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Merge pull request #7 from rhssk/photo

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Read ADC values, uniform function naming
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Rihards Skuja 2017-11-28 15:38:46 +02:00 committed by GitHub
commit 02efb232ab
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3 changed files with 44 additions and 22 deletions
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7
include/io.h
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@ -12,11 +12,4 @@
#define SERVO_R_PIN PB2 #define SERVO_R_PIN PB2
#define SERVO_R OCR1B #define SERVO_R OCR1B
/* Photo sensors */
#define PH_1 PC1
#define PH_2 PC2
#define PH_3 PC3
#define PH_4 PC4
#define PH_5 PC5
#endif #endif

13
include/main.h
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@ -1,16 +1,17 @@
#ifndef MAIN_H #ifndef MAIN_H
#define MAIN_H #define MAIN_H
#include <stdint.h>
#define SET(PORT, PIN) (PORT |= (1 << PIN)) #define SET(PORT, PIN) (PORT |= (1 << PIN))
#define CLR(PORT, PIN) (PORT &= (~(1 << PIN))) #define CLR(PORT, PIN) (PORT &= (~(1 << PIN)))
#define CHK(PORT, PIN) (PORT & (1 << PIN)) #define CHK(PORT, PIN) (PORT & (1 << PIN))
#define TOG(PORT, PIN) (PORT ^= (1 << PIN)) #define TOG(PORT, PIN) (PORT ^= (1 << PIN))
void initLED(void); void init_led(void);
void initPWM(void); void init_pwm(void);
void blinkLed(void); void read_temp(void);
void readTemp(void); void run_servos(void);
void readPhoto(void); uint16_t read_adc(uint8_t channel);
void runServos(void);
#endif #endif

46
src/main.c
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@ -9,7 +9,7 @@
#include "debug.h" #include "debug.h"
#endif /* DEBUG */ #endif /* DEBUG */
void initPWM(void) void init_pwm(void)
{ {
DDRB |= 1 << SERVO_L_PIN | 1 << SERVO_R_PIN; DDRB |= 1 << SERVO_L_PIN | 1 << SERVO_R_PIN;
/* Phase Correct PWM; Set/clear on Compare Match when down/up-counting */ /* Phase Correct PWM; Set/clear on Compare Match when down/up-counting */
@ -19,12 +19,19 @@ void initPWM(void)
ICR1 = F_CPU / 50 - 1; // 50Hz required by servos ICR1 = F_CPU / 50 - 1; // 50Hz required by servos
} }
void initLED(void) void init_led(void)
{ {
SET(DDRD, LED_1); DDRD |= 1 << LED_1;
} }
void readTemp(void) void init_adc(void)
{
ADCSRA |= 1 << ADPS0 | 1 << ADPS1; // Prescaler = 8 => ADC clock = 125Hz
ADMUX |= 1 << REFS0; // AVcc with external cap as reference voltage
ADCSRA |= 1 << ADEN | 1 << ADSC;
}
void read_temp(void)
{ {
double d; double d;
@ -40,7 +47,7 @@ void readTemp(void)
} }
} }
void runServos(void) void run_servos(void)
{ {
/* Stop */ /* Stop */
SERVO_L = 1500; SERVO_L = 1500;
@ -58,13 +65,34 @@ void runServos(void)
_delay_ms(1500); _delay_ms(1500);
} }
uint16_t read_adc(uint8_t channel)
{
ADMUX &= 0xF0;
ADMUX |= channel;
SET(ADCSRA, ADSC); // Start conversion
while (CHK(ADCSRA, ADSC)); // Wait for conversion to finish
return ADCW;
}
int main(void) int main(void)
{ {
initLED(); uint16_t adc_val;
initPWM();
runServos(); init_led();
readTemp(); init_pwm();
init_adc();
while (1) {
adc_val = read_adc(0);
if (adc_val <= 512) {
SERVO_R = 2000;
SERVO_L = 2000;
} else {
SERVO_R = 1000;
SERVO_L = 1000;
}
}
return 0; return 0;
} }