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authorNicolas Schodet2008-03-05 23:22:28 +0100
committerNicolas Schodet2008-03-05 23:22:28 +0100
commit0e6148958aa8e6ebb9c04f32b02d6087c882a009 (patch)
treeec85fd2a53c0470b6111faa679fa68d826972176 /digital/asserv
parentf97eeab56220ddf4dde01aa078e013b70fb86f9c (diff)
* digital/asserv/src/asserv:
- adaptated to new board.
Diffstat (limited to 'digital/asserv')
-rw-r--r--digital/asserv/src/asserv/avrconfig.h2
-rw-r--r--digital/asserv/src/asserv/main.c7
-rw-r--r--digital/asserv/src/asserv/misc.h17
-rw-r--r--digital/asserv/src/asserv/pwm.avr.c8
-rw-r--r--digital/asserv/src/asserv/simu.host.h4
5 files changed, 23 insertions, 15 deletions
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