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#include <string.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include <avr/eeprom.h>
unsigned char packs[40] ;
unsigned char pack_number = 0;
unsigned char i;
unsigned char rssi=0;
volatile unsigned char c;
volatile unsigned int say = 0;
volatile unsigned char temp;
volatile unsigned char indicator_mode=0;
#define ppm_on PORTB |= (1<<1)
#define ppm_off PORTB &= 0xFD
#define led_on PORTC |= (1<<1)
#define led_off PORTC &= 0xFD
#define indicator_on PORTB |= (1<<1)
#define indicator_off PORTB &= 0xFD
#define NOP(){asm volatile("nop\n\t");}
#if (defined UCSR0A) //Atmega48 ise
#define UCSRA UCSR0A
#define UCSRB UCSR0B
#define UCSRC UCSR0C
#define UBRRL UBRR0L
#define UBRRH UBRR0H
#define UDR UDR0
#define TXC TXC0
#define RXC RXC0
#define WDTCR WDTCSR
#define GICR GICSR
#define RXEN RXEN0
#define RXCIE RXCIE0
#endif
static void hardwareInit(void)
{
DDRC = 0x03; /* all outputs */
PORTC = 0x00;
DDRB = 0x06;
PORTB = 0x00;
UCSRA = (1<<U2X0);
UCSRB = (1<<RXEN); // Rx enable Tx Enable
UCSRC = 0x86; // Asyn,NoParity,1StopBit,8Bit
UCSRB |= (1<<RXCIE); // Enable Rx Complete Interrupt
UBRRL = 8; //7; // 115.200 baud
UBRRH = 0;
}
void init_servo_driver(void)
{
TCCR1A |= (1<<COM1B1); //clear on compare match, set at bottom
TCCR1A |= (1<<WGM11); //fast pwm, ICR1 is TOP
TCCR1B |= (1<<WGM12) | (1<<WGM13);
ICR1 = 120;
TCCR1B |= (1<<CS10); //prescaler = 1
OCR1B = 0;
}
#ifdef UCSR0A
ISR(USART_RX_vect)
#else
SIGNAL (SIG_UART_RECV) // USART RX interrupt
#endif
{
c = UDR;
if (say>5)
{
packs[pack_number] = c;
pack_number++;
if (pack_number>39) pack_number = 0;
temp = c ;
if ((temp & 0x0C) != 0)
{
led_off;
indicator_mode = 0;
}
else
{
led_on;
indicator_mode = 1;
}
}
say = 0;
}
int main(void){
wdt_enable(WDTO_1S);
hardwareInit();
_delay_ms(100);
led_off;
_delay_ms(100);
wdt_reset();
led_on;
_delay_ms(100);
led_off;
_delay_ms(100);
wdt_reset();
led_on;
_delay_ms(100);
led_off;
_delay_ms(100);
wdt_reset();
init_servo_driver();
sei();
led_off;
indicator_off;
for(;;){ /* main event loop */
say++;
if (indicator_mode==1)
{
indicator_on;
_delay_us(500);
indicator_off;
_delay_us(500);
}
else
{
indicator_off;
_delay_ms(1);
}
rssi = 0;
for(i=0;i<40;i++) {
temp = packs[i] ;
if ((temp & 0x0C) != 0) rssi = rssi + 3 ;
}
OCR1B = rssi;
wdt_reset();
}
return 0;
}
