From 0e6148958aa8e6ebb9c04f32b02d6087c882a009 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 5 Mar 2008 23:22:28 +0100 Subject: * digital/asserv/src/asserv: - adaptated to new board. --- digital/asserv/src/asserv/avrconfig.h | 2 +- digital/asserv/src/asserv/main.c | 7 +++++-- digital/asserv/src/asserv/misc.h | 17 +++++++++++------ digital/asserv/src/asserv/pwm.avr.c | 8 ++++---- digital/asserv/src/asserv/simu.host.h | 4 ++-- 5 files changed, 23 insertions(+), 15 deletions(-) (limited to 'digital/asserv/src/asserv') diff --git a/digital/asserv/src/asserv/avrconfig.h b/digital/asserv/src/asserv/avrconfig.h index bd46c273..fa82ba71 100644 --- a/digital/asserv/src/asserv/avrconfig.h +++ b/digital/asserv/src/asserv/avrconfig.h @@ -35,7 +35,7 @@ #define AC_UART0_PORT 1 /** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800, * 115200, 230400, 250000, 500000, 1000000. */ -#define AC_UART0_BAUDRATE 115200 +#define AC_UART0_BAUDRATE 38400 /** Send mode: * - POLLING: no interrupts. * - RING: interrupts, ring buffer. */ diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c index b3caa6ed..c9930a33 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -108,10 +108,13 @@ int main (int argc, char **argv) { avr_init (argc, argv); - DDRD = 0x60; /* Pull-ups. */ - PORTA = 0xff; PORTC = 0xff; + PORTD = 0xf0; + PORTE = 0xff; + PORTF = 0xfc; + PORTG = 0x18; + LED_SETUP; eeprom_read_params (); pwm_init (); timer_init (); diff --git a/digital/asserv/src/asserv/misc.h b/digital/asserv/src/asserv/misc.h index 59f25135..41b94c86 100644 --- a/digital/asserv/src/asserv/misc.h +++ b/digital/asserv/src/asserv/misc.h @@ -25,14 +25,19 @@ * * }}} */ -#define RED_LED(x) do { \ - if (!(x)) PORTD |= 0x20; \ - else PORTD &= ~0x20; \ +#define LED_SETUP do { \ + PORTF &= _BV (1) | _BV (0); + DDRF &= _BV (1) | _BV (0); } while (0) -#define GREEN_LED(x) do { \ - if (!(x)) PORTD |= 0x40; \ - else PORTD &= ~0x40; \ +#define LED1(x) do { \ + if (!(x)) PORTD &= ~_BV (0); \ + else PORTD |= _BV (0); \ +} while (0) + +#define LED2(x) do { \ + if (!(x)) PORTD &= ~_BV (1); \ + else PORTD |= _BV (1); \ } while (0) #endif /* misc_h */ diff --git a/digital/asserv/src/asserv/pwm.avr.c b/digital/asserv/src/asserv/pwm.avr.c index 773cfef0..b80483e0 100644 --- a/digital/asserv/src/asserv/pwm.avr.c +++ b/digital/asserv/src/asserv/pwm.avr.c @@ -24,13 +24,13 @@ * }}} */ /** Define the PWM output used for left motor. */ -#define PWM_LEFT_OCR OCR1C +#define PWM_LEFT_OCR OCR1B /** Define the PWM output used for right motor. */ -#define PWM_RIGHT_OCR OCR1B +#define PWM_RIGHT_OCR OCR1C /** Define the direction output for left motor. */ -#define PWM_LEFT_DIR 3 +#define PWM_LEFT_DIR 4 /** Define the direction output for right motor. */ -#define PWM_RIGHT_DIR 2 +#define PWM_RIGHT_DIR 5 /** Define the absolute maximum PWM value. */ #define PWM_MAX 0x3ff diff --git a/digital/asserv/src/asserv/simu.host.h b/digital/asserv/src/asserv/simu.host.h index 2730a71f..2e8db9d2 100644 --- a/digital/asserv/src/asserv/simu.host.h +++ b/digital/asserv/src/asserv/simu.host.h @@ -33,9 +33,9 @@ extern uint16_t counter_left, counter_right; extern int16_t counter_left_diff, counter_right_diff; /** Define the direction output for left motor. */ -#define PWM_LEFT_DIR 3 +#define PWM_LEFT_DIR 4 /** Define the direction output for right motor. */ -#define PWM_RIGHT_DIR 2 +#define PWM_RIGHT_DIR 5 /** Define the absolute maximum PWM value. */ #define PWM_MAX 0x3ff -- cgit v1.2.3