More modifications for public use of project

1 files changed, 0 insertions, 1000 deletions

diff --git a/pwm_appl/10ch_pwm_appl.c b/pwm_appl/10ch_pwm_appl.c
deleted file mode 100644
index afb4350..0000000
--- a/pwm_appl/10ch_pwm_appl.c
+++ /dev/null
@@ -1,1000 +0,0 @@
-/*

- * Copyright (C) 2010 Andreas Auras

- *

- * This file is part of the DF10CH Atmolight controller project.

- *

- * DF10CH Atmolight controller 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 2 of the License, or

- * (at your option) any later version.

- *

- * DF10CH Atmolight controller 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, write to the Free Software

- * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110, USA

- *

- */

-

-// ======================================================================

-// Application firmware for PWM processor.

-//

-

-#include <stdint.h>

-#include <string.h>

-#include <avr/io.h>

-#include <avr/interrupt.h>

-#include <avr/wdt.h>

-#include <avr/pgmspace.h>

-#include <avr/eeprom.h>

-

-#include "../df10ch_common.h"

-#include "../df10ch_usb_proto.h"

-

-

-// ---

-// Fuse-Bit settings for the flash programmer (ATmega 162):

-//

-//	M161C=1

-//	BODLEVEL2=1

-//	BODLEVEL1=0

-//	BODLEVEL0=0

-//

-//	OCDEN=1

-//	JTAGEN=1

-//	SPIEN=0

-//	WDTON=0

-//	EESAVE=1

-//	BOOTSZ1=0

-//	BOOTSZ0=0

-//	BOOTRST=1

-//

-//	CKDIV8=1

-//	CKOUT=1

-//	SUT1=0

-//	SUT0=1

-//	CKSEL3=1

-//	CKSEL2=1

-//	CKSEL1=1

-//	CKSEL0=1

-//

-// Memory-Lock Bits:

-//	BLB12=1, BLB11=0, BLB02=1, BLB01=1, LB2=1, LB1=1

-//

-FUSES = 

-{

-	.low = (FUSE_SUT1),

-	.high = (FUSE_SPIEN & FUSE_WDTON & FUSE_BOOTSZ1 & FUSE_BOOTSZ0),

-	.extended = (FUSE_BODLEVEL1 & FUSE_BODLEVEL0),

-};

-LOCKBITS = (LB_MODE_1 & BLB0_MODE_1 & BLB1_MODE_2);

-//SIGNATURE_DATA = { SIGNATURE_2, SIGNATURE_1, SIGNATURE_0 } ;

-

-

-// ---

-// System clock related.

-// System clock is implemented with hardware timer 0

-//

-#define SYS_HWPRESCALE		64				// Hardware Prescaler

-#define SYS_PRESCALER			256				// Timer Prescaler

-

-	// useconds <-> timer ticks conversation

-#define US2TICKS(t)	((uint16_t)((double)(t) * (double)F_CPU / (1000000.0 * (double)SYS_HWPRESCALE * (double)SYS_PRESCALER) + 0.5))

-#define	TICKS2US(t)	(((t) / (F_CPU / (1000000UL * SYS_HWPRESCALE * SYS_PRESCALER))))

-

-static uint16_t sys_clock;

-

-

-// ---

-// Keep alive reply related

-//

-#define MIN_KEEP_ALIVE_PAUSE	US2TICKS(15000)

-

-static uint16_t last_keep_alive;

-

-   

-// ---

-// Request parser related variables

-//

-typedef union

-{

-	uint8_t bytes[REQ_HEADER_SIZE];

-	struct

-	{

-    uint8_t request_type;

- 		uint8_t request;

-   	bytes_word_t value;

-   	bytes_word_t index;

-   	bytes_word_t length;

-  };

-} pwm_request_t;

-

-static pwm_request_t actual_req;

-static uint8_t header_pos;

-static uint8_t payload_pos;

-static uint8_t payload_count;

