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Incorporate Carl Troein's PowerFunctions Updates
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,94 @@ | ||
| // LEGO Power Function sample code | ||
| // This program shows how to use some of the library fuctions. | ||
| // It contains examples of using PWM and other operation modes, and it shows | ||
| // how the extra address space can be used if you have two receivers set to | ||
| // the same channel. | ||
| // Usage: Use 2 IR receivers set to channel 1. Start with one switched on and | ||
| // one sswitched off. Start the program and press Prgm to set the IR receiver | ||
| // to use the extra address space. Then turn on the other IR receiver. (If you | ||
| // run the program again, press View instead of Prgm to skip the address space | ||
| // switch.) Watch as the program plays around with PWM speeds on blue and red | ||
| // output on both receivers. | ||
| // | ||
| //Bob Kojima 01-28-2008 | ||
| //[email protected] | ||
| //v1.0.1 | ||
|
|
||
| #include <dsensor.h> | ||
| #include <dbutton.h> | ||
| #include <powerfunctions.h> | ||
|
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| #include <unistd.h> | ||
| #include <conio.h> | ||
|
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| int main(int argc, char **argv) | ||
| { | ||
| pf_init(); | ||
| pf_repeat = 0; // Default: don't resend IR messages | ||
|
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| // Wait for View key | ||
| cputc_native_user(CHAR_p, CHAR_r, CHAR_g, CHAR_m); | ||
| unsigned char k; | ||
| while(!((k = dkey) & (KEY_PRGM | KEY_VIEW))) msleep(1); | ||
| if(k == KEY_PRGM) | ||
| { | ||
| // Set active receivers to use the extra address space | ||
| pf_align_toggle(PF_CH1, 0); | ||
| pf_toggle_address(PF_CH1, 0); | ||
| } | ||
| cputc_native_user(CHAR_p, CHAR_f, CHAR_SPACE, CHAR_SPACE); | ||
|
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||
| // PWM with timeout | ||
| pf_combo_pwm(PF_CH1, PWM_FWD5, PWM_FWD5, 1); | ||
| msleep(400); | ||
|
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| // For unknown reasons bibo hangs if I use dkey_wait or getchar. | ||
| // dkey_wait(KEY_PRESSED, KEY_VIEW); | ||
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| cputc_native_user(CHAR_p, CHAR_f, CHAR_SPACE, CHAR_SPACE); | ||
| // From here on control receivers in both address spaces | ||
|
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| int i; | ||
| for(i = 0; i < 4; ++i) | ||
| { | ||
| // Single output without timeout | ||
| pf_single_output_pwm(PF_CH1, PF_BLUE, PWM_REV1, 0); | ||
| pf_single_output_pwm(PF_CH1, PF_RED, PWM_FWD1, 0); | ||
| pf_single_output_pwm(PF_CH1, PF_BLUE, PWM_REV7, 1); | ||
| pf_single_output_pwm(PF_CH1, PF_RED, PWM_FWD7, 1); | ||
| sleep(1); | ||
|
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||
| // Reverse output directions | ||
| pf_single_output(PF_CH1, PF_BLUE, PF_TOGGLE_DIR, 0); | ||
| pf_single_output(PF_CH1, PF_RED, PF_TOGGLE_DIR, 0); | ||
| pf_single_output(PF_CH1, PF_BLUE, PF_TOGGLE_DIR, 1); | ||
| pf_single_output(PF_CH1, PF_RED, PF_TOGGLE_DIR, 1); | ||
|
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||
| // Gradually slow outputs to a halt | ||
| int j; | ||
| for(j = 0; j < 7; ++j) | ||
