root / scout_avr / src / orb.cpp @ daf6a575
History | View | Annotate | Download (739 Bytes)
1 |
extern "C" { |
---|---|
2 |
#include <avr/io.h> |
3 |
#include <util/delay.h> |
4 |
} |
5 |
#include "orb.h" |
6 |
|
7 |
void orb_init() {
|
8 |
|
9 |
/* set pins to output mode */
|
10 |
DDRB |= _BV(PB4) | _BV(PB5) | _BV(PB6); |
11 |
DDRE |= _BV(PE3) | _BV(PE4) | _BV(PE5); |
12 |
|
13 |
orb_set0(0, 0, 0); |
14 |
orb_set1(0, 0, 0); |
15 |
|
16 |
/* timer 2 */
|
17 |
TCCR2A |= _BV(COM2A1) | _BV(WGM20); |
18 |
TCCR2B |= _BV(CS21); |
19 |
|
20 |
/* timer 1 */
|
21 |
TCCR1A |= _BV(COM1A1) | _BV(COM1B1) | _BV(WGM10); |
22 |
TCCR1B |= _BV(CS11); |
23 |
|
24 |
/* timer 3 */
|
25 |
TCCR3A |= _BV(COM3A1) | _BV(COM3B1) | _BV(COM3C1) | _BV(WGM30); |
26 |
TCCR3B |= _BV(CS31); |
27 |
} |
28 |
|
29 |
void orb_set0(unsigned char r, unsigned char g, unsigned char b) { |
30 |
OCR1B = r; |
31 |
OCR1A = g; |
32 |
OCR2A = b; |
33 |
} |
34 |
|
35 |
void orb_set1(unsigned char r, unsigned char g, unsigned char b) { |
36 |
OCR3B = r; |
37 |
OCR3A = g; |
38 |
OCR3C = b; |
39 |
} |