-

-

-// ---

-// PWM generation related

-//

-#define DEF_F_PWM 			100UL	// Default PWM cycle frequency in Hz

-#define PWM_HWPRESCALE	16		// Hardware timer prescale

-#define PWM_PRESCALE		9			// require: (PWM_PRESCALE * PWM_HWPRESCALE) > (size of ISR for timer )

-

-#define DEF_MAX_PWM (F_CPU / (PWM_HWPRESCALE * PWM_PRESCALE * DEF_F_PWM) - 1)	// Maximum internal resolution for pwm

-

-#define PWM_STEP_PAGE_SIZE (NCHANNELS + 2) // possible maximum steps: NCHANNELS + Pause + End of Table

-

-typedef struct pwm_step_s {

-	uint8_t port_val[NPORTS];				// Values for Port A,B,C,D

-	uint16_t timer_val;							// Timer compare value

-	struct pwm_step_s *next_step;		// Pointer to next list entry

-	} pwm_step_t;

-

-	// One actual and one shadow page

-static pwm_step_t pwm_step_page1[PWM_STEP_PAGE_SIZE] NOMEMINIT;

-static pwm_step_t pwm_step_page2[PWM_STEP_PAGE_SIZE] NOMEMINIT;

-static pwm_step_t *shadow_pwm_page NOMEMINIT;

-static pwm_step_t *active_pwm_page NOMEMINIT;

-static pwm_step_t * volatile actual_pwm_step NOMEMINIT;

-static uint8_t update_pwm_page NOMEMINIT;

-

-

-// ---

-// RX buffer related variables

-//

-#define RXBUF_SIZE (REQ_HEADER_SIZE + MAX_REQ_PAYLOAD_SIZE + 1)

-#if RXBUF_SIZE == 256

-#define CHECK_RXBUF_END(pos)

-#else

-#define CHECK_RXBUF_END(pos)	if ((pos) == RXBUF_SIZE) (pos) = 0

-#endif

-

-static uint8_t volatile rxrpos, rxwpos, rxspos, rx_err_status;

-static uint8_t rxbuf[RXBUF_SIZE] NOMEMINIT;

-

-

-// ---

-// Actual brightness values for each channel

-//

-static uint16_t bright_vals[NCHANNELS];

-

-

-// ---

-// Port channel mapping related variables

-//

-typedef struct { uint8_t code, port_bits; } channel_map_t;

