Revision 861
homing works and is added to library
| homing.c | ||
|---|---|---|
| 42 | 42 |
#include "serial.h" |
| 43 | 43 |
|
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volatile int state = 0; |
| 45 |
volatile int on = 0; |
|
| 45 | 46 |
|
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void IR_init(void){
|
| 47 | 48 |
|
| ... | ... | |
| 61 | 62 |
TCCR1A |= _BV(COM1B1)|_BV(COM1B0)|_BV(WGM11); |
| 62 | 63 |
TCCR1B |= _BV(WGM13)|_BV(WGM12)|_BV(CS10); |
| 63 | 64 |
ICR1 = 0x9C40; |
| 65 |
on = 0; |
|
| 64 | 66 |
|
| 65 |
|
|
| 66 | 67 |
} |
| 67 | 68 |
|
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void IR_on(void){
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on = 1; |
|
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} |
|
| 72 |
|
|
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void IR_off(void){
|
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on = 0; |
|
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} |
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|
| 68 | 78 |
ISR(TIMER1_OVF_vect){
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state = (state+1)%4; |
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PORTA |= state; |
|
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PORTC &= state + 0xFC; |
|
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if(on){
|
|
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if(state == 7) |
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state = 0; |
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else |
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state++; |
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|
|
| 72 | 85 |
|
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if (state<4) |
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PORTA ++; |
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else |
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PORTA &= 0xFC; |
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} |
|
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else{
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PORTA &= 0xFC; |
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} |
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|
| 73 | 95 |
} |
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