//----- Include Files --------------------------------------------------------- #include "global.h" // include our global settings #include // include I/O definitions (port names, pin names, etc) #include // include interrupt support //#include //#include "uart.h" // include uart function library //#include "rprintf.h" // include printf function library #include "timer.h" // include A/D converter function library //#include "i2c.h" //#include "math.h" //#include "stdlib.h" //#define I2C_DEVICE_ADDR 0x16 /* hw configuration */ #define DATA_DDR DDRC #define DATA_PORT PORTC #define CTL_DDR DDRA #define CTL_PORT PORTA // pins to control the flipflops (data -> ULNs) #define PIN_74HC574N_OUTPUTENABLE PA0 /* the 4017 decade counter toggles the clock * of each flipflop subsequently. Thereby the 4017 * controls which flipflops takes over the data on * the bus. */ #define PIN_4017_CLOCK PA1 #define PIN_4017_CLEAR PA2 /* * pins to control the shirft register, * which selects the active mosfet */ #define PIN_74HC164_INPUT PA4 #define PIN_74HC164_CLOCK PA5 #define nop() \ asm volatile ("nop") #define NUM_BYTES 10 // must be 10 with 4017 decade counter #define SIZE 5 #define WIDTH_Y (SIZE) #define WIDTH_X (SIZE) #define HEIGHT_Z (SIZE) #define COLORS 3 #define PWM_CYCLE 32 #define NUM_GRADIENTS 5 // size of rgb color sequence #define NUM_COLOR_SEQUENCE 6 // the array holding the color (gradient) value (0..MUM_GRADIENTS) for all leds // 0 means OFF // GRADIENTS 1... NUM_GRADIENTS means ON in gradients of brightness u08 memory[WIDTH_X][WIDTH_Y][HEIGHT_Z][COLORS]; // the array holding all 0/1 values for a whole cube // values are packed in bytes // example: 00001111 // first 4 leds off // last 4 leds on // double buffer * num. of gradient values * num. layers * num bytes volatile u08 double_buffer[2][NUM_GRADIENTS][HEIGHT_Z][NUM_BYTES]; // 2 * 5*5 * 10 (lt half the available RAM) u08 gradientTable[NUM_GRADIENTS] = {1, 2, 6, 13, 31}; // selects the active buffer volatile u08 active_buffer = 0; volatile u08 layer = 0; volatile u08 pwm_counter = 0; volatile uint32_t milliseconds = 0; // variables for animation program s08 rgbColorSequence[NUM_COLOR_SEQUENCE][COLORS] = { {NUM_GRADIENTS, 0, 0}, {0, NUM_GRADIENTS, 0}, {0, 0, NUM_GRADIENTS}, {NUM_GRADIENTS, NUM_GRADIENTS, 0}, {0, NUM_GRADIENTS, NUM_GRADIENTS}, {NUM_GRADIENTS, 0, NUM_GRADIENTS} }; ////////////////////////// // functions ////////////////////////// inline void toggleCtlPins(u08 pins) { CTL_PORT |= pins; delay_us(20); CTL_PORT &= ~(pins); } /** * reset 4017 * to 9 !!! so next count will result in 0 */ inline void init4017(void) { u08 i; toggleCtlPins(_BV(PIN_4017_CLEAR)); // count to 9 so next clock cycle will count "up" to 0 for (i = 0; i < 9; i++) { toggleCtlPins(_BV(PIN_4017_CLOCK)); } } inline void toggle74HC164CLOCK(void) { toggleCtlPins(_BV(PIN_74HC164_CLOCK)); } inline void clear74HC164(void) { u08 i; CTL_PORT |= _BV(PIN_74HC164_INPUT); // push in 11111, since mosfets will switch on logical high for (i = 0; i < SIZE; i++) { toggle74HC164CLOCK(); delay_us(20); } } inline u08 pwmToGradient(u08 pwm) { u08 g; for (g = 0; g < NUM_GRADIENTS - 1; g++) { if (pwm <= gradientTable[g]) { return g; } } return NUM_GRADIENTS - 1; } /** * configures and displays one layer */ void callback_timer0ovf(void) { u08 i; u08 gradient = pwmToGradient(pwm_counter); if (layer == 0) { // for active layer a 0 must