| { | ||
| msleep(400); | ||
| pf_single_output(PF_CH1, PF_BLUE, PF_INC_NUM_PWM, 0); | ||
| pf_single_output(PF_CH1, PF_RED, PF_INC_NUM_PWM, 0); | ||
| pf_single_output(PF_CH1, PF_BLUE, PF_DEC_NUM_PWM, 1); | ||
| pf_single_output(PF_CH1, PF_RED, PF_DEC_NUM_PWM, 1); | ||
| } | ||
|
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||
| for(j = 0; j < 7; ++j) | ||
| { | ||
| msleep(400); | ||
| pf_single_output(PF_CH1, PF_BLUE, PF_DEC_NUM_PWM, 0); | ||
| pf_single_output(PF_CH1, PF_RED, PF_DEC_NUM_PWM, 0); | ||
| } | ||
|
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||
| // Break (and then float) outputs | ||
| pf_combo_pwm(PF_CH1, PWM_BRK, PWM_BRK, 0); | ||
| pf_combo_pwm(PF_CH1, PWM_BRK, PWM_BRK, 1); | ||
| sleep(1); | ||
| } | ||
|
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||
| cls(); | ||
| return 0; | ||
| } | ||
|
|
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,217 @@ | ||
| /*! \file powerfunctions.h | ||
| \brief Interface: power functions IR control | ||
| \author Carl Troein <[email protected]> | ||
| */ | ||
|
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||
| /* | ||
| * The contents of this file are subject to the Mozilla Public License | ||
| * Version 1.0 (the "License"); you may not use this file except in | ||
| * compliance with the License. You may obtain a copy of the License at | ||
| * http://www.mozilla.org/MPL/ | ||
| * | ||
| * Software distributed under the License is distributed on an "AS IS" | ||
| * basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See the | ||
| * License for the specific language governing rights and limitations | ||
| * under the License. | ||
| * | ||
| * Based on code by Bob Kojima <[email protected]> 2008-01-28 | ||
| * | ||
| * 2012-05-15 - Carl Troein <[email protected]> | ||
| * - Updated to match PF RC 1.20 and adapted for Bibo | ||
| */ | ||
|
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||
| #include <conio.h> | ||
| #include <unistd.h> | ||
|
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| #include <lnp-logical.h> | ||
| #include <sys/h8.h> | ||
| #include <sys/time.h> | ||
|
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||
| //Channels | ||
| #define PF_CH1 0x0 | ||
| #define PF_CH2 0x1 | ||
| #define PF_CH3 0x2 | ||
| #define PF_CH4 0x3 | ||
|
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||
| //Combo direct mode speeds | ||
| #define PF_RED_FLT 0x0 | ||
| #define PF_RED_FWD 0x1 | ||
| #define PF_RED_REV 0x2 | ||
| #define PF_RED_BRK 0x3 | ||
| #define PF_BLUE_FLT 0x0 | ||
| #define PF_BLUE_FWD 0x4 | ||
| #define PF_BLUE_REV 0x8 | ||
| #define PF_BLUE_BRK 0xC | ||
|
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||
| //PWM speed steps | ||
| #define PWM_FLT 0x0 | ||
| #define PWM_FWD1 0x1 | ||
| #define PWM_FWD2 0x2 | ||
| #define PWM_FWD3 0x3 | ||
| #define PWM_FWD4 0x4 | ||
| #define PWM_FWD5 0x5 | ||
| #define PWM_FWD6 0x6 | ||
| #define PWM_FWD7 0x7 | ||
| #define PWM_BRK 0x8 | ||
| #define PWM_REV7 0x9 | ||
| #define PWM_REV6 0xA | ||
| #define PWM_REV5 0xB | ||
| #define PWM_REV4 0xC | ||
| #define PWM_REV3 0xD | ||
| #define PWM_REV2 0xE | ||
| #define PWM_REV1 0xf | ||
|
|
||
| //Single output mode commands | ||
| #define PF_TOGGLE_FWD 0x0 | ||
