Use the faster macro version if digital_write() instead.
This commit is contained in:
Mika Tuupola
parent
fad28bd803
commit
2b57aba9fe
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@ -11,9 +11,10 @@
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* http://www.protostack.com/blog/2011/02/analogue-to-digital-conversion-on-an-atmega168/
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* http://www.google.com/search?q=atmel+adc_drv
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*
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* General information on ADXL335.
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* General information on using ADXL335.
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*
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* http://bildr.org/2011/04/sensing-orientation-with-the-adxl335-arduino/
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* http://www.electronicsblog.net/simple-angle-meter-using-adxl335-accelerometer-arduino/
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* http://www.sparkfun.com/datasheets/Components/SMD/adxl335.pdf
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*
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* To compile and upload run: make clean; make; make program;
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@ -27,6 +28,7 @@
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#include <stdlib.h>
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#include <avr/io.h>
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#include <math.h>
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#include <stdio.h>
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#include <util/delay.h>
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#include <stdint.h>
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@ -40,36 +42,51 @@
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#define Y 1 /* Analog 1 */
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#define Z 2 /* Analog 2 */
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#define RAD_TO_DEG 57.29578
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static void init(void) {
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pin_mode(X, INPUT);
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pin_mode(Y, INPUT);
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pin_mode(Z, INPUT);
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}
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int main(void) {
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int64_t map(int64_t value, int64_t in_min, int64_t in_max, int64_t out_min, int64_t out_max) {
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return (value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
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}
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uint8_t main(void) {
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init();
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uart_init();
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stdout = &uart_output;
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stdin = &uart_input;
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uint16_t min = 265;
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uint16_t max = 413;
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while (1) {
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uint16_t x;
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uint16_t y;
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uint16_t z;
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x = analog_read(X);
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y = analog_read(Y);
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z = analog_read(Z);
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printf("word: %d %d %d\n", x, y, z);
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uint16_t x = analog_read(X);
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uint16_t y = analog_read(Y);
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uint16_t z = analog_read(Z);
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uint16_t x2;
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uint16_t y2;
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uint16_t z2;
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x2 = analog_read_byte(X);
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y2 = analog_read_byte(Y);
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z2 = analog_read_byte(Z);
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int8_t x_ang = map(x, min, max, -90, 90);
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int8_t y_ang = map(y, min, max, -90, 90);
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int8_t z_ang = map(z, min, max, -90, 90);
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uint16_t x_deg = RAD_TO_DEG * (atan2(-y_ang, -z_ang) + M_PI);
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uint16_t y_deg = RAD_TO_DEG * (atan2(-x_ang, -z_ang) + M_PI);
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uint16_t z_deg = RAD_TO_DEG * (atan2(-y_ang, -x_ang) + M_PI);
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printf("word: %d %d %d angle: %d %d %d degrees: %d %d %d\n", x, y, z, x_ang, y_ang, z_ang, x_deg, y_deg, z_deg);
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/*
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uint16_t x2 = analog_read_byte(X);
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uint16_t y2 = analog_read_byte(Y);
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uint16_t z2 = analog_read_byte(Z);
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printf("byte: %d %d %d\n", x2, y2, z2);
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*/
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_delay_ms(200);
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@ -1,2 +1,3 @@
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static void init(void);
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int main(void);
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uint8_t main(void);
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int64_t map(int64_t value, int64_t in_min, int64_t in_max, int64_t out_min, int64_t out_max);
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@ -51,7 +51,7 @@ FORMAT = ihex
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TARGET = main
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# List C source files here. (C dependencies are automatically generated.)
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SRC = $(TARGET).c uart_async.c digital_slow.c
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SRC = $(TARGET).c uart_async.c
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# List Assembler source files here.
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# Make them always end in a capital .S. Files ending in a lowercase .s
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@ -0,0 +1,29 @@
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/*
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* digital.h
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*
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* Lightweight macro implementation of Arduino style pin numbering
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* for AVR microprocessors. Because only thing I want to use from
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* Arduino libraries is the pin numbering scheme.
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*
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* This file taken 99% from the excellent ArduinoLite project by
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* Shikai Chen <csk@live.com>. Some minor changes to suite my personal
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* coding taste.
