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servo geht

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This commit is contained in:
Tristan Krause 2019-06-27 15:29:18 +02:00
parent 7b2e5aa1ef
commit eaa8ca721a
207 changed files with 278 additions and 15300 deletions
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50
firmware/servo.cpp
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@ -1 +1,51 @@
#include "servo.h"
void Servo::enable() volatile
{
DDRB |= _BV(PB2);
// configure impulse timer 1
TCCR1A = 0;
TCCR1B = _BV(WGM12);
TCCR1C = 0;
TIMSK1 = _BV(OCIE1A);
// configure repeatition timer 2
TCCR2A = _BV(WGM21);
TCCR2B = _BV(CS22) | _BV(CS21); // prescaler 256
TIMSK2 = _BV(OCIE2A);
OCR2A = 124;
repetition_counter = 0;
OCR1A = 1500; // 1,5 ms init value
}
void Servo::disable() const volatile
{
PORTB &= _BV(PB2);
DDRB &= _BV(PB2);
TCCR1B &= ~PRESCALER_IMPULSE; // stop timer 1
TCCR2B = 0; // stop timer 2
}
void Servo::setPosition(uint16_t pos) const volatile
{
OCR1A = pos;
}
void Servo::handleTimer1(void) const volatile
{
PORTB &= ~_BV(PB2); // end pulse (set pin low)
TCCR1B &= ~PRESCALER_IMPULSE; // stop timer 1
}
void Servo::handleTimer2(void) volatile
{
repetition_counter++;
if(repetition_counter >= 5)
{
repetition_counter = 0;
TCCR1B |= PRESCALER_IMPULSE; // start timer 1
PORTB |= _BV(PB2); // start impuls (set pin high)
}
}