 100 kHz clock, TWPS = 0 => prescaler = 1 */ - - TWSR = (1< 10 for stable operation */ - -}/* i2c_init */ - - -/************************************************************************* - Issues a start condition and sends address and transfer direction. - return 0 = device accessible, 1= failed to access device -*************************************************************************/ -unsigned char i2c_start(unsigned char address) -{ - uint8_t twst; - - // send START condition - TWCR = (1<