From 7a9eb33c51d5e87cb3d6b87c32586419d0cde7d5 Mon Sep 17 00:00:00 2001
From: Rihards Skuja <rssk@protonmail.com>
Date: Fri, 24 Nov 2017 14:01:11 +0200
Subject: [PATCH 1/3] Clean up unused typedefs

---
 include/main.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/include/main.h b/include/main.h
index 7e52ff4..ecff1db 100644
--- a/include/main.h
+++ b/include/main.h
@@ -1,8 +1,6 @@
 #ifndef MAIN_H
 #define MAIN_H
 
-typedef unsigned char byte;
-
 void initIO(void);
 void blinkLed(void);
 void readTemp(void);

From b014926833f2018d6307c50bcd5aa5950a73d8bb Mon Sep 17 00:00:00 2001
From: Rihards Skuja <rssk@protonmail.com>
Date: Fri, 24 Nov 2017 17:24:12 +0200
Subject: [PATCH 2/3] Add debugging support with simavr

---
 Makefile        |  6 +++++-
 include/debug.h | 16 ++++++++++++++++
 src/main.c      |  4 ++++
 3 files changed, 25 insertions(+), 1 deletion(-)
 create mode 100644 include/debug.h

diff --git a/Makefile b/Makefile
index 907e8c6..33686aa 100644
--- a/Makefile
+++ b/Makefile
@@ -42,9 +42,11 @@ CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
 #CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
 CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
 
-
 #ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
 
+ifeq ($(BUILD),debug)
+	CFLAGS += -DDEBUG
+endif
 
 #Additional libraries.
 
@@ -140,6 +142,8 @@ program: $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).eep
 	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
 
 
+debug:
+	make "BUILD=debug"
 
 
 # Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
diff --git a/include/debug.h b/include/debug.h
new file mode 100644
index 0000000..aa7197a
--- /dev/null
+++ b/include/debug.h
@@ -0,0 +1,16 @@
+#ifndef DEBUG_H
+#define DEBUG_H
+
+#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, },
+};
+
+#endif /* DEBUG_H */
diff --git a/src/main.c b/src/main.c
index f6eec79..f9466e7 100644
--- a/src/main.c
+++ b/src/main.c
@@ -5,6 +5,10 @@
 #include "main.h"
 #include "io.h"
 
+#ifdef DEBUG
+#include "debug.h"
+#endif /* DEBUG */
+
 void initIO()
 {
     DDRD |= (1 << LED_1);

From 2bd66fda7db28a9529a51e4aa98c0a4a397f55f9 Mon Sep 17 00:00:00 2001
From: Rihards Skuja <rssk@protonmail.com>
Date: Fri, 24 Nov 2017 22:14:50 +0200
Subject: [PATCH 3/3] Control left servo motor with PWM

---
 include/debug.h | 10 +++++-----
 src/main.c      | 26 ++++++++++++++++++++++++++
 2 files changed, 31 insertions(+), 5 deletions(-)

diff --git a/include/debug.h b/include/debug.h
index aa7197a..1f6e677 100644
--- a/include/debug.h
+++ b/include/debug.h
@@ -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 */
diff --git a/src/main.c b/src/main.c
index f9466e7..307fe21 100644
--- a/src/main.c
+++ b/src/main.c
@@ -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;
 }