Started following some tutorial on att85 usi. Downloaded example code from make avr book.
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Dan
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##########------------------------------------------------------##########
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########## Project-specific Details ##########
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########## Check these every time you start a new project ##########
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##########------------------------------------------------------##########
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MCU = atmega168p
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F_CPU = 1000000UL
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BAUD = 9600UL
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## Also try BAUD = 19200 or 38400 if you're feeling lucky.
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## A directory for common include files and the simple USART library.
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## If you move either the current folder or the Library folder, you'll
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## need to change this path to match.
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LIBDIR = ../../AVR-Programming-Library
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##########------------------------------------------------------##########
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########## Programmer Defaults ##########
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########## Set up once, then forget about it ##########
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########## (Can override. See bottom of file.) ##########
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##########------------------------------------------------------##########
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PROGRAMMER_TYPE = usbtiny
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# extra arguments to avrdude: baud rate, chip type, -F flag, etc.
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PROGRAMMER_ARGS =
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##########------------------------------------------------------##########
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########## Program Locations ##########
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########## Won't need to change if they're in your PATH ##########
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##########------------------------------------------------------##########
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CC = avr-gcc
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OBJCOPY = avr-objcopy
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OBJDUMP = avr-objdump
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AVRSIZE = avr-size
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AVRDUDE = avrdude
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##########------------------------------------------------------##########
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########## Makefile Magic! ##########
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########## Summary: ##########
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########## We want a .hex file ##########
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########## Compile source files into .elf ##########
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########## Convert .elf file into .hex ##########
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########## You shouldn't need to edit below. ##########
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##########------------------------------------------------------##########
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## The name of your project (without the .c)
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# TARGET = blinkLED
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## Or name it automatically after the enclosing directory
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TARGET = $(lastword $(subst /, ,$(CURDIR)))
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# Object files: will find all .c/.h files in current directory
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# and in LIBDIR. If you have any other (sub-)directories with code,
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# you can add them in to SOURCES below in the wildcard statement.
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SOURCES=$(wildcard *.c $(LIBDIR)/*.c)
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OBJECTS=$(SOURCES:.c=.o)
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HEADERS=$(SOURCES:.c=.h)
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## Compilation options, type man avr-gcc if you're curious.
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CPPFLAGS = -DF_CPU=$(F_CPU) -DBAUD=$(BAUD) -I. -I$(LIBDIR)
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CFLAGS = -Os -g -std=gnu99 -Wall
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## Use short (8-bit) data types
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CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
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## Splits up object files per function
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CFLAGS += -ffunction-sections -fdata-sections
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LDFLAGS = -Wl,-Map,$(TARGET).map
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## Optional, but often ends up with smaller code
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LDFLAGS += -Wl,--gc-sections
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## Relax shrinks code even more, but makes disassembly messy
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## LDFLAGS += -Wl,--relax
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## LDFLAGS += -Wl,-u,vfprintf -lprintf_flt -lm ## for floating-point printf
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## LDFLAGS += -Wl,-u,vfprintf -lprintf_min ## for smaller printf
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TARGET_ARCH = -mmcu=$(MCU)
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## Explicit pattern rules:
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## To make .o files from .c files
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%.o: %.c $(HEADERS) Makefile
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$(CC) $(CFLAGS) $(CPPFLAGS) $(TARGET_ARCH) -c -o $@ $<;
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$(TARGET).elf: $(OBJECTS)
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$(CC) $(LDFLAGS) $(TARGET_ARCH) $^ $(LDLIBS) -o $@
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%.hex: %.elf
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$(OBJCOPY) -j .text -j .data -O ihex $< $@
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%.eeprom: %.elf
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$(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O ihex $< $@
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%.lst: %.elf
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$(OBJDUMP) -S $< > $@
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## These targets don't have files named after them
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.PHONY: all disassemble disasm eeprom size clean squeaky_clean flash fuses
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all: $(TARGET).hex
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debug:
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@echo
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@echo "Source files:" $(SOURCES)
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@echo "MCU, F_CPU, BAUD:" $(MCU), $(F_CPU), $(BAUD)
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@echo
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# Optionally create listing file from .elf
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# This creates approximate assembly-language equivalent of your code.
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# Useful for debugging time-sensitive bits,
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# or making sure the compiler does what you want.
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disassemble: $(TARGET).lst
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disasm: disassemble
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# Optionally show how big the resulting program is
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size: $(TARGET).elf
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$(AVRSIZE) -C --mcu=$(MCU) $(TARGET).elf
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clean:
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rm -f $(TARGET).elf $(TARGET).hex $(TARGET).obj \
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$(TARGET).o $(TARGET).d $(TARGET).eep $(TARGET).lst \
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$(TARGET).lss $(TARGET).sym $(TARGET).map $(TARGET)~ \
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$(TARGET).eeprom
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squeaky_clean:
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rm -f *.elf *.hex *.obj *.o *.d *.eep *.lst *.lss *.sym *.map *~ *.eeprom
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##########------------------------------------------------------##########
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########## Programmer-specific details ##########
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########## Flashing code to AVR using avrdude ##########
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##########------------------------------------------------------##########
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flash: $(TARGET).hex
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -U flash:w:$<
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## An alias
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program: flash
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flash_eeprom: $(TARGET).eeprom
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -U eeprom:w:$<
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avrdude_terminal:
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -nt
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## If you've got multiple programmers that you use,
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## you can define them here so that it's easy to switch.
