99 lines
1.8 KiB
C
99 lines
1.8 KiB
C
#include <avr/io.h>
|
|
#include <avr/interrupt.h>
|
|
#include <util/delay.h>
|
|
#include "ds18b20.h"
|
|
#include "main.h"
|
|
#include "io.h"
|
|
|
|
#ifdef DEBUG
|
|
#include "debug.h"
|
|
#endif /* DEBUG */
|
|
|
|
void init_pwm(void)
|
|
{
|
|
DDRB |= 1 << SERVO_L_PIN | 1 << SERVO_R_PIN;
|
|
/* Phase Correct PWM; Set/clear on Compare Match when down/up-counting */
|
|
TCCR1A |= 1 << WGM11 | 1 << COM1A1 | 1 << COM1B1;
|
|
/* "Clear Timer on Compare match" mode; Prescaler = 1 */
|
|
TCCR1B |= 1 << WGM12 | 1 << WGM13 | 1 << CS10;
|
|
ICR1 = F_CPU / 50 - 1; // 50Hz required by servos
|
|
}
|
|
|
|
void init_led(void)
|
|
{
|
|
DDRD |= 1 << LED_1;
|
|
}
|
|
|
|
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;
|
|
|
|
sei();
|
|
for (;;) {
|
|
d = ds18b20_gettemp();
|
|
if (d >= 21)
|
|
SET(PORTD, LED_1);
|
|
else
|
|
CLR(PORTD, LED_1);
|
|
|
|
_delay_ms(500);
|
|
}
|
|
}
|
|
|
|
void run_servos(void)
|
|
{
|
|
/* Stop */
|
|
SERVO_L = 1500;
|
|
SERVO_R = 1500;
|
|
_delay_ms(1500);
|
|
|
|
/* Reverse */
|
|
SERVO_L = 2000;
|
|
SERVO_R = 2000;
|
|
_delay_ms(1500);
|
|
|
|
/* Forwards */
|
|
SERVO_L = 1000;
|
|
SERVO_R = 1000;
|
|
_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)
|
|
{
|
|
uint16_t adc_val;
|
|
|
|
init_led();
|
|
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;
|
|
}
|