' darc2_test.bas
' Author: Kerwin Lumpkins
' Rev date: 2/2/04
' This file tests the DARC Board and is used to verify good operation.
' It drives all the major interfaces and prompts user to take actions
' where appropriate.

' Configuration info: This program to be run on a DARC Board with:
' ATMega8535 fuse bits set for 8 MHz internal oscillator
' Serial port cable connected, Baud Rate 9600 recommended

' put in the cal value for your part here (marked on the 8535 case
' most are hex 9F, some 91's and some in between
Osccal = &HA3

$crystal = 8000000

' servo related declarations here
Declare Sub Servos12_init
Declare Sub Servo1_set(byval Hset As Byte , Byval Lset As Byte)
Declare Sub Servo2_set(byval Hset As Byte , Byval Lset As Byte)
Declare Sub Servo3_init
Declare Sub Servo3_set(byval Setting As Byte)

Dim Servos12_active As Bit
Dim Setting As Byte


' Analog to Digital Conversion related items
Declare Sub Adc_init
Declare Function Adc_get_value(byval Channel As Byte) As Integer
Dim Adc_value As Integer
Dim Channel As Byte


' DIP / LED test items
Dim Invalue As Byte
Dim Outvalue As Byte
Dim A As Byte

'LCD stuff
' set up LCD pins for the DARC board interface, 16 x 2 LCD
Config Lcdpin = Pin , Db4 = Portb.4 , Db5 = Portb.5 , Db6 = Portb.6 , Db7 = Portb.7 , E = Portb.1 , Rs = Portb.0
Config Lcd = 16 * 2


'Main
'  # # # # # # # # # # # # #
' SERVO test
' init the servos
Call Servos12_init
Call Servo3_init
Print ""
Print ""
Print "Test: "
Print "Servos 1,2,3 run 10 secs"
' set servos to run for 10 seconds
Call Servo1_set(0 , 60)
Call Servo2_set(0 , 20)
Call Servo3_set(&H09)
Wait 10

   ' then turn off the servos
Call Servo1_set(&H03 , &HFF)
Call Servo2_set(&H03 , &HFF)
Call Servo3_set(&Hff)

'  # # # # # # # # # # # # #
' ADC test
Call Adc_init
Print ""
Print ""
Print "Test: "
Print "ADC:"

For Channel = 0 To 7
   Adc_value = Adc_get_value(channel)
   Print "Ch:" ; Channel ; " - " ; Adc_value
   Wait 1
Next

'  # # # # # # # # # # # # #
' DIP / LED test
'High bits are outputs (LEDs), low bits are inputs (DIP)
Config Portc = &B11110000
'set the data direction register to be safe
Ddrc = &B11110000

Print ""
Print ""
Print "Test: "
Print "Set DIP to 1100 to exit"
' continuous loop
Invalue = Pinc And &B00001111
While Invalue <> &B00001100
   'read inputs at pins of portc
   Invalue = Pinc And &B00001111
   'set outvalue = invalue and then shift this left to the high 4 bits
   Outvalue = Invalue
   Shift Outvalue , Left , 4
   'set the low 4 to be sure that the internal pullups are enabled
   Outvalue = Outvalue Or &B00001111
   ' load the outvalue to the port
   Portc = Outvalue

Wend


Print ""
Print ""
Print "Test: "
Print "LCD"
Do
Cls                                                         'clear the LCD display
Lcd "DARC Board."                                           'display this at the top line
Wait 1
Lowerline                                                   'select the lower line
Wait 1
Lcd "Kill FRRG!"                                            'display this at the lower line
Wait 1
For A = 1 To 10
   Shiftlcd Right                                           'shift the text to the right
   Wait 1                                                   'wait a moment
Next

For A = 1 To 10
   Shiftlcd Left                                            'shift the text to the left
   Wait 1                                                   'wait a moment
Next

Loop


End

' *********************************************************
' servo control and init subroutines
Sub Servos12_init:

' set bits 5 and 4 for output
Ddrd = Ddrd Or &H30

' set timer 1 for pwm output, prescaler 64
' these settings are for 1 MHz clock
Tccr1a = &HA3
Tccr1b = &H0C

'OCR1 is a 16 bit register that sets the on time or duty
'cycle for servos 1 and 2. The setting is a 16 bit value that
'consists of the Hset being the hi byte, and LSet the low.
'The servos12 device is a 10 bit resolution PWM output so only
'the low 2 bits of Hset are valid.  The Highest value for Hset = hex 3.
'Pulse width = (setting + 1) * 35 us.  So a setting of
'0 will give a 35 us pulse.  Setting = 1 gives a 70 us
'pulse.  A setting of 46 will give about 1.5 ms pulse.
'Hset = &H03 and Lset = &HFF is the OFF setting.
' Note that OCR1A sets servo 2 and B sets servo1