| #define PF_TOGGLE_DIR 0x1 | ||
| #define PF_INC_NUM_PWM 0x2 | ||
| #define PF_DEC_NUM_PWM 0x3 | ||
| #define PF_INC_PWM 0x4 | ||
| #define PF_DEC_PWM 0x5 | ||
| #define PF_FULL_FWD 0x6 | ||
| #define PF_FULL_REV 0x7 | ||
| #define PF_TOGGLE_FWD_REV 0x8 | ||
| #define PF_CLEAR_C1 0x9 | ||
| #define PF_SET_C1 0xa | ||
| #define PF_TOGGLE_C1 0xb | ||
| #define PF_CLEAR_C2 0xc | ||
| #define PF_SET_C2 0xd | ||
| #define PF_TOGGLE_C2 0xe | ||
| #define PF_TOGGLE_REV 0xf | ||
|
|
||
| //Single output mode outputs | ||
| #define PF_RED 0x0 | ||
| #define PF_BLUE 0x1 | ||
|
|
||
| //Modes | ||
| #define PF_COMBO_DIRECT 0x1 | ||
| #define PF_SINGLE_OUTPUT_PWM 0x4 | ||
| #define PF_SINGLE_OUTPUT 0x6 | ||
| //Escaped mode | ||
| #define PF_COMBO_PWM 0x4 | ||
|
|
||
| //Useful extended mode operations | ||
| #define PF_TOGGLE_ADDRESS 0x6 | ||
| #define PF_ALIGN_TOGGLE 0x7 | ||
|
|
||
| //For convenience in pf_ functions: add extra address bit to mode if needed | ||
| #define PF_EXADDR(mode) (extra_address ? (mode) | 8 : (mode)) | ||
|
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||
| /** | ||
| Notes/clarifications about power functions: | ||
| The receiver is not able to process a message that is sent too quickly | ||
| after the stop bit of the previous message. Extending the stop bit to 54 | ||
| cycles appears to solve the problem. | ||
| The effect of "PWM numeric increase/decrease" PF_INC(DEC)_NUM_PWM is to | ||
| increase or decrease the absolute value of the PWM speed. Decreasing to | ||
| speed zero gives FLT, as does inc/dec from FLT or BRK. | ||
| When the receiver is powered on, it expects the next message to have the | ||
| toggle bit cleared. | ||
| After a Combo PWM message, the receiver expects the toggle bit to be set. | ||
| As documented, the toggle bit is not validated for single output mode | ||
| messages wth clear/set/full_* commands. However, the next message is | ||
| expected to have the opposite value (assuming it is validated). | ||
| The toggle bit is not affected by messages in the other address space, | ||
| nor by messages to other channels. | ||
| 'Toggle full forward' will stop from forward PWM. | ||
| 'Toggle direction' changes timeout modes into non-timeout. PWM is reversed | ||
| correctly. Stop remains stop (haven't tested BRK vs FLT). | ||
| If C1/C2 are altered individually, the receiver's notion of the current | ||
| direction/speed remain unchanged. It may be restored by 'toggle direction'. | ||
| */ | ||
|
|
||
| #ifdef CONF_POWERFUNCTIONS | ||
|
|
||
| //! Initialize IR transmitter for power functions | ||
| void pf_init(void); | ||
|
|
||
| //! Send a 16-bit PF message. | ||
| //! If pf_repeat is false, the message is sent once. Otherwise it is sent | ||
| //! five times, with delays as specified in the PF RC protocol in order to | ||
| //! negate the effects of IR collisions. Note that this protocol only works | ||
| //! if all IR traffic adheres to it, so there may be interference with LNP. | ||
| //! The function blocks interrupts during the whole time the message is | ||
| //! sent, roughly 10-12 ms. Finally it waits for 0.4 ms us to allow the | ||
| //! receiver to be ready for another message. | ||
| void pf_send(unsigned c1, unsigned c2, unsigned c3); | ||
