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/* Lock back, connected to the servo */
#include <stdint.h>
#include <string.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include "nrfm.h"
#include "uart.h"
#include "util.h"
#define PWM_MIN 500
#define PWM_MID 1500
#define PWM_MAX 2500
#define PWM_TOP 20000
#define SERVO_PIN PB1
#define LOCK_BTN PD6
#define UNLOCK_BTN PD7
#define RX_PIN PD7
#define RX_DDR DDRD
#define RX_PORT PORTD
#define RX_PCIE PCIE2
#define RX_PCINT PCINT23
#define RX_PCMSK PCMSK2
#define RX_PCINTVEC PCINT2_vect
static volatile uint8_t rxdr = 0;
static inline void servo_init(void)
{
DDRB |= (1 << SERVO_PIN);
TCCR1A |= (1 << WGM11) | (1 << COM1A1);
TCCR1B |= (1 << WGM13) | (1 << CS11);
ICR1 = PWM_TOP;
DDRD &= ~((1 << LOCK_BTN) | (1 << UNLOCK_BTN));
PORTD |= (1 << LOCK_BTN) | (1 << UNLOCK_BTN);
}
int main(void)
{
uint8_t n;
uint8_t rxaddr[ADDRLEN] = { 194, 178, 83 };
char buf[WDLEN + 1], key[WDLEN + 1], msg[WDLEN + 1];
RX_DDR &= ~(1 << RX_PIN);
RX_PORT |= (1 << RX_PIN);
PCICR |= (1 << RX_PCIE);
RX_PCMSK |= (1 << RX_PCINT);
wdt_init();
uart_init();
servo_init();
radio_init(rxaddr);
radio_print_config();
sei();
radio_listen();
for (;;) {
wdt_reset();
if (rxdr) {
} else {
_delay_ms(2000);
}
}
return 0;
}
ISR(RX_PCINTVEC)
{
rxdr = 1;
}
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