9a371461
 pfrison
Programme robot
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#include <avr/io.h>
#include "tlc5947.h"
#define DDR_DLED_CLOCK DDRE
#define PORT_DLED_CLOCK PORTE
#define DDR_DLED_DATA DDRG
#define PORT_DLED_DATA PORTG
#define DDR_DLED_LATCH DDRB
#define PORT_DLED_LATCH PORTB
#define PIN_DLED_CLOCK 0x08
#define PIN_DLED_DATA 0x20
#define PIN_DLED_LATCH 0x10
void init_LED_Drivers(int nb){
// LED drivers I/O as outputs
DDR_DLED_CLOCK |= PIN_DLED_CLOCK;
DDR_DLED_DATA |= PIN_DLED_DATA;
DDR_DLED_LATCH |= PIN_DLED_LATCH;
// Set LATCH output low
PORT_DLED_LATCH &= ~PIN_DLED_LATCH;
}
void set_LED_Drivers(unsigned int pwm[], int nb){
// Set LATCH output low
PORT_DLED_LATCH &= ~PIN_DLED_LATCH;
// 24 channels per TLC5947
int i;
for(i=DLED_CHANNELS*nb-1; i>=0; i--){
// 12 bits per channel, send MSB first
int v=pwm[i];
int j;
for(j=0; j<12; j++){
// Set CLOCK output low
PORT_DLED_CLOCK &= ~PIN_DLED_CLOCK;
// Set DATA as stated by bit #j of i
if(v & 0x0800)
PORT_DLED_DATA |= PIN_DLED_DATA;
else
PORT_DLED_DATA &= ~PIN_DLED_DATA;
// Set CLOCK output HIGH
PORT_DLED_CLOCK |= PIN_DLED_CLOCK;
v <<= 1;
}
}
// Set CLOCK output low
PORT_DLED_CLOCK &= ~PIN_DLED_CLOCK;
// Set LATCH output high
PORT_DLED_LATCH |= PIN_DLED_LATCH;
// Set LATCH output low
PORT_DLED_LATCH &= ~PIN_DLED_LATCH;
}
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