|
|
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| //! ir message toggle bit, one per channel and address space (1-4, extra 1-4) | ||
| extern unsigned char pf_toggle[8]; | ||
|
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| //! Whether to repeat PF messages 5 times. Doing so will make pf_send take | ||
| //! approximately 400-600 ms instead of the 10-13 ms required for a single | ||
| //! message. | ||
| extern int pf_repeat; | ||
|
|
||
| // For all these functions, if extra_address is true then the command is sent | ||
| // with the extra address space bit set, as described in PF RC protocol v1.20. | ||
|
|
||
| //! send one COMBO_DIRECT message | ||
| //! e.g. pf_combo_direct(PF_CH1, PF_RED_BRK | PF_BLUE_FWD, false) | ||
| static inline void pf_combo_direct(unsigned channel, unsigned speeds, | ||
| unsigned extra_address) | ||
| { | ||
| pf_send(channel, PF_EXADDR(PF_COMBO_DIRECT), speeds); | ||
| pf_toggle[channel + extra_address * 4] = 8; | ||
| } | ||
|
|
||
| //! send one SINGLE_OUTPUT message in PWM mode | ||
| //! e.g. pf_single_output_pwm(PF_CH1, PF_RED, PWM_FWD5, false) | ||
| static inline void pf_single_output_pwm(unsigned channel, | ||
| unsigned output, unsigned pwm, unsigned extra_address) | ||
| { | ||
| unsigned char ix = extra_address * 4 + channel; | ||
| pf_send(pf_toggle[ix] | channel, | ||
| output | PF_EXADDR(PF_SINGLE_OUTPUT_PWM), pwm); | ||
| pf_toggle[ix] ^= 8; | ||
| } | ||
|
|
||
| //! send one SINGLE_OUTPUT message in C/S/T/I/D mode | ||
| //! e.g. pf_single_output(PF_CH1, PF_RED, PF_DEC_NUM_PWM, false) | ||
| static inline void pf_single_output(unsigned channel, | ||
| unsigned output, unsigned cmd, unsigned extra_address) | ||
| { | ||
| unsigned char ix = extra_address * 4 + channel; | ||
| pf_send(pf_toggle[ix] | channel, output | PF_EXADDR(PF_SINGLE_OUTPUT), cmd); | ||
| pf_toggle[ix] ^= 8; | ||
| } | ||
|
|
||
| //! send one COMBO_PWM message | ||
| //! e.g. pf_combo_pwm(PF_CH1, PWM_FWD5, PWM_REV3, false) | ||
| static inline void pf_combo_pwm(unsigned channel, | ||
| unsigned pwm_blue, unsigned pwm_red, unsigned extra_address) | ||
| { | ||
| pf_send(PF_EXADDR(PF_COMBO_PWM) | channel, pwm_blue, pwm_red); | ||
| pf_toggle[extra_address * 4 + channel] = 8; | ||
| } | ||
|
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||
| //! align toggle bit (e.g. to make sure that the next command has a chance | ||
| // of success). | ||
| //! e.g. pf_align_toggle(PF_CH1, false) | ||
| static inline void pf_align_toggle(int channel, unsigned extra_address) | ||
| { | ||
| unsigned char ix = extra_address * 4 + channel; | ||
| pf_send(pf_toggle[ix] | channel, PF_EXADDR(0), PF_ALIGN_TOGGLE); | ||
| pf_toggle[ix] ^= 8; | ||
| } | ||
|
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| //! toggle the extra/default address space selector | ||
| //! e.g. pf_toggle_address(PF_CH1, false) | ||
| static inline void pf_toggle_address(int channel, unsigned extra_address) | ||
| { | ||
| unsigned char ix = extra_address * 4 + channel; | ||
| pf_send(pf_toggle[ix] | channel, PF_EXADDR(0), PF_TOGGLE_ADDRESS); | ||
| pf_toggle[ix ^ 4] = pf_toggle[ix] ^= 8; | ||
| } | ||
|
|
||
| #endif // CONF_POWERFUNCTIONS |
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