-

-static channel_map_t default_channel_map[NCHANNELS] PROGMEM = {

-		// J3

-	{ CM_CODE(PA_IDX, 0), _BV(2) },

-	{ CM_CODE(PA_IDX, 1), _BV(1) },

-	{ CM_CODE(PA_IDX, 2), _BV(0) },

-

-		// J4

-	{ CM_CODE(PA_IDX, 3), _BV(5) },

-	{ CM_CODE(PA_IDX, 4), _BV(4) },

-	{ CM_CODE(PA_IDX, 5), _BV(3) },

-

-		// J5

-	{ CM_CODE(PC_IDX, 6), _BV(7) },

-	{ CM_CODE(PA_IDX, 7), _BV(7) },

-	{ CM_CODE(PA_IDX, 8), _BV(6) },

-

-		// J6

-	{ CM_CODE(PC_IDX, 9), _BV(4) },

-	{ CM_CODE(PC_IDX, 10), _BV(5) },

-	{ CM_CODE(PC_IDX, 11), _BV(6) },

-

-		// J7

-	{ CM_CODE(PC_IDX, 12), _BV(1) },

-	{ CM_CODE(PC_IDX, 13), _BV(2) },

-	{ CM_CODE(PC_IDX, 14), _BV(3) },

-

-		// J8

-	{ CM_CODE(PD_IDX, 15), _BV(6) },

-	{ CM_CODE(PD_IDX, 16), _BV(7) },

-	{ CM_CODE(PC_IDX, 17), _BV(0) },

-

-		// J9

-	{ CM_CODE(PD_IDX, 18), _BV(3) },

-	{ CM_CODE(PD_IDX, 19), _BV(4) },

-	{ CM_CODE(PD_IDX, 20), _BV(5) },

-

-		// J10

-	{ CM_CODE(PB_IDX, 21), _BV(6) },

-	{ CM_CODE(PB_IDX, 22), _BV(7) },

-	{ CM_CODE(PD_IDX, 23), _BV(2) },

-

-		// J11

-	{ CM_CODE(PB_IDX, 24), _BV(3) },

-	{ CM_CODE(PB_IDX, 25), _BV(4) },

-	{ CM_CODE(PB_IDX, 26), _BV(5) },

-

-		// J12

-	{ CM_CODE(PB_IDX, 27), _BV(0) },

-	{ CM_CODE(PB_IDX, 28), _BV(1) },

-	{ CM_CODE(PB_IDX, 29), _BV(2) }

-

-	};

-

-

-// ---

-// Setup values that will be stored to eeprom.

-//

-

-typedef struct {

-	uint16_t max_pwm;

-	uint8_t common_pwm;

-	channel_map_t channel_map[NCHANNELS];

-	} setup_t;

-	

-setup_t setup NOMEMINIT;

-

-#define EE_VALID_MARK 0xA5

-static uint8_t ee_valid EEMEM;		// If eeprom content is valid this byte is EE_VALID_MARK

-static setup_t ee_setup EEMEM;

-

-

-// Status LED related

-#define STATUS_LED_PORT	PORTE

-#define STATUS_LED_BIT	1

-

-// Common PWM channel related

-#define MAX_COMMON_PWM 255

-#define DEF_COMMON_PWM 255	// Default common pwm value

-

-#define COMMON_PWM_PORT	PORTE

-#define COMMON_PWM_BIT	2

-

-

-// Input pin for enable/disable of bootloader

-#define BL_SENSE_PIN	 	PINE

-#define BL_SENSE_BIT		0

-

-

-// ---

-// Definition of port direction and initial values.

-//

-#define PA_DDR	0xFF

-#define PA_INIT	0x00

-

-#define PB_DDR	0xFF

-#define PB_INIT	0x00

-

-#define PC_DDR	0xFF

-#define PC_INIT	0x00

-

-#define PD_DDR (_BV(1) | _BV(2) | _BV(3) | _BV(4) | _BV(5) | _BV(6) | _BV(7))

-#define	PD_INIT _BV(1)

-

-#define PE_DDR	(_BV(STATUS_LED_BIT) | _BV(COMMON_PWM_BIT))

-#define	PE_INIT	_BV(BL_SENSE_BIT)

-

-

-// ---

-// Catchup all unused interrupts and wait until watchdog resets device.

-// This ISR is only for unexpected interrupts.

-//

-ISR(BADISR_vect)

-{

-	for (;;);

-}

-

-

-// ---

-// ISR for PWM generation.

-//

-ISR(TIMER3_COMPA_vect)

-{

-	pwm_step_t *p = actual_pwm_step;

-

-		// Optimized OCR3A = p->timer_val

-	OCR3AH = ((uint8_t *)&(p->timer_val))[1];

-	OCR3AL = ((uint8_t *)&(p->timer_val))[0];

-

-	PORTA = p->port_val[PA_IDX];

-	PORTB = p->port_val[PB_IDX];

-	PORTC = p->port_val[PC_IDX];

-	PORTD = p->port_val[PD_IDX];

-

-		// Optimized actual_pwm_step = p->next_step

-	((uint8_t *)&(actual_pwm_step))[0] = ((uint8_t *)&(p->next_step))[0];

-	((uint8_t *)&(actual_pwm_step))[1] = ((uint8_t *)&(p->next_step))[1];

-}

-

-

-// ---

-// ISR for receiving data.