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## To invoke, use something like `make flash_arduinoISP`
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flash_usbtiny: PROGRAMMER_TYPE = usbtiny
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flash_usbtiny: PROGRAMMER_ARGS = # USBTiny works with no further arguments
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flash_usbtiny: flash
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flash_usbasp: PROGRAMMER_TYPE = usbasp
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flash_usbasp: PROGRAMMER_ARGS = # USBasp works with no further arguments
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flash_usbasp: flash
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flash_arduinoISP: PROGRAMMER_TYPE = avrisp
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flash_arduinoISP: PROGRAMMER_ARGS = -b 19200 -P /dev/ttyACM0
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## (for windows) flash_arduinoISP: PROGRAMMER_ARGS = -b 19200 -P com5
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flash_arduinoISP: flash
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flash_109: PROGRAMMER_TYPE = avr109
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flash_109: PROGRAMMER_ARGS = -b 9600 -P /dev/ttyUSB0
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flash_109: flash
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##########------------------------------------------------------##########
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########## Fuse settings and suitable defaults ##########
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##########------------------------------------------------------##########
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## Mega 48, 88, 168, 328 default values
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LFUSE = 0x62
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HFUSE = 0xdf
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EFUSE = 0x00
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## Generic
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FUSE_STRING = -U lfuse:w:$(LFUSE):m -U hfuse:w:$(HFUSE):m -U efuse:w:$(EFUSE):m
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fuses:
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) \
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$(PROGRAMMER_ARGS) $(FUSE_STRING)
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show_fuses:
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -nv
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## Called with no extra definitions, sets to defaults
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set_default_fuses: FUSE_STRING = -U lfuse:w:$(LFUSE):m -U hfuse:w:$(HFUSE):m -U efuse:w:$(EFUSE):m
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set_default_fuses: fuses
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## Set the fuse byte for full-speed mode
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## Note: can also be set in firmware for modern chips
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set_fast_fuse: LFUSE = 0xE2
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set_fast_fuse: FUSE_STRING = -U lfuse:w:$(LFUSE):m
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set_fast_fuse: fuses
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## Set the EESAVE fuse byte to preserve EEPROM across flashes
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set_eeprom_save_fuse: HFUSE = 0xD7
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set_eeprom_save_fuse: FUSE_STRING = -U hfuse:w:$(HFUSE):m
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set_eeprom_save_fuse: fuses
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## Clear the EESAVE fuse byte
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clear_eeprom_save_fuse: FUSE_STRING = -U hfuse:w:$(HFUSE):m
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clear_eeprom_save_fuse: fuses
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@@ -0,0 +1,94 @@
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/* Quick interactive demo running servo with Timer 1 */
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// ------- Preamble -------- //
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#include <avr/io.h>
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#include <util/delay.h>
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#include <avr/interrupt.h>
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#include "pinDefines.h"
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#include "USART.h"
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#define PULSE_MIN 1000 /* experiment with these values */
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#define PULSE_MAX 2000 /* to match your own servo */
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#define PULSE_MID 1500
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static inline uint16_t getNumber16(void);
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static inline void initTimer1Servo(void) {
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/* Set up Timer1 (16bit) to give a pulse every 20ms */
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/* Use Fast PWM mode, counter max in ICR1 */
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TCCR1A |= (1 << WGM11);
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TCCR1B |= (1 << WGM12) | (1 << WGM13);
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TCCR1B |= (1 << CS10); /* /1 prescaling -- counting in microseconds */
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ICR1 = 20000; /* TOP value = 20ms */
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TCCR1A |= (1 << COM1A1); /* Direct output on PB1 / OC1A */
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DDRB |= (1 << PB1); /* set pin for output */
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}
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static inline void showOff(void) {
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printString("Center\r\n");
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OCR1A = PULSE_MID;
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_delay_ms(1500);
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printString("Clockwise Max\r\n");
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OCR1A = PULSE_MIN;
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_delay_ms(1500);
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printString("Counterclockwise Max\r\n");
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OCR1A = PULSE_MAX;
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_delay_ms(1500);
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printString("Center\r\n");
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OCR1A = PULSE_MID;
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_delay_ms(1500);
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}
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int main(void) {
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// -------- Inits --------- //
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uint16_t servoPulseLength;
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OCR1A = PULSE_MID; /* set it to middle position initially */
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initTimer1Servo();
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initUSART();
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printString("\r\nWelcome to the Servo Demo\r\n");
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showOff();
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// ------ Event loop ------ //
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while (1) {
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printString("\r\nEnter a four-digit pulse length:\r\n");
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servoPulseLength = getNumber16();
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printString("On my way....\r\n");
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OCR1A = servoPulseLength;
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DDRB |= (1 << PB1); /* re-enable output pin */
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_delay_ms(1000);
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printString("Releasing...\r\n");
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while (TCNT1 < 3000) {;
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} /* delay until pulse part of cycle done */
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DDRB &= ~(1 << PB1); /* disable output pin */
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} /* End event loop */
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return 0; /* This line is never reached */
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}
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static inline uint16_t getNumber16(void) {
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// Gets a PWM value from the serial port.
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// Reads in characters, turns them into a number
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char thousands = '0';
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char hundreds = '0';
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char tens = '0';
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char ones = '0';
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char thisChar = '0';
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do {
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thousands = hundreds; /* shift numbers over */
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hundreds = tens;
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tens = ones;
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ones = thisChar;
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thisChar = receiveByte(); /* get a new character */
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transmitByte(thisChar); /* echo */
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} while (thisChar != '\r');
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transmitByte('\n'); /* newline */
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return (1000 * (thousands - '0') + 100 * (hundreds - '0') +
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10 * (tens - '0') + ones - '0');
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}
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