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authorChristian Pointner <equinox@spreadspace.org>2016-02-15 20:03:43 (GMT)
committerChristian Pointner <equinox@spreadspace.org>2016-02-15 20:03:43 (GMT)
commit7e1906e371832040c0f4bf319ea4cc7a50e97aee (patch)
treeb5225f7fe4472194c431f99959ff3dcf4b94ebe6
parentba9f121c35bfe4abe037407b91fcd1c7bacddc84 (diff)
added motions of bodies project
-rw-r--r--motions/Makefile29
-rw-r--r--motions/motions.c106
2 files changed, 135 insertions, 0 deletions
diff --git a/motions/Makefile b/motions/Makefile
new file mode 100644
index 0000000..4279bc4
--- /dev/null
+++ b/motions/Makefile
@@ -0,0 +1,29 @@
+##
+## spreadspace avr utils
+##
+##
+## Copyright (C) 2016 Christian Pointner <equinox@spreadspace.org>
+##
+## This file is part of spreadspace avr utils.
+##
+## spreadspace avr utils is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## any later version.
+##
+## spreadspace avr utils is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with spreadspace avr utils. If not, see <http://www.gnu.org/licenses/>.
+##
+
+NAME := motions
+BOARD_TYPE := arduinoNano
+OBJ := $(NAME).o
+LIBS := util led
+SPREADAVR_PATH := ../contrib/avr-utils
+
+include $(SPREADAVR_PATH)/include.mk
diff --git a/motions/motions.c b/motions/motions.c
new file mode 100644
index 0000000..cfb51de
--- /dev/null
+++ b/motions/motions.c
@@ -0,0 +1,106 @@
+/*
+ * spreadspace avr utils
+ *
+ *
+ * Copyright (C) 2013-2015 Christian Pointner <equinox@spreadspace.org>
+ *
+ * This file is part of spreadspace avr utils.
+ *
+ * spreadspace avr utils is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * any later version.
+ *
+ * spreadspace avr utils is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with spreadspace avr utils. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#include <avr/io.h>
+#include <avr/wdt.h>
+#include <avr/interrupt.h>
+#include <avr/power.h>
+#include <stdio.h>
+
+#include "util.h"
+#include "led.h"
+
+#include "util/delay.h"
+
+#define PWM_VAL OCR1BL
+
+void pwm_init(void)
+{
+ DDRB |= (1<<PB6);
+ TCCR1B = 0;
+ TCNT1 = 0;
+ OCR1B = 0;
+ TCCR1A = (1<<COM1B1) | (1<<WGM10);
+ TCCR1B = (1<<WGM12) | (1<<CS10);
+}
+
+inline void pwm_set(uint8_t val)
+{
+ PWM_VAL = val;
+}
+
+inline void pwm_inc(void)
+{
+ if(PWM_VAL < 255)
+ PWM_VAL++;
+}
+
+inline void pwm_dec(void)
+{
+ if(PWM_VAL > 0)
+ PWM_VAL--;
+}
+
+/* void handle_cmd(uint8_t cmd) */
+/* { */
+/* switch(cmd) { */
+/* case '0': led_off(); printf("ok\r\n"); break; */
+/* case '1': led_on(); printf("ok\r\n"); break; */
+/* case '+': pwm_inc(); printf("pwm = %d\r\n", PWM_VAL); break; */
+/* case '-': pwm_dec(); printf("pwm = %d\r\n", PWM_VAL); break; */
+/* case 'r': reset2bootloader(); break; */
+/* default: printf("error\r\n"); return; */
+/* } */
+
+/* } */
+
+int main(void)
+{
+ MCUSR &= ~(1 << WDRF);
+ wdt_disable();
+
+ cpu_init();
+
+ led_init();
+ pwm_init();
+ sei();
+
+ led_off();
+ for(;;) {
+ _delay_ms(100);
+ led_toggle();
+ _delay_ms(900);
+ led_toggle();
+ /* int16_t BytesReceived = usbio_bytes_received(); */
+ /* while(BytesReceived > 0) { */
+ /* int ReceivedByte = fgetc(stdin); */
+ /* if(ReceivedByte != EOF) { */
+ /* handle_cmd(ReceivedByte); */
+ /* } */
+ /* BytesReceived--; */
+ /* } */
+
+ /* adc_task(); */
+ /* usbio_task(); */
+ }
+}