be pushed into the shift register CTL_PORT &= ~(_BV(PIN_74HC164_INPUT)); } else { // input of shift register is 1 for all other loop iterations CTL_PORT |= _BV(PIN_74HC164_INPUT); } // turn off all leds by disabling output of the flip flops CTL_PORT |= _BV(PIN_74HC574N_OUTPUTENABLE); // select the next cube layer by shifting the register toggle74HC164CLOCK(); for (i = 0; i < NUM_BYTES; i++) { // set current byte as output on port DATA_PORT = double_buffer[active_buffer][gradient][layer][i]; // toggle clock of 4017, so next flipflop stores // the current byte on the bus toggleCtlPins(_BV(PIN_4017_CLOCK)); } // enable all flip flops enable output (by pulling to gnd) CTL_PORT &= ~(_BV(PIN_74HC574N_OUTPUTENABLE)); layer++; if (layer >= SIZE) { layer = 0; } pwm_counter++; if (pwm_counter >= PWM_CYCLE) { pwm_counter = 0; } } void callback_timer2ovf(void) { milliseconds++; } /* * Do all the startup-time peripheral initializations. */ inline void initIO(void) { /* set all control ports as output. */ /* 74HC164 register for cube level selection */ CTL_DDR |= _BV(PIN_74HC164_CLOCK); CTL_DDR |= _BV(PIN_74HC164_INPUT); //CTL_DDR |= _BV(PIN_74HC164_CLEAR); // pins to control the flipflops (data -> ULNs) CTL_DDR |= _BV(PIN_74HC574N_OUTPUTENABLE); CTL_DDR |= _BV(PIN_4017_CLOCK); CTL_DDR |= _BV(PIN_4017_CLEAR); /* init 4017 decate counter */ init4017(); /** clear the shift register */ clear74HC164(); /* set all data ports as output */ DATA_DDR = 0xFF; // led bus off DATA_PORT = 0; } // ************ I2C Slave operations ************ // this function will run when a master somewhere else on the bus // addresses us and wishes to write data to us /* void i2c_incomming_call(u08 receiveDataLength, u08* recieveData) { if (receiveDataLength == 1) { if (recieveData[0] == 0) { brake(); } else if (recieveData[0] == 1) { neutral(); } else if (recieveData[0] == 2) { stepCount[LEFT] = 0; stepCount[RIGHT] = 0; } } if (receiveDataLength == 2) { if (recieveData[0] == 2) { setStepperHalfFull(LEFT, recieveData[1]); setStepperHalfFull(RIGHT, recieveData[1]); } } if (receiveDataLength == 5) { // leave index 0 unused for other commands v = (s16) (((u16) recieveData[1] << 8) | recieveData[2]); o = (s16) (((u16) recieveData[3] << 8) | recieveData[4]); } } */ // this function will run when a master somewhere else on the bus // addresses us and wishes to read data from us /* u08 i2c_incomming_request(u08 transmitDataLengthMax, u08* transmitData) { transmitData[0] = stepCount[LEFT] >> 8; transmitData[1] = stepCount[LEFT]; transmitData[2] = stepCount[RIGHT] >> 8; transmitData[3] = stepCount[RIGHT]; return 4; } */ /** * sets the buffer with index bufferIndex. * * the image is read from memory and transformed * to a representation in the double buffer * * the double buffer consists of two identical areas. * while one buffer is displayed the next images * is prepared in the other. Once that image is constructed * the buffers are switches atomically. * * the memory holds a value of 0 to 5 (6 possible values) for each led(color) * 0 meaning OFF, and 5 meaning full ON. The intermediate steps * are gradient values for shades of brightness. * * this operation sets the buffer with currentIndex which itself is multi- * dimensional array gradients * layers * bytes * in it a precalulated byte representation of the data ports gets set */ void memoryToBuffer(u08 bufferIndex) { u08 gradient; u08 