/* MegaRotate - Show fancy LED-Stuff while rotating the avr like hell Copyright (C) 2008 Claas Anders Rathje This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, see . Additional Information: Current Date: 200901311250 Look at http://forum.mikrokopter.de/topic-5794.html for demonstration, shematics, videos and whatever. Discussions, Improvements and Hints are welcome. This is the author's first program for AVRs, so please: don't be too hard :) */ // lets use interrupts #include // for atoi we need the following #include // global overflow counter volatile unsigned long overflows = 0; // how many cpu cycles we can spend for ONE splitted-round-part? volatile unsigned long ticksperpart = 0; // did we pass another round? volatile unsigned char roundpassed = 0; // global knowledge of the rpm we made volatile unsigned int rpm = 0; const unsigned char bilder[5][128] = {//{124,4,24,4,120,0,56,84,84,84,24,0,12,82,82,82,62,0,32,84,84,84,120,0,124,8,4,4,8,0,56,68,68,68,56,0,4,63,68,64,32,0,32,84,84,84,120,0,4,63,68,64,32,0,56,84,84,84,24,0,0,0,0,0,0,0,0,0,0,0,0,0,124,4,24,4,120,0,127,16,40,68,0,0,8,8,8,8,8,0,56,84,84,84,24,0,124,20,20,20,8,0,0,68,125,64,0,0,0,96,96,0,0,0,56,68,68,72,127,0,56,84,84,84,24,0,0,0}, // megarotate mk-epi.de {192, 192, 192, 224, 224, 240, 240, 248, 248, 252, 252, 252, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 252, 252, 248, 248, 248, 240, 240, 240, 240, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 240, 240, 240, 240, 248, 240, 240, 240, 240, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 224, 240, 240, 240, 240, 248, 248, 248, 252, 252, 254, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 252, 252, 252, 248, 248, 240, 240, 224, 224, 192, 192}, //heart {1, 1, 1, 1, 1, 1, 49, 121, 121, 121, 121, 121, 121, 241, 241, 241, 97, 97, 65, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 33, 33, 49, 25, 25, 25, 25, 17, 17, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 17, 17, 17, 17, 25, 25, 25, 25, 49, 33, 33, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 65, 97, 97, 241, 241, 241, 121, 121, 121, 121, 121, 121, 49, 1, 1, 1, 1, 1}, // smiley //{170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85,170,85}, // mesh {255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 193, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 127, 63, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 31, 127, 255, 255, 255, 255, 255, 255, 255}, // atom {241, 241, 249, 249, 225, 193, 193, 129, 129, 129, 129, 133, 133, 141, 141, 157, 189, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 221, 205, 205, 205, 205, 193, 193, 129, 129, 128, 129, 193, 225, 241, 225, 193, 129, 128, 129, 129, 193, 193, 205, 205, 205, 205, 221, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 253, 189, 157, 141, 141, 133, 133, 129, 129, 129, 129, 193, 193, 225, 249, 249, 241, 65, 65, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, // batman {255, 252, 248, 240, 224, 224, 192, 192, 128, 128, 128, 128, 0, 0, 0, 0, 0, 128, 128, 128, 128, 192, 192, 224, 240, 248, 252, 255, 254, 252, 248, 240, 240, 224, 224, 224, 192, 192, 192, 192, 128, 128, 128, 128, 128, 192, 192, 224, 224, 240, 248, 254, 255, 255, 254, 252, 248, 248, 240, 240, 224, 224, 224, 192, 192, 192, 224, 224, 224, 240, 240, 248, 252, 254, 255, 255, 254, 252, 248, 240, 224, 224, 192, 192, 192, 128, 128, 128, 192, 192, 192, 192, 192, 224, 224, 224, 240, 248, 248, 252, 254, 255, 252, 240, 224, 224, 192, 192, 128, 128, 128, 128, 0, 0, 0, 0, 128, 128, 128, 128, 192, 192, 192, 224, 224, 240, 248, 252} // star }; // how many pictures are there? easiest way to differ between image and rpm display const unsigned char bilder_num = 5; // ____ RPM: volatile unsigned char rpmtext[128] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 