// // // hello.bus.45.c // // 9600 baud serial bus hello-world // // Neil Gershenfeld // 11/24/10 // // (c) Massachusetts Institute of Technology 2010 // Permission granted for experimental and personal use; // license for commercial sale available from MIT. // #include #include #include #include #define output(directions,pin) (directions |= pin) // set port direction for output #define input(directions,pin) (directions &= (~pin)) // set port direction for input #define set(port,pin) (port |= pin) // set port pin #define clear(port,pin) (port &= (~pin)) // clear port pin #define pin_test(pins,pin) (pins & pin) // test for port pin #define bit_test(byte,bit) (byte & (1 << bit)) // test for bit set // modified TF 4/26/2014 #define on_delay() _delay_us(3) // PWM on time #define fast_off_delay() _delay_us(1) //PWM fast off time #define PWM_count 20000 //number of PWM cycles #define cycle_count 50 //number of speed cycles // modified TF end #define bit_delay_time 101 // bit delay for 9600 with overhead , changed from 100 #define bit_delay() _delay_us(bit_delay_time) // RS232 bit delay #define half_bit_delay() _delay_us(bit_delay_time/2) // RS232 half bit delay #define led_delay() _delay_ms(100) // LED flash delay //Modified by Terence /* #define led_port PORTB #define led_direction DDRB #define led_pin (1 << PB0) */ //define pins fr H bridge Tf #define bridge_port PORTB //H-bridge #define bridge_direction DDRB // H-bridge direction #define IN1 (1 << PB0) //IN1 #define IN2 (1 << PB1) //IN2 #define serial_port PORTB #define serial_direction DDRB #define serial_pins PINB #define serial_pin_in (1 << PB3) #define serial_pin_out (1 << PB4) #define node_id '2' void get_char(volatile unsigned char *pins, unsigned char pin, char *rxbyte) { // // read character into rxbyte on pins pin // assumes line driver (inverts bits) // *rxbyte = 0; while (pin_test(*pins,pin)) // // wait for start bit // ; // // delay to middle of first data bit // half_bit_delay(); bit_delay(); // // unrolled loop to read data bits // if pin_test(*pins,pin) *rxbyte |= (1 << 0); else *rxbyte |= (0 << 0); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 1); else *rxbyte |= (0 << 1); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 2); else *rxbyte |= (0 << 2); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 3); else *rxbyte |= (0 << 3); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 4); else *rxbyte |= (0 << 4); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 5); else *rxbyte |= (0 << 5); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 6); else *rxbyte |= (0 << 6); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 7); else *rxbyte |= (0 << 7); // // wait for stop bit // bit_delay(); half_bit_delay(); } void put_char(volatile unsigned char *port, unsigned char pin, char txchar) { // // send character in txchar on port pin // assumes line driver (inverts bits) // // start bit // clear(*port,pin); bit_delay(); // // unrolled loop to write data bits // if bit_test(txchar,0) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,1) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,2) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,3) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,4) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,5) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,6) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,7) set(*port,pin); else clear(*port,pin); bit_delay(); // // stop bit // set(*port,pin); bit_delay(); // // char delay // bit_delay(); } void put_string(volatile unsigned char *port, unsigned char pin, PGM_P str) { // // send character in txchar on port pin // assumes line driver (inverts bits) // static char chr; static int index; index = 0; do { chr = pgm_read_byte(&(str[index])); put_char(&serial_port, serial_pin_out, chr); ++index; } while (chr != 0); } void flash() { // // LED flash delay // /* TF 4-27-2014 clear(led_port, led_pin); led_delay(); set(led_port, led_pin); */ } int main(void) { // // main // static char chr; // TF static uint16_t count;//debug static uint8_t cycle; //debug //End TF // // set clock divider to /1 // CLKPR = (1 << CLKPCE); CLKPR = (0 << CLKPS3) | (0 << CLKPS2) | (0 << CLKPS1) | (0 << CLKPS0); // // initialize output pins // set(serial_port, serial_pin_out); input(serial_direction, serial_pin_out); //tf clear(bridge_port, IN1); output(bridge_direction, IN1); clear(bridge_port, IN2); output(bridge_direction,IN2); //set(led_port, led_pin); TF //output(led_direction, led_pin); TF // // main loop // while (1) { get_char(&serial_pins, serial_pin_in, &chr); //flash(); TF 4-27-2014 if (chr == node_id) { output(serial_direction, serial_pin_out); static const char message[] PROGMEM = "Stop bugging me I already said node "; put_string(&serial_port, serial_pin_out, (PGM_P) message); //put_string(&serial_port, serial_pin_out, PROGMEM="Yah!"); put_char(&serial_port, serial_pin_out, chr); put_char(&serial_port, serial_pin_out, 10); // new line //led_delay(); TF // flash(); //TF piece of Neil's code from output for (cycle = 0; cycle < cycle_count; ++cycle) { // // turn forward fast // clear(bridge_port, IN1); set(bridge_port, IN2); for (count = 0; count < PWM_count; ++count) { set(bridge_port, IN2); on_delay(); clear(bridge_port, IN2); fast_off_delay(); } // // turn reverse fast // clear(bridge_port, IN2); set(bridge_port, IN1); for (count = 0; count < PWM_count; ++count) { set(bridge_port, IN1); on_delay(); clear(bridge_port, IN1); fast_off_delay(); } } //End TF input(serial_direction, serial_pin_out); } } }