/**
* @brief Configura a USART
*/
void usartSetup(void)
{
usartConfig( USART_MODE_ASYNCHRONOUS,
USART_BAUD_9600,
USART_DATA_BITS_8,
USART_PARITY_NONE,
USART_STOP_BIT_SINGLE );
usartEnableTransmitter();
//usartEnableReceiver();
//usartStdio();
// Envia 8 bits para sinalizar a serial.
for(uint8 i = 0; i<8; i++) usartTransmit(1<<i);
}
int main() {
usartInit(57600);
usartEnableReceiver();
usartEnableTransmitter();
usartStdio();
setBit(DDRB, M1_DIR);
setBit(DDRD, M1_PWM);
setBit(DDRD, M2_DIR);
setBit(DDRD, M2_PWM);
clrBit(PORTB, M1_DIR);
clrBit(PORTD, M1_PWM);
clrBit(PORTD, M2_PWM);
clrBit(PORTD, M2_DIR);
timer0FastPWMMaxMode();
timer0ClockPrescaller64();
timer0OC0ANonInvertedMode();
timer0OC0BNonInvertedMode();
timer0SetCompareAValue(0);
timer0SetCompareBValue(0);
timer0DeactivateCompareAInterrupt();
timer0DeactivateCompareBInterrupt();
timer2ClockPrescaller256();
timer2NormalMode();
timer2OC2AOff();
timer2OC2BOff();
timer2ActivateOverflowInterrupt();
i2c_init();
adxl345_init();
l3g4200d_init();
l3g4200d_setoffset(0.11, -1.71, -0.46);
//l3g4200d_settemperatureref();
PID_init(&PID, 15,0.2,1, 0);
PID_SetMode(&PID, 1);
PID_SetOutputLimits(&PID, -255, 255);
PID.mySetpoint = 0;
motor1(0);
motor2(0);
// printf("\e[1;1H\e[2J");
// printf("STARTED!\r\n");
// _delay_ms(200);
// motor1(120);
// printf("Motor1 = 120\r\n");
// _delay_ms(500);
// motor1(-120);
// printf("Motor1 = -120\r\n");
// _delay_ms(500);
// motor1(120);
// printf("Motor1 = 120\r\n");
// _delay_ms(500);
// motor1(0);
// printf("Motor1 = 0\r\n");
sei();
while(1);
return 0;
}