-//

-ISR(USART0_RXC_vect)

-{

-	clear_bit(UCSR0B, RXCIE0);

-	sei();

-

-	do

-	{

-		uint8_t i = rxwpos;

-		uint8_t p = i + 1;

-		CHECK_RXBUF_END(p);

-

-		if (bit_is_set(UCSR0A, FE0))

-			set_bit(rx_err_status, COMM_ERR_FRAME);

-		else if (bit_is_set(UCSR0A, DOR0))

-			set_bit(rx_err_status, COMM_ERR_OVERRUN);

-		else if (p == rxrpos)

-			set_bit(rx_err_status, COMM_ERR_OVERFLOW);

-		else

-		{

-			if (bit_is_set(UCSR0B, RXB80))

-				rxspos = i;		// save start of request message

-			rxwpos = p;			// set data valid

-		}

-	  rxbuf[i] = UDR0;	// read data

-	}

-	while (bit_is_set(UCSR0A, RXC0));

-

-	cli();

-	set_bit(UCSR0B, RXCIE0);

-}

-

-

-// ---

-// Processing while waiting for a event.

-//

-static void background_processing(void)

-{

-	wdt_reset();

-

-		// count system clock

-	if (bit_is_set(TIFR, TOV0))

-	{

-		++sys_clock;

-		TIFR = _BV(TOV0);

-	}

-}

-

-

-// ---

-// Put data into transmit buffer.

-//

-static void send_reply_data(uint8_t c)

-{

-		// Wait until transmit buffer free

-	while (bit_is_clear(UCSR0A, UDRE0))

-		background_processing();

-

-	UDR0 = c;

-}

-

-

-// ---

-// Send reply start.

-//

-static void send_reply_start(uint8_t len)

-{

-		// Wait until transmit buffer free

-	while (bit_is_clear(UCSR0A, UDRE0))

-		background_processing();

-

-	uint8_t id = actual_req.request_type & PWMRQ_ID_MASK;

-	if (len)

-		id |= PWMRP_HAS_PAYLOAD;

-

-	set_bit(UCSR0B, TXB80);		// Set 9th bit for start of reply

-	UDR0 = id;								// Send reply id

-	clear_bit(UCSR0B, TXB80);

-

-	if (len)

-		send_reply_data(len);		// Send reply length

-

-	last_keep_alive = sys_clock;

-}

-

-

-// ---

-// Send keep alive reply.

-//

-static void send_keep_alive_reply(void)

-{

-	background_processing();

-	if ((sys_clock - last_keep_alive) > MIN_KEEP_ALIVE_PAUSE)

-	{

-			// Wait until transmit buffer free

-		while (bit_is_clear(UCSR0A, UDRE0))

-			background_processing();

-

-		set_bit(UCSR0B, TXB80);		// Set 9th bit for start of reply

-		UDR0 = PWMRP_KEEP_ALIVE;	// Send keep alive ID

-		clear_bit(UCSR0B, TXB80);

-

-		last_keep_alive = sys_clock;

-	}

-}

-

-	

-// ---

-// Set on time 'v' for port bits 'pb' of port 'pi' in shadow pwm page.

-//

-static void set_channel(uint8_t pi, uint8_t pb, uint16_t v)

-{

-	pwm_step_t *p = shadow_pwm_page;

-	pwm_step_t *l, *n;

-

-	while (p->timer_val && v >= p->timer_val)

-	{

-		p->port_val[pi] |= pb;

-		if (p->timer_val == v)

-			return;

-		l = p;

-		p = l->next_step;

-	}

-

-	if (p->timer_val)

-	{

-		n = p;

-		do

-		{

-			l = n;

-			n = l->next_step;

-		}	

-		while (n->timer_val);

-

-		l->next_step = n->next_step;

-		n[0] = p[0];

-		p->next_step = n;

-	}

-	else

-	{					

-		p->port_val[PA_IDX] = PA_INIT;

-		p->port_val[PB_IDX] = PB_INIT;

-		p->port_val[PC_IDX] = PC_INIT;

-		p->port_val[PD_IDX] = PD_INIT;

-	}

-	p->timer_val = v;

-	p->port_val[pi] |= pb;

-}

-

-

-// ---

-// Init shadow pwm page.

