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Merge pull request #3 from rhssk/servos

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Control left servo motor with PWM
This commit is contained in:
Rihards Skuja 2017-11-24 20:18:07 +00:00 committed by GitHub
commit 6b1b5dcf93
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2 changed files with 31 additions and 5 deletions
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10
include/debug.h
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@ -3,14 +3,14 @@
#include <avr/io.h>
#include "/usr/include/simavr/avr/avr_mcu_section.h"
AVR_MCU(F_CPU, "atmega328p");
const struct avr_mmcu_vcd_trace_t _mytrace[] _MMCU_ = {
{ AVR_MCU_VCD_SYMBOL("DDRB"), .what = (void *) &DDRB, },
{ AVR_MCU_VCD_SYMBOL("DDRD"), .what = (void *) &DDRD, },
{ AVR_MCU_VCD_SYMBOL("PORTD"), .what = (void *) &PORTD, },
{ AVR_MCU_VCD_SYMBOL("TCCR0B"), .what = (void *) &TCCR0B, },
{ AVR_MCU_VCD_SYMBOL("TCCR0A"), .what = (void *) &TCCR0A, },
{ AVR_MCU_VCD_SYMBOL("OCR0A"), .what = (void*)&OCR0A, },
{ AVR_MCU_VCD_SYMBOL("TCCR1A"), .what = (void *) &TCCR1A, },
{ AVR_MCU_VCD_SYMBOL("TCCR1B"), .what = (void *) &TCCR1B, },
{ AVR_MCU_VCD_SYMBOL("OCR1A"), .what = (void *) &OCR1A, },
{ AVR_MCU_VCD_SYMBOL("OCR1B"), .what = (void *) &OCR1B, },
};
#endif /* DEBUG_H */

26
src/main.c
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@ -11,6 +11,15 @@
void initIO()
{
/* Servos */
DDRB |= (1 << SERVO_L);
/* Phase Correct PWM, 9-bit; Inverting mode */
TCCR1A |= 1 << WGM11 | 1 << COM1A1 | 1 << COM1A0;
/* "Clear Timer on Compare match" mode; Prescaler = 1 */
TCCR1B |= 1 << WGM13 | 1 << WGM12 | 1 << CS10;
ICR1 = 19999; // F_CPU / 50Hz - 1
/* LED */
DDRD |= (1 << LED_1);
}
@ -30,10 +39,27 @@ void readTemp()
}
}
void runServos()
{
/* Stop */
OCR1A = ICR1 - 1500;
_delay_ms(1500);
/* Reverse */
OCR1A = ICR1 - 2000;
_delay_ms(1500);
/* Forwards */
OCR1A = ICR1 - 1000;
_delay_ms(1500);
}
int main(void)
{
initIO();
runServos();
readTemp();
return 0;
}