1 files changed, 22 insertions, 27 deletions

diff --git a/door_lock/servo.c b/door_lock/servo.c
index 495f9b1..5144c28 100644
--- a/door_lock/servo.c
+++ b/door_lock/servo.c
@@ -5,21 +5,38 @@
 #include "cmd.h"
 #include "serial.h"
 
-#define PWM_MIN 1050
-#define PWM_MID 3000
+#define PWM_MIN   999
+#define PWM_MID  2999
+#define PWM_MAX  4999
+
+#define PWM_LOCK   PWM_MID
+#define PWM_UNLOCK PWM_MAX - 100
 
 #define SERVO_PIN   PB1
 #define LOCK_BTN    PD6
 #define UNLOCK_BTN  PD7
 
+static inline void servo_init(void)
+{
+	DDRB |= (1 << SERVO_PIN);
+
+	TCCR1A |= (1 << WGM11) | (1 << COM1A1);
+	TCCR1B |= (1 << WGM12) | (1 << WGM13) | (1 << CS11);
+
+	ICR1 = 39999;
+
+	DDRD &= ~((1 << LOCK_BTN) | (1 << UNLOCK_BTN));
+	PORTD |= (1 << LOCK_BTN) | (1 << UNLOCK_BTN);
+}
+
 static inline void lock(void)
 {
-	OCR1A = PWM_MID;
+	OCR1A = PWM_LOCK;
 }
 
 static inline void unlock(void)
 {
-	OCR1A = PWM_MIN;
+	OCR1A = PWM_UNLOCK;
 }
 
 static inline int is_btn_pressed(unsigned char btn)
@@ -38,21 +55,9 @@ static inline void pcint2_init(void)
 	PCMSK2 |= ((1 << PCINT22) | (1 << PCINT23));
 }
 
-static inline void servo_init(void)
-{
-	DDRB |= 1 << SERVO_PIN;
-	TCCR1A |= (1 << WGM11) | (1 << COM1A1);
-	TCCR1B |= (1 << WGM12) | (1 << WGM13) | (1 << CS11);
-
-	ICR1 = 20000;
-
-	DDRD &= ~((1 << LOCK_BTN) | (1 << UNLOCK_BTN));
-	PORTD |= (1 << LOCK_BTN) | (1 << UNLOCK_BTN);
-}
-
 int main(void) 
 {
-	char *s;
+	cli();
 
 	servo_init();
 	pcint2_init();
@@ -61,16 +66,6 @@ int main(void)
 	sei();
 
 	for(;;) {
-		s = cmd_hash(DOOR_UNLOCK);
-
-		if (cmd_cmp(s, DOOR_LOCK))
-			serial_write_line("lock");
-		else if (cmd_cmp(s, DOOR_UNLOCK))
-			serial_write_line("unlock");
-		else
-			serial_write_line("do nothing");
-
-		_delay_ms(1000);
 	}
 
 	return 0;