-//

-static uint8_t init_pwm_page(uint8_t do_init)

-{

-	pwm_step_t *p = shadow_pwm_page;

-	pwm_step_t *e = p + PWM_STEP_PAGE_SIZE;

-

-		// Check if shadow page is deactivated

-	cli();

-	pwm_step_t *a = actual_pwm_step;

-	sei();

-	if (a >= p && a < e)

-		return(0); // Shadow page is still active

-

-	if (do_init)

-	{

-		while (p < e)

-		{

-			p->timer_val = 0;

-			a = p + 1;

-			p->next_step = a;

-			p = a;

-		}

-	}

-

-	return(1);

-}

-

-

-// ---

-// Finalize shadow pwm page and activate it.

-//

-static void activate_pwm_page(void)

-{

-	pwm_step_t *p = shadow_pwm_page;

-	pwm_step_t *l;

-	uint16_t t = 0;

-

-		// Calculate time steps

-	while (p->timer_val)

-	{

-		uint16_t ts = p->timer_val - t;

-		t = p->timer_val;

-		p->timer_val = ts * PWM_PRESCALE;

-		l = p;

-		p = l->next_step;

-	}

-

-		// Add pause entry to reach a full cycle

-	t = setup.max_pwm - t;

-	if (t)

-	{

-		p->port_val[PA_IDX] = PA_INIT;

-		p->port_val[PB_IDX] = PB_INIT;

-		p->port_val[PC_IDX] = PC_INIT;

-		p->port_val[PD_IDX] = PD_INIT;

-		p->timer_val = t * PWM_PRESCALE;

-		l = p;

-	}

-

-		// Make list cyclic

-	p = shadow_pwm_page;

-	l->next_step = p;

-	

-		// Install Link to shadow page in active page

-	p = active_pwm_page;

-	active_pwm_page = l;

-	l = shadow_pwm_page;

-	cli();

-	p->next_step = l;

-	sei();

-

-		// Swap shadow page

-	if (l == pwm_step_page1)

-		p = pwm_step_page2;

-	else

-		p = pwm_step_page1;

-	shadow_pwm_page = p;

-	

-	update_pwm_page = 0;

-}

-

-

-// ---

-// Calculate pwm page.

-//

-static void calc_pwm_page(void)

-{

-	uint8_t c;

-

-	c = NCHANNELS;

-	while (c--)

-	{

-		uint8_t port_bits = setup.channel_map[c].port_bits;

-		if (port_bits)

-		{

-			uint8_t code = setup.channel_map[c].code;

-			uint16_t v = bright_vals[CM_CHANNEL(code)];

-			if (v)

-			{

-				if (v > setup.max_pwm)

-					v = setup.max_pwm;

-				set_channel(CM_PORT(code), port_bits, v);

-			}

-		}

-	}

-}

-

-

-// ---

-// Initialize pwm step table and start pwm timer.

-//

-static void init_pwm_step_tab(void)

-{

-		// Set up pwm step table

-	shadow_pwm_page = pwm_step_page1;

-	active_pwm_page = pwm_step_page2;

-	actual_pwm_step = pwm_step_page2;

-	init_pwm_page(1);

-	calc_pwm_page();

-	activate_pwm_page();

-	actual_pwm_step = active_pwm_page->next_step;

-

-	TCNT3 = 0;	// Reset timer counter

-	OCR3A = PWM_PRESCALE; // Initial startup step

-	TCCR3B = _BV(CS32) | _BV(CS31) | _BV(WGM32);	// Start timer, Prescaler 16, CTC mode

-}

-

-

-// ---

-// Set default setup values.

-//

-static void init_setup_values(void)

-{

-	setup.max_pwm = DEF_MAX_PWM;

-	setup.common_pwm = DEF_COMMON_PWM;

-

-	memcpy_P(&setup.channel_map, &default_channel_map, sizeof(setup.channel_map));

-}

-

-

-// ---

-// Read setup values from eeprom.

-//

-static void read_setup_values(void)

-{

-	if (eeprom_read_byte(&ee_valid) == EE_VALID_MARK)

-		eeprom_read_block(&setup, &ee_setup, sizeof(setup));

-	else

-		init_setup_values();

-}

-

-

-// ---

-// Store actual setup values into eeprom.

