//Bit manipulation macros
#define BIT_SET(value,bitno) ( (value) |= (1<<(bitno)))
#define BIT_CLEAR(value,bitno) ( (value) &= ~(1<<(bitno)))
#include <avr/io.h>
#include <stdio.h>
#include "USART.h"
#include <util/delay.h>
#include "ADC.h"
FILE fpUSART = FDEV_SETUP_STREAM(USARTSendByte, USARTGetByte, _FDEV_SETUP_RW);
// Sets up Timer 1 for fast-PWM operation
// DC-Motor Connected to PB0 and OSC1A (PB1)
void init_PWM_OSC1A()
{
TCCR1A = (1<<COM1A1) | (1<<WGM11); // Clear on compare, fast PWM, TOP=ICR1 (WGM13/WGM12 in TCCR1B)
TCCR1B = (1<<WGM12) | (1<<WGM13) ; // CTC-mode width ICR1 defines the TOP'value
TCCR1B |=(1<< CS11) | (1<<CS10); // Prescaler 64
ICR1 = 5000; //- Input Capture Register In PWM mode this register defines the TOP period
OCR1A = 0; // Start width no pulse
}
void rotateClockwise(int Speed)
{
//Clear OC1A on Compare Match,
//set OC1A at BOTTOM (non-inverting mode)
BIT_CLEAR(TCCR1A,COM1A0);
BIT_SET(TCCR1A,COM1A1);
BIT_CLEAR(PORTB,PB0); //Clear bit 0 PORTB (PB0)
OCR1A=Speed;
}
void rotateCounterClockwise(int Speed)
{
//Clear OC1A on Compare Match,
//set OC1A at BOTTOM (non-inverting mode)
BIT_CLEAR(TCCR1A,COM1A0);
BIT_SET(TCCR1A,COM1A1);
BIT_SET(PORTB,PB0); //Clear bit 0 PORTB (PB0)
OCR1A=5000-Speed;
}
// A DC Motor is connected to PB0 and OSC1A (PB1)
// DIGITAL-8 and DIGITAL-9 on the Arduino Uno Board
// The program rotates the motor slowly clockwise
int main(void)
{
int ADCverdi;
int fart;
init_PWM_OSC1A();
init_USART();
InitADC();
stdin=&fpUSART;
stdout=&fpUSART;
DDRB = (1 << PB1) | (1<<PB0);
DDRC = (1 << PC0) | (1 << PC2);
PORTC &= ~(1<<PC2);
PORTC = (1<<PC0);
while(1)
{
ADCverdi = ReadADC(1);
_delay_ms(50);
if (ADCverdi < 500)
{
fart = (500 - ADCverdi)*9;
rotateClockwise(fart);
}
if (ADCverdi > 520)
{
fart = (ADCverdi - 520)*9;
rotateCounterClockwise(fart);
}
if(ADCverdi > 500 && ADCverdi < 520)
{
rotateClockwise(0);
}
printf("%d \n\r", fart);
}
}
