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-rw-r--r--digital/beacon/tests/servo/main_avr.c105
1 files changed, 105 insertions, 0 deletions
diff --git a/digital/beacon/tests/servo/main_avr.c b/digital/beacon/tests/servo/main_avr.c
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+++ b/digital/beacon/tests/servo/main_avr.c
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+/* main_avr.c */
+/* Beacon State Machine & Main. {{{
+ *
+ * Copyright (C) 2012 Florent Duchon
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program 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 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#include <types.h>
+#include <util/delay.h>
+#include <appTimer.h>
+#include "configuration.h"
+#include "print.h"
+#include "led.h"
+
+uint8_t sense = 1;
+
+static HAL_AppTimer_t testTimer;
+
+void test_task(void)
+{
+
+}
+
+void APL_TaskHandler(void)
+{
+ static int init_done = 0;
+ if(init_done == 0)
+ {
+ /* Init Led */
+ init_led();
+
+ /* Init Serial Interface for debug */
+ initSerialInterface();
+
+ //Fpwm = f_IO / (prescaler * (1 + TOP)) = 7200 Hz. */
+ OCR1B = 150;
+ OCR1A = 150;
+
+
+ /* Fast PWM 10bits with TOP=0x03FF */
+ TCCR1A |= (1<<WGM11)|(1<<WGM10);
+ TCCR1B |= (1<<WGM12);
+
+ /* Prescaler = 256 */
+ TCCR1B |= (1<<CS11) | (1<<CS10);
+
+ /* Postive Logic */
+ TCCR1A |= (1<<COM1A1)|(1<<COM1B1);
+
+ /* Select ouptut */
+ DDRB |= (1<<PB5) | (1<<PB6);
+
+
+ /* Configure Overflow and Input compare interrupts */
+ TIMSK1 |= (1<<TOIE1);
+
+ /* Enable Interrupts */
+ sei();
+
+ testTimer.interval = 1000L;
+ testTimer.mode = TIMER_REPEAT_MODE;
+ testTimer.callback = test_task;
+ HAL_StartAppTimer(&testTimer);
+
+ init_done = 1;
+ uprintf("test_servo : init done\r\n");
+ }
+ SYS_PostTask(APL_TASK_ID);
+}
+
+
+SIGNAL (SIG_OVERFLOW1)
+{
+}
+
+
+
+int main(void)
+{
+ SYS_SysInit();
+ for(;;)
+ {
+ SYS_RunTask();
+ }
+}
+
+