-//

-static void store_setup_values(void)

-{

-	uint8_t i = sizeof(setup);

-	uint8_t *src = (uint8_t *) (&setup);

-	uint8_t *dst = (uint8_t *) (&ee_setup);

-	while (i--)

-	{

-		if (eeprom_read_byte(dst) != *src)

-		{

-			eeprom_write_byte(dst, *src);

-			while (!eeprom_is_ready())

-				send_keep_alive_reply();

-		}

-		++src;

-		++dst;

-	}

-	if (eeprom_read_byte(&ee_valid) != EE_VALID_MARK)

-	{

-		eeprom_write_byte(&ee_valid, EE_VALID_MARK);

-		while (!eeprom_is_ready())

-			send_keep_alive_reply();

-	}

-}

-

-

-// ---

-// Set common pwm value.

-//

-static void set_common_pwm(void)

-{

-	uint8_t v = setup.common_pwm;

-

-	if (v == 0 || v == 255)

-	{

-		if (v)

-			set_bit(COMMON_PWM_PORT, COMMON_PWM_BIT);

-		else

-			clear_bit(COMMON_PWM_PORT, COMMON_PWM_BIT);

-		clear_bit(TCCR1A, COM1B1);	// Normal port output

-	}

-	else

-	{

-		OCR1B = v;

-		clear_bit(COMMON_PWM_PORT, COMMON_PWM_BIT);

-		set_bit(TCCR1A, COM1B1);		// pwm port output

-	}

-}

-

-

-// ---

-// Send reply packet from ram memory.

-//

-static void send_reply_mem(uint8_t *data, uint16_t len)

-{

-	pwm_request_t *r = &actual_req;

-	FIX_POINTER(r);

-

-	uint16_t p = r->index.word << 1;

-	uint16_t n = r->length.word;

-	if (p >= len)

-		n = 0;

-	if (n && (p + n) > len)

-		n = len - p;

-	if (n > MAX_REPLY_PAYLOAD_SIZE)

-		n = 0;	// Send nothing!

-

-	send_reply_start(n);

-

-	data += p;

-	while (n)

-	{

-		send_reply_data(*data++);

-		--n;

-	} 

-}

-

-

-// ---

-// Process set brightness value.

-//

-static void req_set_brightness(void)

-{

-	pwm_request_t *r = &actual_req;

-	FIX_POINTER(r);

-

-	uint8_t p = payload_pos;

-	uint16_t c = r->index.word;

-	uint16_t len = r->length.word >> 1;

-	while (len && c < NCHANNELS)

-	{

-		bytes_word_t v;

-		v.bytes[0] = rxbuf[p++];

-		CHECK_RXBUF_END(p);

-		v.bytes[1] = rxbuf[p++];

-		CHECK_RXBUF_END(p);

-

-		if (bright_vals[c] != v.word)

-		{

-			bright_vals[c] = v.word;

-			update_pwm_page = 1;

-		}

-

-		++c;

-		--len;

-	}

-}

-

-

-// ---

-// Process set channel map request.

-//

-static void req_set_channel_map(void)

-{

-	pwm_request_t *r = &actual_req;

-	FIX_POINTER(r);

-

-	uint8_t p = payload_pos;

-	uint16_t c = r->index.word;

-	uint16_t len = r->length.word >> 1;

-	while (len && c < NCHANNELS)

-	{

-		uint8_t v = rxbuf[p++];

-		CHECK_RXBUF_END(p);

-

-		if (CM_CHANNEL(v) >= NCHANNELS)

-			v = NCHANNELS - 1;

-

-		if (setup.channel_map[c].code != v)

-		{

-			setup.channel_map[c].code = v;

-			update_pwm_page = 1;

-		}

-

-		v = rxbuf[p++];

-		CHECK_RXBUF_END(p);

-

-		if (setup.channel_map[c].port_bits != v)

-		{

-			setup.channel_map[c].port_bits = v;

-			update_pwm_page = 1;

-		}

-

-		++c;

-		--len;

-	}

-}

-

-

-// ---

-// Process received request.

