From: Olivier Matz <zer0@droids-corp.org>
Date: Sun, 29 Sep 2013 14:52:28 +0000 (+0200)
Subject: support new board (fpv motherboard v1)
X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=f9f1d9f0311d8c84e8f2accac4ba5ea5f5481d6a;p=protos%2Frc_servos.git

support new board (fpv motherboard v1)
---

diff --git a/.config b/.config
index d8f1bf6..4fdc62b 100644
--- a/.config
+++ b/.config
@@ -11,6 +11,7 @@
 # CONFIG_MCU_AT90S2343 is not set
 # CONFIG_MCU_ATTINY22 is not set
 # CONFIG_MCU_ATTINY26 is not set
+# CONFIG_MCU_ATTINY45 is not set
 # CONFIG_MCU_AT90S4414 is not set
 # CONFIG_MCU_AT90S4433 is not set
 # CONFIG_MCU_AT90S4434 is not set
@@ -40,8 +41,8 @@
 # CONFIG_MCU_ATMEGA32 is not set
 # CONFIG_MCU_ATMEGA323 is not set
 # CONFIG_MCU_ATMEGA325 is not set
+# CONFIG_MCU_ATMEGA328P is not set
 # CONFIG_MCU_ATMEGA3250 is not set
-CONFIG_MCU_ATMEGA328P=y
 # CONFIG_MCU_ATMEGA64 is not set
 # CONFIG_MCU_ATMEGA645 is not set
 # CONFIG_MCU_ATMEGA6450 is not set
@@ -52,6 +53,9 @@ CONFIG_MCU_ATMEGA328P=y
 # CONFIG_MCU_AT90S1200 is not set
 # CONFIG_MCU_ATMEGA2560 is not set
 # CONFIG_MCU_ATMEGA256 is not set
+# CONFIG_MCU_ATXMEGA128A1 is not set
+CONFIG_MCU_ATMEGA168P=y
+# CONFIG_MCU_ATMEGA1284P is not set
 CONFIG_QUARTZ=8000000
 
 #
@@ -94,7 +98,6 @@ CONFIG_MODULE_SCHEDULER_TIMER0=y
 #
 # Communication modules
 #
-# CONFIG_MODULE_LUFA is not set
 # CONFIG_MODULE_UART is not set
 # CONFIG_MODULE_UART_9BITS is not set
 # CONFIG_MODULE_UART_CREATE_CONFIG is not set
@@ -236,16 +239,17 @@ CONFIG_AVRDUDE=y
 # CONFIG_AVRDUDE_PROG_PAVR is not set
 # CONFIG_AVRDUDE_PROG_BUTTERFLY is not set
 # CONFIG_AVRDUDE_PROG_AVR910 is not set
+# CONFIG_AVRDUDE_PROG_AVR911 is not set
 # CONFIG_AVRDUDE_PROG_STK500 is not set
-# CONFIG_AVRDUDE_PROG_STK500V1 is not set
-CONFIG_AVRDUDE_PROG_ARDUINO=y
 # CONFIG_AVRDUDE_PROG_AVRISP is not set
 # CONFIG_AVRDUDE_PROG_BSD is not set
 # CONFIG_AVRDUDE_PROG_DAPA is not set
 # CONFIG_AVRDUDE_PROG_JTAG1 is not set
 # CONFIG_AVRDUDE_PROG_AVR109 is not set
-CONFIG_AVRDUDE_PORT="/dev/ttyUSB0"
-CONFIG_AVRDUDE_BAUDRATE=57600
+CONFIG_AVRDUDE_PROG_AVRISPMKII=y
+# CONFIG_AVRDUDE_PROG_ARDUINO is not set
+CONFIG_AVRDUDE_PORT="usb"
+CONFIG_AVRDUDE_BAUDRATE=19200
 
 #
 # Avarice
diff --git a/Makefile b/Makefile
index 18a0882..cf5ec3a 100644
--- a/Makefile
+++ b/Makefile
@@ -1,6 +1,6 @@
 TARGET = main
 
-AVERSIVE_DIR =../..
+AVERSIVE_DIR ?= ../..
 
 # List C source files here. (C dependencies are automatically generated.)
 SRC = $(TARGET).c
diff --git a/main.c b/main.c
index dd98345..ad0af05 100644
--- a/main.c
+++ b/main.c
@@ -1,4 +1,5 @@
 #include <aversive.h>
+#include <aversive/wait.h>
 
 struct servo {
 	uint8_t bit;
@@ -6,9 +7,13 @@ struct servo {
 };
 
 static struct servo servo_table[] = {
+	{
+		.bit = 2,
+		.command = 300,
+	},
 	{
 		.bit = 3,
-		.command = 0,
+		.command = 700,
 	},
 	{
 		.bit = 4,
@@ -37,6 +42,9 @@ static volatile uint8_t rxidx;
 #define BYPASS_ENABLE 14
 #define BYPASS_DISABLE 15
 
+#define LED_ON() do { PORTB |= 0x02; } while(0)
+#define LED_OFF() do { PORTB &= ~0x02; } while(0)
+
 /*
  * SPI protocol:
  *
@@ -152,11 +160,19 @@ int main(void)
 	uint8_t t, diff;
 
 	/* LED */
-	DDRB = 0x20;
+	DDRB = 0x02;
+
+#if 0 /* LED debug */
+	while (1) {
+		LED_ON();
+		wait_ms(100);
+		LED_OFF();
+		wait_ms(100);
+	}
+#endif
 
-	/* servo outputs */
-	DDRD = 0xf8;
-	DDRB |= 0x01;
+	/* servo outputs PD2-PD7 */
+	DDRD = 0xfc;
 
 	/* start timer1 at clk/1 (8Mhz) */
 	TCNT1 = 0;
@@ -171,7 +187,7 @@ int main(void)
 
 	sei();
 
-	bypass = 1;
+	bypass = 0;
 	while (1) {
 		t = TCNT0;
 		for (i = 0; i < NB_SERVO; i++) {
@@ -186,9 +202,11 @@ int main(void)
 		}
 		/* bypass mode */
 		while (bypass == 1) {
-			PORTD = ((PINC & 0x0f) << 3) | ((PINB & 0x01) << 7);
+			LED_ON();
+			PORTD = (PINC & 0x3f) << 2;
 			poll_spi();
 		}
+		LED_OFF();
 	}
 
 	return 0;