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*
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* http://code.google.com/p/arduino-lite/
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* http://www.csksoft.net/
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*
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* Copyright (c) 2010-2011 Shikai Chen
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*
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* Licensed under the LGPL 2.1 license:
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* http://www.opensource.org/licenses/lgpl-2.1.php
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*/
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#ifndef DIGITAL_H
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#define DIGITAL_H
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#include "pins.h"
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#define digital_read(pin) EXPAND_WRAPPER(_D_READ, ARDUINOPIN_TO_PORTID(pin), ARDUINOPIN_TO_PORTMSK(pin) )
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#define digital_read_raw(pin) EXPAND_WRAPPER(_D_READ_RAW, ARDUINOPIN_TO_PORTID(pin), ARDUINOPIN_TO_PORTMSK(pin) )
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#define digital_write(pin, val) D_WRITE_##val(pin)
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#endif /* DIGITAL_H */
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@ -1,99 +0,0 @@
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#include <stdint.h>
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#include "digital_slow.h"
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const uint8_t PROGMEM portmask_at_pin[] = {
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_BV(0), /* 0, port D */
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_BV(1),
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_BV(2),
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_BV(3),
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_BV(4),
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_BV(5),
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_BV(6),
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_BV(7),
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_BV(0), /* 8, port B */
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_BV(1),
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_BV(2),
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_BV(3),
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_BV(4),
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_BV(5),
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_BV(0), /* 14, port C */
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_BV(1),
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_BV(2),
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_BV(3),
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_BV(4),
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_BV(5),
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_BV(6),
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_BV(7)
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};
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const uint8_t PROGMEM port_at_pin[] = {
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PD, /* 0 */
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PD,
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PD,
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PD,
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PD,
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PD,
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PD,
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PD,
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PB, /* 8 */
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PB,
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PB,
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PB,
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PB,
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PB,
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PC, /* 14 */
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PC,
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PC,
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PC,
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PC,
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PC,
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PB, /* 20 */
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PB
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};
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const uint16_t PROGMEM output_reg_at_port[] = {
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0,
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0,
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(uint16_t) &PORTB,
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(uint16_t) &PORTC,
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(uint16_t) &PORTD
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};
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const uint16_t PROGMEM direction_reg_at_port[] = {
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0,
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0,
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(uint16_t) &DDRB,
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(uint16_t) &DDRC,
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(uint16_t) &DDRD
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};
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void pin_mode(uint8_t pin, uint8_t mode) {
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uint8_t port_mask = pgm_read_byte(portmask_at_pin + pin);
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uint8_t port = pgm_read_byte(port_at_pin + pin);
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volatile uint8_t *direction_register = pgm_read_byte(direction_reg_at_port + port);;
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if (mode == INPUT) {
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*direction_register &= ~port_mask;
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} else {
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*direction_register |= port_mask;
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}
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}
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void digital_write(uint8_t pin, uint8_t value) {
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volatile uint8_t *out;
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uint8_t port_mask = pgm_read_byte(portmask_at_pin + pin);
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uint8_t port = pgm_read_byte(port_at_pin + pin);
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uint8_t *output_register = pgm_read_byte(output_reg_at_port + port);
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if (0 == value) {
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*output_register &= ~port_mask;
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} else {
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*output_register |= port_mask;
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}
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}
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@ -1,23 +0,0 @@
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#ifndef DIGITAL_SLOW_H
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#define DIGITAL_SLOW_H
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#include <avr/pgmspace.h>
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#define HIGH 0x1
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#define LOW 0x0
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#define INPUT 0x0
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#define OUTPUT 0x1
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#define PB 2
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#define PC 3
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#define PD 4
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extern const uint8_t PROGMEM portmask_at_pin[];
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extern const uint8_t PROGMEM port_at_pin[];
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extern const uint16_t PROGMEM output_reg_at_port[];
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extern const uint16_t PROGMEM direction_reg_at_port[];
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void pin_mode(uint8_t pin, uint8_t mode);
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void digital_write(uint8_t pin, uint8_t value);
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#endif /* DIGITAL_SLOW_H */
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@ -36,7 +36,8 @@
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#include "main.h"
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#include "uart.h"
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#include "digital_slow.h"
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#include "pins.h"
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#include "digital.h"
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#define LATCH 8 /* RCK */
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#define CLOCK 12 /* SRCK */
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@ -52,11 +53,14 @@ static void init(void) {
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void shift_out(uint8_t data) {
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for(uint8_t i = 0; i < 8; i++) {
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/* Write bit to data port. */
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uint8_t bit = data & _BV(7 - i);
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digital_write(DATA, bit);
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if (0 == (data & _BV(7 - i))) {
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digital_write(DATA, LOW);
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} else {
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digital_write(DATA, HIGH);
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}
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/* Pulse clock input to write next bit. */
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digital_write(CLOCK, LOW);
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digital_write(CLOCK, LOW);
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digital_write(CLOCK, HIGH);
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}
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}
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@ -21,6 +21,8 @@
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#ifndef PINS_H
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#define PINS_H
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#include <avr/sfr_defs.h>
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#include <avr/io.h>
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#define HIGH 0x1
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#define LOW 0x0
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