roboforum.ru

//#define F_CPU   (32000000ul)

#include <avr/io.h>
#include <util/delay.h>

#define LED_BLUE()   { PORTC.OUTCLR = 4; PORTC.OUTSET = 1; }
#define LED_RED()   { PORTC.OUTCLR = 1; PORTC.OUTSET = 4; }
#define LED_OFF()   { PORTC.OUTCLR = 5; }

// Motors

#define L_FORW()    { PORTC.OUTCLR = 0x02; }
#define L_BACK()    { PORTC.OUTSET = 0x02; }
#define R_FORW()    { PORTC.OUTCLR = 0x20; }
#define R_BACK()    { PORTC.OUTSET = 0x20; }

#define L_SPEED(a)    { TCC0.CCBL = 255-a; }
#define R_SPEED(a)    { TCC0.CCDL = 255-a; }

#define LIGHT_ON()   { PORTB.OUTSET = 0x02; }
#define LIGHT_OFF()   { PORTB.OUTCLR = 0x02; }

#include <blue.c>

signed int ADC(void)
{
   ADCA.REFCTRL    = 0x10;         // REF = 2V
   ADCA.PRESCALER  = 0x01;         // Prescaler=8
   ADCA.CTRLB      = 0x10;         // signed mode
   ADCA.CH0.CTRL = 0x02;         // inputmode = diff, gain = 1
   ADCA.CH0.MUXCTRL = 0x01;      // positive input pin = A0, negative = A1
   ADCA.CTRLA = 0x01;            // ADC enable
   ADCA.CTRLA = 0x05;            // Channel0 start
   while ((ADCA.INTFLAGS&0x01)==0);
   return ADCA.CH0.RES;
}

void main(void)
{
//========================================= INIT
               
// OSCILLATOR
   
   while ( ((OSC.STATUS)&0x01)==0 );
   OSC.CTRL |= 0x02;
   while ( ((OSC.STATUS)&0x02)==0 );
   CCP = 0xD8;
   CLK.CTRL = 0x01;

// PORTC (Motors, Relays, Led)

   PORTC.DIR = 0xAF;   // Motors & Relays (+LED = 0x05)
   PORTB.DIR = 0x02;   // Light

   AWEXC.CTRL = 0x0F;   // Enable DTI on all four channels
   AWEXC.OUTOVEN = 0x88;   // Channels B & D override pins
   
   TCC0.CTRLE = 0x01;    // Byte mode
   TCC0.PERL = 255;
   
   TCC0.CCBL = 255;
   TCC0.CCDL = 255;

   TCC0.CTRLB = 0xA3;   // B & D channels single-slope PWM
   TCC0.CTRLA = 0x05;   // Prescaler = 64  (32M/64/256 = 2kHz)