/* servo.c */ /* Beacon servomotor management. {{{ * * 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 #include #include "servo.h" #include "debug.h" /* This function initializes the timer used for servomotor signal generation */ void servo_timer1_init(void) { //Fpwm = f_IO / (prescaler * (1 + TOP)) = 7200 Hz. */ OCR1B = SERVO_1_ANGLE_INIT; OCR1A = SERVO_2_ANGLE_INIT; /* Fast PWM 10bits with TOP=0x03FF */ TCCR1A |= (1< SERVO_1_ANGLE_MIN) { OCR1A--; return OCR1A; } break; case SERVO_2: if(OCR1B > SERVO_2_ANGLE_MIN) { OCR1B--; return OCR1B; } break; default: break; } return 0; } SIGNAL (SIG_OVERFLOW1) { }