-//

-static void process_request(void)

-{				 

-	pwm_request_t *r = &actual_req;

-	FIX_POINTER(r);

-

-	uint8_t req = r->request;

-

-	if (req == PWM_REQ_SET_BRIGHTNESS)

-		req_set_brightness();

-	else if (req == PWM_REQ_SET_BRIGHTNESS_SYNCED)

-	{

-		req_set_brightness();

-		if (update_pwm_page)

-		{

-			while (!init_pwm_page(0))

-				background_processing();

-		}

-	}

-	else if (req == PWM_REQ_GET_BRIGHTNESS)

-	{

-		send_reply_mem((uint8_t *)bright_vals, sizeof(bright_vals));

-		return;

-	}

-	else if (req == PWM_REQ_SET_CHANNEL_MAP)

-		req_set_channel_map();

-	else if (req == PWM_REQ_GET_CHANNEL_MAP)

-	{

-		send_reply_mem((uint8_t *)&setup.channel_map, sizeof(setup.channel_map));

-		return;

-	}

-	else if (req == PWM_REQ_STORE_SETUP)

-		store_setup_values();

-	else if (req == PWM_REQ_RESET_SETUP)

-	{

-		init_setup_values();

-		update_pwm_page = 1;

-		if (eeprom_read_byte(&ee_valid) == EE_VALID_MARK)

-			eeprom_write_byte(&ee_valid, (uint8_t)(~EE_VALID_MARK));	// Invalidate eeprom values

-	}

-	else if (req == PWM_REQ_GET_REQUEST_ERR_STATUS)

-	{

-		send_reply_start(1);

-		send_reply_data(rx_err_status);

-		rx_err_status = 0;

-		return;

-	}

-	else if (req == PWM_REQ_SET_COMMON_PWM)

-	{

-		setup.common_pwm = (r->value.word <= MAX_COMMON_PWM) ? r->value.bytes[0]: MAX_COMMON_PWM;

-		set_common_pwm();

-	}

-	else if (req == PWM_REQ_GET_COMMON_PWM)

-	{

-		send_reply_start(2);

-		send_reply_data(setup.common_pwm);

-		send_reply_data(0);

-		return;

-	}

-	else if (req == PWM_REQ_GET_MAX_PWM)

-	{

-		send_reply_start(4);

-		send_reply_data((uint8_t)(setup.max_pwm & 0x00FF));

-		send_reply_data((uint8_t)(setup.max_pwm >> 8));

-		send_reply_data(MAX_COMMON_PWM);

-		send_reply_data(0);

-		return;

-	}

-	else if (req == PWM_REQ_SET_PWM_FREQ)

-	{

-		if (r->value.word >= MIN_PWM_FREQ && r->value.word <= MAX_PWM_FREQ)

-		{

-			setup.max_pwm = F_CPU / (PWM_HWPRESCALE * PWM_PRESCALE * (uint32_t)r->value.word) - 1;

-			update_pwm_page = 1;

-		}

-	}

-	else if (req == PWM_REQ_GET_PWM_FREQ)

-	{

-		uint16_t f = F_CPU / (((uint32_t)setup.max_pwm + 1) * PWM_HWPRESCALE * PWM_PRESCALE);

-		send_reply_start(2);

-		send_reply_data((uint8_t)(f & 0x00FF));

-		send_reply_data((uint8_t)(f >> 8));

-		return;

-	}

-	else if (req == PWM_REQ_GET_VERSION)

-	{

-		send_reply_start(2);

-		send_reply_data(PWM_VERS_APPL);

-		send_reply_data(FIRMWARE_VERSION);

-		return;

-	}

-	else if (req == PWM_REQ_ECHO_TEST)

-	{

-		send_reply_start(8);

-		send_reply_data(r->bytes[0]);

-		send_reply_data(r->bytes[1]);

-		send_reply_data(r->bytes[2]);

-		send_reply_data(r->bytes[3]);

-		send_reply_data(r->bytes[4]);

-		send_reply_data(r->bytes[5]);

-		send_reply_data(r->bytes[6]);

-		send_reply_data(r->bytes[7]);

-		return;

-	}

-

-	send_reply_start(0);

-}

-

-

-// ---

-// Decode data byte of received data.

