Revision 850
completed! beacons turn on but still need to test frequency...
| branches/autonomous_recharging/code/projects/libbayboard/homing.c | ||
|---|---|---|
| 41 | 41 |
#include "orb.h" |
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#include "serial.h" |
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int state = 0; |
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volatile int state = 0; |
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volatile int orbstate = 0; |
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|
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void IR_init(void){
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DDRA |= _BV(DDA0)|_BV(DDA1); |
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DDRB |= _BV(DDB3); |
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SEI();
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sei();
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|
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TIMSK1 |= _BV(TOIE1); |
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|
| ... | ... | |
| 58 | 60 |
|
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TCCR1A |= _BV(COM1B1)|_BV(COM1B0)|_BV(WGM11); |
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TCCR1B |= _BV(WGM13)|_BV(WGM12)|_BV(CS10); |
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ICR1 |= 0x9C40; |
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ICR1 = 0x9C40; |
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orb_init(); |
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} |
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ISR(TIMER1_OVF_vect){
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state = (state++)%4; |
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PORTA = state; |
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state = (state+1)%4; |
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PORTA |= state; |
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set_orb(255*orbstate, 255*orbstate, 255*orbstate); |
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orbstate = (orbstate+1)%2; |
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} |
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