void sched_init(void)
{
/* timer 1 interrupt init */
sched_int = 0;
TIMSK1 = BV(OCIE1A);
TCCR1B = BV(CS11) | BV(WGM12); /* clk/8, Clear Timer on Compare Match (OCR1A) */
OCR1A = INT1_CNT;
PB_OUT (FLIPBIT_DDR, FLIPBIT); /* set flipbit as output */
}
void motor_init(void)
{
TCCR0A = BV(WGM00)|BV(WGM01); /* 10 bit phase correct PWM */
TCCR0B = BV(CS00); /* prescaler clk_io/1 works for 16 MHz */
/* left motor */
PB_OUT (M_L_C_DDR, M_L_C); /* set pin connected to L298 in3 as output */
PB_OUT (M_L_D_DDR, M_L_D); /* set pin connected to L298 in4 as output */
PB_OUT (M_L_DDR, M_L); /* set pin connected to L298 Enable B (PWM 0A) as output */
M_L_PWM_OFF;
prop_set_l = 0;
/* right motor */
PB_OUT (M_R_C_DDR, M_R_C); /* set pin connected to L298 in1 as output */
PB_OUT (M_R_D_DDR, M_R_D); /* set pin connected to L298 in2 as output */
PB_OUT (M_R_DDR, M_R); /* set pin connected to L298 Enable A (PWM 0B) as output */
M_R_PWM_OFF;
prop_set_r = 0;
}
