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#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "cmd.h"
#include "serial.h"
#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_LOCK;
}
static inline void unlock(void)
{
OCR1A = PWM_UNLOCK;
}
static inline int is_btn_pressed(unsigned char btn)
{
if (!((PIND >> btn) & 0x01)) {
_delay_us(2000);
return !((PIND >> btn) & 0x01);
}
return 0;
}
static inline void pcint2_init(void)
{
PCICR |= (1 << PCIE2);
PCMSK2 |= ((1 << PCINT22) | (1 << PCINT23));
}
int main(void)
{
cli();
servo_init();
pcint2_init();
serial_init();
sei();
for(;;) {
}
return 0;
}
ISR(PCINT2_vect)
{
if (is_btn_pressed(LOCK_BTN))
lock();
if (is_btn_pressed(UNLOCK_BTN))
unlock();
}
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