byte_index; u08 bit_index; u08 x, y, z, c; u16 temp; for (z = 0; z < HEIGHT_Z; z++) { for (x = 0; x < WIDTH_X; x++) { for (y = 0; y < WIDTH_Y; y++) { for (c = 0; c < COLORS; c++) { temp = (y * (WIDTH_X * COLORS) + x * (COLORS) + c); byte_index = temp / 8; bit_index = temp % 8; for (gradient = 0; gradient < NUM_GRADIENTS; gradient++) { if (memory[x][y][z][c] != 0 && memory[x][y][z][c] >= gradient) { double_buffer[bufferIndex][gradient][z][byte_index] |= _BV(bit_index); } else { double_buffer[bufferIndex][gradient][z][byte_index] &= ~(_BV(bit_index)); } } } } } } } void program_solid(s08 red, s08 green, s08 blue) { u08 x, y, z; // init memory for (x = 0; x < WIDTH_X; x++) { for (y = 0; y < WIDTH_Y; y++) { for (z = 0; z < HEIGHT_Z; z++) { memory[x][y][z][0] = blue; memory[x][y][z][1] = green; memory[x][y][z][2] = red; } } } } void program_rainbow(u08 w) { u08 x, y, z, c; for (x = 0; x < WIDTH_X; x++) { for (y = 0; y < WIDTH_Y; y++) { for (z = 0; z < HEIGHT_Z; z++) { for (c = 0; c < COLORS; c++) { if ((z + w) % 3 == c) { memory[x][y][z][c] = NUM_GRADIENTS; // max } else { memory[x][y][z][c] = 0; // OFF } } } } } } /** * Displays a ball in the center of the cube. * This function is specifically designed for a 5x5x5 cube. * @param red 0 to NUM_GRADIENTS * @param green 0 to NUM_GRADIENTS * @param blue 0 to NUM_GRADIENTS * @param blackothers whether to black out leds outside of the ball */ void program_ball(s08 red, s08 green, s08 blue, u08 blackothers) { s08 x, y, z, c; if (blackothers) { program_solid(0, 0, 0); } for (c = 2; c >= 0; c--) { for (x = 0; x < WIDTH_X; x++) { for (y = 0; y < WIDTH_Y; y++) { for (z = 0; z < HEIGHT_Z; z++) { if (((x - 2)*(x - 2) + (y - 2)*(y - 2) + (z - 2)*(z - 2)) <= c * c) { memory[x][y][z][2] = red; memory[x][y][z][1] = green; memory[x][y][z][0] = blue; } } } } } } /** * Displays a gradient cube with all possible colors. * * colors range from 0 to WIDTH_X-1, WIDHT_Y-1, HEIGHT_Z-1 * (which in all cases equals NUM_GRADIENTS-1 = 4) */ void program_gradient(void) { u08 x, y, z; for (x = 0; x < WIDTH_X; x++) { for (y = 0; y < WIDTH_Y; y++) { for (z = 0; z < HEIGHT_Z; z++) { memory[x][y][z][0] = x; memory[x][y][z][1] = y; memory[x][y][z][2] = z; } } } } void program_rotation_left45(void) { u08 s, z; u08 backup[HEIGHT_Z][COLORS]; u08 outer_sequence[8][2] = { {0, 0}, {0, 2}, {0, 4}, {2, 4}, {4, 4}, {4, 2}, {4, 0}, {2, 0} }; u08 inner_sequence[8][2] = { {1, 1}, {1, 2}, {1, 3}, {2, 3}, {3, 3}, {3, 2}, {3, 1}, {2, 1} }; u08 black_leds[8][2] = { {0, 1}, {0, 3}, {1, 4}, {3, 4}, {4, 3}, {4, 1}, {3, 0}, {1, 0} }; // black out leds for (s = 0; s < 8; s++) { for (z = 0; z < HEIGHT_Z; z++) { memory[black_leds[s][0]][black_leds[s][1]][z][0] = 0; memory[black_leds[s][0]][black_leds[s][1]][z][1] = 0; memory[black_leds[s][0]][black_leds[s][1]][z][2] = 0; } } // outer ring for (z = 0; z < HEIGHT_Z; z++) { backup[z][0] = memory[outer_sequence[0][0]][outer_sequence[0][1]][z][0]; backup[z][1] = memory[outer_sequence[0][0]][outer_sequence[0][1]][z][1]; backup[z][2] = memory[outer_sequence[0][0]][outer_sequence[0][1]][z][2]; } for (s = 0; s < 8 - 1; s++) { for (z = 0; z < HEIGHT_Z; z++) { memory[outer_sequence[s][0]][outer_sequence[s][1]][z][0] = memory[outer_sequence[s + 1][0]][outer_sequence[s + 1][1]][z][0]; memory[outer_sequence[s][0]][outer_sequence[s][1]][z][1] = memory[outer_sequence[s + 1][0]][outer_sequence[s + 