added motions of bodies project

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(); */
+  }
+}