-//

-static void read_data(void)

-{

-	uint8_t p, c, is_req_start;

-

-

-		// Read data from RX buffer

-	p = rxrpos;

-	is_req_start = (p == rxspos);

-	c = rxbuf[p++];

-	CHECK_RXBUF_END(p);

-	rxrpos = p;

-

-	p = header_pos;

-	if (is_req_start)

-	{

-		if (p)

-			set_bit(rx_err_status, COMM_ERR_TIMEOUT);

-

-		p = 0;

-	}

-	else if (!p)

-		return;					// Discard garbage

-

-	if (p < sizeof(pwm_request_t))

-	{

-		pwm_request_t *r = &actual_req;

-		FIX_POINTER(r);

-

-		r->bytes[p++] = c;

-		header_pos = p;

-

-		if (p < sizeof(pwm_request_t))

-			return;

-

-			// Header complete

-		if (!(r->request_type & PWMRQ_DEVICE_TO_HOST) && r->length.word)

-		{

-			payload_pos = rxrpos;

-			payload_count = r->length.word;

-			return;

-		}

-	}	

-	else if (--payload_count)

-		return;	// Payload not complete

-

-	last_keep_alive = sys_clock;

-	process_request();

-	header_pos = 0;

-}

-

-

-// ---

-// Device initialization and main program loop.

-//

-void main(void) NORETURN;

-void main(void)

-{

-  wdt_enable(WDTO_30MS);	// Set watchdog timeout

-

-		// Port init, enable pull-up resistors for unused ports

-	PORTA = PA_INIT;

-	PORTB = PB_INIT;

-	PORTC = PC_INIT;

-	PORTD = PD_INIT;

-	PORTE = PE_INIT;

-	DDRA = PA_DDR;

-	DDRB = PB_DDR;

-	DDRC = PC_DDR;

-	DDRD = PD_DDR;

-	DDRE = PE_DDR;

-

-		// USART init

-		// 9 data bits, 1 stop bit, no parity, asynchron mode

-		// Enable TX, RX and RX Interrupts

-#include <util/setbaud.h>

-  UBRR0H = UBRRH_VALUE;

-  UBRR0L = UBRRL_VALUE;

-#if USE_2X

-  UCSR0A = _BV(U2X);

-#endif

-	UCSR0C = _BV(URSEL0) | _BV(UCSZ01) | _BV(UCSZ00);

-  UCSR0B = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0) | _BV(UCSZ02);

-

-	read_setup_values();

-

-		// Timer 0 is used for system clock

-		// Normal mode, Prescaler 64

-	TCCR0 = _BV(CS01) | _BV(CS00);

-

-		// Timer 1 is used for common PWM generation

-		// Fast 8-Bit PWM mode, Prescaler 1, PWM output at OC1B Pin 

-	TCCR1A = _BV(WGM10);

-	TCCR1B = _BV(WGM12) | _BV(CS10);

-	set_common_pwm();

-

-		// Timer 3 is used for PWM generation

-	ETIMSK = _BV(OCIE3A);	// Enable timer 3 compare a interrupt

-	init_pwm_step_tab();

-

-		// Main loop

-  for (;;)

-  {	

-		background_processing();

-

-		if (rxrpos != rxwpos)

-			read_data();

-

-		if (update_pwm_page && init_pwm_page(1))

-		{

-			calc_pwm_page();

-			activate_pwm_page();

-		}

-

-		if (update_pwm_page || header_pos)

-			clear_bit(STATUS_LED_PORT, STATUS_LED_BIT); // We are processing a request

-		else

-			set_bit(STATUS_LED_PORT, STATUS_LED_BIT);		// No request

-  }

-}