void initialize_servo_out(void)
{
//Set Timer 0 in Fast PWM mode, clock prescale of 256.
//Gives a frequency of 305.18 and period 3.27ms; 78 steps in 1ms time period
//Fast PWM, clear on match
SET_BIT(TCCR0A, COM0A1);
CLR_BIT(TCCR0A, COM0A0);
SET_BIT(TCCR0A, COM0B1);
CLR_BIT(TCCR0A, COM0B0);
//Fast PWM
CLR_BIT(TCCR0B, WGM02);
SET_BIT(TCCR0A, WGM01);
SET_BIT(TCCR0A, WGM00);
//256 Clock prescale factor
SET_BIT(TCCR0B, CS02);
CLR_BIT(TCCR0B, CS01);
CLR_BIT(TCCR0B, CS00);
//Set Timer 2 in Fast PWM mode, clock prescale of 256.
//Gives a frequency of 305.18 and period 3.27ms; 78 steps in 1ms time period
//Fast PWM, clear on match
SET_BIT(TCCR2A, COM2A1);
CLR_BIT(TCCR2A, COM2A0);
SET_BIT(TCCR2A, COM2B1);
CLR_BIT(TCCR2A, COM2B0);
//Fast PWM
CLR_BIT(TCCR2B, WGM22);
SET_BIT(TCCR2A, WGM21);
SET_BIT(TCCR2A, WGM20);
//256 Clock prescale factor
//Note that register setup is different from Timer 0
SET_BIT(TCCR2B, CS22);
SET_BIT(TCCR2B, CS21);
CLR_BIT(TCCR2B, CS20);
//Set the pins as output pins
GPIO_OUTPUT(SERVO_CH1);
GPIO_OUTPUT(SERVO_CH2);
GPIO_OUTPUT(SERVO_CH3);
GPIO_OUTPUT(SERVO_CH4);
}
/*DESCRIPTION
* LED亮、灭设置
*ARGUMENTS
* number 0：LED0；1：LED1；2：LED2
* value 0：不亮；1： 亮
*RETURN
* 0 函数调用成功
*NOTES
*
*/
int SET_LED(int number, int value)
{
switch(number){
case 0: // LED2
GPIO_OUTPUT(C, 13, value);
break;
case 1: // LED3
GPIO_OUTPUT(B, 2, value);
break;
case 2: // 编程灯2（绿）
GPIO_OUTPUT(G, 3, value);
break;
default:
;
}
return 0;
}
void setup()
{
//Initialize all the global variables
gSystemError = 0;
gSystemTimerTick = 0;
gSystemTime = 0;
Serial.begin(115200);
Serial.println("Pushpak Quadrotor........");
GPIO_OUTPUT(LED);
GPIO_CLEAR(LED);
initialize_servo_out();
initialize_servo_in();
initialize_adc(); //Initialize adc at the last as this funtion enable interrupts.
timer1_init();
sei(); //enable interrupts
// cli(); //Disable interrupts before copying the current RC reciever pulse values
}
static INLINE void JTAG0_TDI_SO(void) { GPIO_OUTPUT(JTAG0_TDI_PIO_BIT); GPIO_ENABLE(JTAG0_TDI_PIO_BIT); }
static INLINE void JTAG0_NTRST_SO(void) { GPIO_OPENDRAIN(JTAG0_NTRST_PIO_BIT); GPIO_OUTPUT(JTAG0_NTRST_PIO_BIT); GPIO_ENABLE(JTAG0_NTRST_PIO_BIT); }