' Here the servos are init'd to be at an "OFF" setting
' hex 03FF gives a 100 % duty cycle pulse.
Ocr1ah = &H03
Ocr1al = &HFF

Ocr1bh = &H03
Ocr1bl = &HFF

Servos12_active = 1

End Sub Servos12_init


Sub Servo1_set(byval Hset As Byte , Byval Lset As Byte)
'OCR1 is a 16 bit register that sets the on time or duty
'cycle for servos 1 and 2. The setting is a 16 bit value that
'consists of the Hset being the hi byte, and LSet the low.
'The servos12 device is a 10 bit resolution PWM output so only
'the low 2 bits of Hset are valid.  The Highest value for Hset = hex 3.
'Pulse width = (setting + 1) * 35 us.  So a setting of
'0 will give a 35 us pulse.  Setting = 1 gives a 70 us
'pulse.  A setting of 46 will give about 1.5 ms pulse.
'Hset = &H03 and Lset = &HFF is the OFF setting.
' Note that OCR1A sets servo 2 and B sets servo1

   Ocr1bh = Hset
   Ocr1bl = Lset
End Sub Servo1_set(byval Hset As Byte , Byval Lset As Byte)


Sub Servo2_set(byval Hset As Byte , Byval Lset As Byte)
'OCR1 is a 16 bit register that sets the on time or duty
'cycle for servos 1 and 2. The setting is a 16 bit value that
'consists of the Hset being the hi byte, and LSet the low.
'The servos12 device is a 10 bit resolution PWM output so only
'the low 2 bits of Hset are valid.  The Highest value for Hset = hex 3.
'Pulse width = (setting + 1) * 35 us.  So a setting of
'0 will give a 35 us pulse.  Setting = 1 gives a 70 us
'pulse.  A setting of 46 will give about 1.5 ms pulse.
'Hset = &H03 and Lset = &HFF is the OFF setting.
' Note that OCR1A sets servo 2 and B sets servo1

   Ocr1ah = Hset
   Ocr1al = Lset
End Sub Servo1_set(byval Hset As Byte , Byval Lset As Byte)


Sub Servo3_set(setting As Byte)
'OCR2 is an 8 bit value that sets the on time or duty cycle.
'Pulse width = (setting + 1) * 130 us.  So a setting of
'0 will give a 130 us pulse.  Setting = 1 gives a 260 us
'pulse.  A setting of 10 will give about 1.5 ms pulse.
'The OFF setting is &HFF.

   Ocr2 = Setting
End Sub Servo3_set(setting As Byte)



Sub Servo3_init:
' set bit 7 for output
Ddrd = Ddrd Or &H80

' set timer 2 for pwm output, prescaler 1024
' these settings are for 8 MHz clock
Tccr2 = &H6F

'OCR2 is an 8 bit value that sets the on time or duty cycle.
'Pulse width = (setting + 1) * 130 us.  So a setting of
'0 will give a 130 us pulse.  Setting = 1 gives a 260 us
'pulse.  A setting of 10 will give about 1.5 ms pulse.
'The OFF setting is &HFF.

Ocr2 = &HFF
End Sub Servo3_init



' ******************************************************************
' ADC sub and functions
Sub Adc_init
   ' set for AVCC reference voltage,Right justified,channel 0
   Admux = &H40

   'set ad status and control register for conversion disabled, conversion
   'not started,auto trigger disabled,interrupts disabled,and divide
   'by 64 prescaler
   Adcsra = &H06

End Sub Adc_init

Function Adc_get_value(byval Channel As Byte) As Integer
   Dim Flag As Byte
   Dim Adcnotdone As Bit
   'init the admux for channel 0
   Admux = Admux And &HE0
   Admux = Admux + Channel

   'enable the adc
   Adcsra = &H86
   'start the conversion
   Adcsra = &HC6

   Adcnotdone = 1

   While Adcnotdone = 1
     Flag = Adcsra And &H40

     'wait until the adc interrupt flag is set
     If Flag = 0 Then Adcnotdone = 0
   Wend

   Dim Adcvalh As Integer
   Dim Adcvall As Integer
   Dim Adcval As Integer
   Adcvalh = 0
   Adcvall = 0
   Adcval = 0

   'get the 2 adc hi and lo bytes and combine into one integer value
   Adcvall = Adcl
   Adcvalh = Adch
   Shift Adcvalh , Left , 8
   Adcval = Adcvalh + Adcvall
   'disable conversion
   Adcsra = &H06
   Adc_get_value = Adcval
End Function Adc_get_value(byval Channel As Byte)