62, 65, 65, 65, 34, 0, 60, 64, 64, 32, 124, 0, 124, 8, 4, 4, 8, 0, 124, 8, 4, 4, 8, 0, 56, 84, 84, 84, 24, 0, 124, 8, 4, 4, 120, 0, 4, 63, 68, 64, 32, 0, 0, 0, 0, 0, 0, 0, 127, 9, 25, 41, 70, 0, 127, 9, 9, 9, 6, 0, 127, 2, 12, 2, 127, 0, 0, 54, 54, 0, 0}; // number stubs so they can be inserted as RPM value unsigned char numbers[10][5] = { {62, 81, 73, 69, 62}, {0, 66, 127, 64, 0}, {66, 97, 81, 73, 70}, {33, 65, 69, 75, 49}, {24, 20, 18, 127, 16}, {39, 69, 69, 69, 57}, {60, 74, 73, 73, 48}, {3, 1, 113, 9, 7}, {54, 73, 73, 73, 54}, {6, 73, 73, 41, 30} }; /** * handle interrupts caused by the hall sensor */ ISR(SIG_INPUT_CAPTURE1) { // calculate the ticks per circle-part: 128 parts mult 8 pixel = 1024 pixel ticksperpart = (((unsigned long) TCNT1) + (overflows * 65536UL)) >> 7; // try to calculate the rpm are doing based on the cycles we spent rpm = (int) ((60UL * (unsigned long) F_CPU) / (((unsigned long) TCNT1) + (overflows * 65536UL))); // reset the timer TCNT1 = 0; // reset overflows overflows = 0; // flag up, the round is over roundpassed = 1; // test-stup for hall sensor, one round toggles all LEDs /*if (PORTD == 0x00) PORTD = 0xFF; else PORTD = 0x00;*/ } /** * count the overflows caused by the timer */ ISR(SIG_OVERFLOW1) { overflows++; } /** * Main */ int main(void) { // Input Capture Mode: rising flank, no prescaler TCCR1B = (1 << ICES1) | (1 << CS10); // set up interrupts: Capture + Overflow TIMSK = (1 << TICIE1) | (1 << TOIE1); // set up PortB as input DDRB = 0x00; // PortD as output DDRD = 0xFF; // all LEDs ON PORTD = 0xFF; // ennable interrupts sei(); // which part are we currently displaying unsigned char part = 0; // which animation is currently running? unsigned char which = 0; // cpu-ticks left till we are reaching the next part unsigned long tickstopass = 0; // rounds is the current picture already running short rounds = 0, oldrounds = 500; // string for RPM char drehzahl[11] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; // counting stubs int i, k; while (1) { if (roundpassed == 1) { // flag down roundpassed = 0; rounds++; // enough rounds shown, switch to next image if (rounds > 800) { rounds = 0; which++; //which = (++which)%bilder_num; if (which > bilder_num) which = 0; } // first part! part = 0; // first barrier at 1*ticksperpart tickstopass = ticksperpart; // rpm or image to display? if (which == bilder_num) { // do not update the array every round, easier to read if (oldrounds > 20) { // convert rpm to a string itoa(rpm, drehzahl, 10); // who needs more that 99k? for (i = 0; i < 6; i++) { // in case we did not get a number blank the digits // 48 is the 0 in ascii if ((drehzahl[i] - 48) < 0 || (drehzahl[i] - 48) > 9) { k = i * 6; rpmtext[k++] = 0; rpmtext[k++] = 0; rpmtext[k++] = 0; rpmtext[k++] = 0; rpmtext[k++] = 0; rpmtext[k] = 0; } else { // copy the current number-patterns for (k = 0; k < 6; k++) { if (k == 5) rpmtext[(i * 6) + k] = 0; else rpmtext[(i * 6) + k] = numbers[(int) drehzahl[i] - 48][k]; } } } oldrounds = 0; } else { oldrounds++; } // show part of the text PORTD = rpmtext[part]; } else { // show part of the image PORTD = bilder[which][part]; } } else if (((unsigned long) TCNT1 + (overflows * 65536UL)) > tickstopass) { // if reached next part part++; // just in case the round too longer do not count part higher than we have data // last part maybe gets stretched but no datagarbage is displayed if (part > 127) part = 127; if (which != bilder_num) { // next image part PORTD = bilder[which][part]; } else { // next text part PORTD = rpmtext[part]; } // next barrier tickstopass += ticksperpart; } else if (((unsigned long) TCNT1 + (overflows * 65536UL)) > (tickstopass - (ticksperpart >> 2))) { PORTD = 0x00; // LEDs off again, solid lines do not look that pretty } } }