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#include <stddef.h>
#include <avr/io.h>
#include <util/delay.h>
#include "serial.h"
#define PWM_MIN 1200
#define PWM_MID 3000
#define PWM_MAX 5000
#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 = 40000;
DDRD &= ~((1 << LOCK_BTN) | (1 << UNLOCK_BTN));
PORTD |= (1 << LOCK_BTN) | (1 << UNLOCK_BTN);
}
static inline uint8_t is_btn_pressed(uint8_t btn)
{
return !((PIND >> btn) & 0x01);
}
static inline uint8_t debounce(uint8_t btn)
{
if (is_btn_pressed(btn)) {
_delay_ms(1000);
if (is_btn_pressed(btn))
return 1;
}
return 0;
}
int main(void)
{
servo_init();
for(;;) {
if (debounce(LOCK_BTN))
OCR1A = PWM_MID;
if (debounce(UNLOCK_BTN))
OCR1A = PWM_MIN;
}
return 0;
}
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