1][1]][z][1]; memory[outer_sequence[s][0]][outer_sequence[s][1]][z][2] = memory[outer_sequence[s + 1][0]][outer_sequence[s + 1][1]][z][2]; } } for (z = 0; z < HEIGHT_Z; z++) { memory[outer_sequence[7][0]][outer_sequence[7][1]][z][0] = backup[z][0]; memory[outer_sequence[7][0]][outer_sequence[7][1]][z][1] = backup[z][1]; memory[outer_sequence[7][0]][outer_sequence[7][1]][z][2] = backup[z][2]; } // inner ring for (z = 0; z < HEIGHT_Z; z++) { backup[z][0] = memory[inner_sequence[0][0]][inner_sequence[0][1]][z][0]; backup[z][1] = memory[inner_sequence[0][0]][inner_sequence[0][1]][z][1]; backup[z][2] = memory[inner_sequence[0][0]][inner_sequence[0][1]][z][2]; } for (s = 0; s < 8 - 1; s++) { for (z = 0; z < HEIGHT_Z; z++) { memory[inner_sequence[s][0]][inner_sequence[s][1]][z][0] = memory[inner_sequence[s + 1][0]][inner_sequence[s + 1][1]][z][0]; memory[inner_sequence[s][0]][inner_sequence[s][1]][z][1] = memory[inner_sequence[s + 1][0]][inner_sequence[s + 1][1]][z][1]; memory[inner_sequence[s][0]][inner_sequence[s][1]][z][2] = memory[inner_sequence[s + 1][0]][inner_sequence[s + 1][1]][z][2]; } } for (z = 0; z < HEIGHT_Z; z++) { memory[inner_sequence[7][0]][inner_sequence[7][1]][z][0] = backup[z][0]; memory[inner_sequence[7][0]][inner_sequence[7][1]][z][1] = backup[z][1]; memory[inner_sequence[7][0]][inner_sequence[7][1]][z][2] = backup[z][2]; } } void program_plane_x_direction(u08 depth_y, s08 red, s08 green, s08 blue, u08 blackothers) { u08 x, y, z; for (x = 0; x < WIDTH_X; x++) { for (y = 0; y < WIDTH_Y; y++) { for (z = 0; z < HEIGHT_Z; z++) { if (y == depth_y) { memory[x][y][z][0] = blue; memory[x][y][z][1] = green; memory[x][y][z][2] = red; } else { if (blackothers) { memory[x][y][z][0] = 0; memory[x][y][z][1] = 0; memory[x][y][z][2] = 0; } } } } } } void program_plane_y_direction(u08 depth_x, s08 red, s08 green, s08 blue, u08 blackothers) { u08 x, y, z; for (x = 0; x < WIDTH_X; x++) { for (y = 0; y < WIDTH_Y; y++) { for (z = 0; z < HEIGHT_Z; z++) { if (x == depth_x) { memory[x][y][z][0] = blue; memory[x][y][z][1] = green; memory[x][y][z][2] = red; } else { if (blackothers) { memory[x][y][z][0] = 0; memory[x][y][z][1] = 0; memory[x][y][z][2] = 0; } } } } } } void program_plane_z_direction(u08 depth_z, s08 red, s08 green, s08 blue, u08 blackothers) { u08 x, y, z; for (x = 0; x < WIDTH_X; x++) { for (y = 0; y < WIDTH_Y; y++) { for (z = 0; z < HEIGHT_Z; z++) { if (z == depth_z) { memory[x][y][z][0] = blue; memory[x][y][z][1] = green; memory[x][y][z][2] = red; } else { if (blackothers) { memory[x][y][z][0] = 0; memory[x][y][z][1] = 0; memory[x][y][z][2] = 0; } } } } } } void program_small_cube(u08 topLeft_x, u08 topLeft_y, u08 topLeft_z, u08 bottomRight_x, u08 bottomRight_y, u08 bottomRight_z, s08 red, s08 green, s08 blue, u08 blackothers) { u08 x, y, z; for (x = 0; x < WIDTH_X; x++) { for (y = 0; y < WIDTH_Y; y++) { for (z = 0; z < HEIGHT_Z; z++) { if (topLeft_x <= x && x <= bottomRight_x && topLeft_y <= y && y <= bottomRight_y && topLeft_z <= z && z <= bottomRight_z) { memory[x][y][z][0] = blue; memory[x][y][z][1] = green; memory[x][y][z][2] = red; } else { if (blackothers) { memory[x][y][z][0] = 0; memory[x][y][z][1] = 0; memory[x][y][z][2] = 0; } } } } } } void pageFlip(void) { u08 next_buffer; next_buffer = (active_buffer + 1) % 2; memoryToBuffer(next_buffer); active_buffer = next_buffer; } int main(void) { cli(); //cli(); // start i2c communication //i2cInit(); //! Set the local (AVR processor's) I2C device address //i2cSetLocalDeviceAddr(I2C_DEVICE_ADDR, 1); // Set the user function which handles receiving (incoming) data as a slave //i2cSetSlaveReceiveHandler(&i2c_incomming_call); //! Set the user function which handles transmitting (outgoing) data as a slave //i2cSetSlaveTransmitHandler(&i2c_incomming_request); // initialize the UART (serial port) //uartInit(); // make all rprintf statements use uart for output //rprintfInit(uartSendByte); //rprintfProgStrM("I2C DifferentialDrive Controller\n"); initIO(); // initialize the timer system timer0Init(); timer0SetPrescaler(TIMER_CLK_DIV8); timerAttach(0, &callback_timer0ovf); timer2Init(); timer2SetPrescaler(TIMER_CLK_DIV64); timerAttach(2, &callback_timer2ovf); // black out all buffers program_solid(0, 0, 0); memoryToBuffer(0); memoryToBuffer(1); // ready to party sei(); u08 beat = 0; while (1) { u08 rotationStep; u08 colorStep; for (colorStep = 0; colorStep < NUM_COLOR_SEQUENCE; colorStep++) { program_plane_y_direction(2, rgbColorSequence[colorStep][0], rgbColorSequence[colorStep][1], rgbColorSequence[colorStep][2], 1); for (rotationStep = 0; rotationStep < 8; rotationStep++) { // spin round once pageFlip(); program_rotation_left45(); delay_ms(50); } } for (colorStep = 0; colorStep < NUM_COLOR_SEQUENCE; colorStep++) { program_ball(rgbColorSequence[colorStep][0], rgbColorSequence[colorStep][1], rgbColorSequence[colorStep][2], 1); pageFlip(); delay_ms(8 * 50); } for (colorStep = 0; colorStep < NUM_COLOR_SEQUENCE; colorStep++) { u08 steps[8] = {2, 3, 4, 3, 2, 1, 0, 1}; for (rotationStep = 0; rotationStep < 8; rotationStep++) { // spin round once program_plane_y_direction(steps[rotationStep], rgbColorSequence[colorStep][0], rgbColorSequence[colorStep][1], rgbColorSequence[colorStep][2], 1); pageFlip(); delay_ms(50); } } for (colorStep = 0; colorStep < NUM_COLOR_SEQUENCE; colorStep++) { u08 steps[8] = {2, 3, 4, 3, 2, 1, 0, 1}; for (rotationStep = 0; rotationStep < 8; rotationStep++) { // spin round once program_plane_x_direction(steps[rotationStep], rgbColorSequence[colorStep][0], rgbColorSequence[colorStep][1], rgbColorSequence[colorStep][2], 1); pageFlip(); delay_ms(50); } } for (colorStep = 0; colorStep < NUM_COLOR_SEQUENCE; colorStep++) { u08 steps[8] = {2, 3, 4, 3, 2, 1, 0, 1}; for (rotationStep = 0; rotationStep < 8; rotationStep++) { // spin round once program_plane_z_direction(steps[rotationStep], rgbColorSequence[colorStep][0], rgbColorSequence[colorStep][1], rgbColorSequence[colorStep][2], 1); pageFlip(); delay_ms(50); } } for (colorStep = 0; colorStep < NUM_COLOR_SEQUENCE; colorStep++) { program_solid(rgbColorSequence[colorStep][0], rgbColorSequence[colorStep][1], rgbColorSequence[colorStep][2]); pageFlip(); delay_ms(8 * 50); } program_gradient(); pageFlip(); delay_ms(NUM_COLOR_SEQUENCE * 8 * 50); for (colorStep = 0; colorStep < NUM_COLOR_SEQUENCE; colorStep++) { for (rotationStep = 0; rotationStep < 2; rotationStep++) { program_solid(0,0,0); pageFlip(); delay_ms(50); program_solid(NUM_GRADIENTS,NUM_GRADIENTS,NUM_GRADIENTS); pageFlip(); delay_ms(50); } } for (colorStep = 0; colorStep < NUM_COLOR_SEQUENCE; colorStep++) { for (rotationStep = 0; rotationStep < 4; rotationStep++) { program_solid(0,0,0); pageFlip(); delay_ms(25); program_solid(NUM_GRADIENTS,NUM_GRADIENTS,NUM_GRADIENTS); pageFlip(); delay_ms(25); } } } return 0; }