void pwm_init(){
//PWM output active (pin5)
DDRE |= (1<<PE3);
//CS3{2:0} = 011 prescaler set to 64
/*
TCCR3B |= (1<<CS30) | (1 << CS31);
TCCR3B &= ~(1<<CS32);*/
//CS3{2:0} = 010 prescaler set to 8
TCCR3B |= (1<<CS31);
TCCR3B &= ~((1<<CS32) | (1<<CS30));
//WGM3{3:0} = 1110 mode set to fast PWM
TCCR3A |= (1<<WGM31);
TCCR3A &= ~(1<<WGM30);
TCCR3B |= (1<<WGM33) | (1<<WGM32);
//COM3A{1:0} = 10 clear bit on ICR3 compare
TCCR3A |= (1<<COM3A1);
TCCR3A &= ~(1<<COM3A0);
//Setting ICR3 to DUTY_CYCLE_STEPS (20ms)
ICR3 = DUTY_CYCLE_STEPS;
pwm_set_value(MID_SERVO);
}
void UART0_IRQHandler(void){
//disable interrupt
U0IER = 0x0;
/*
char s[11];
char a = U0RBR;
for(int i = 0;i<100;i++){
itoa(array[i],s,10);
USART0_String(s);
USART0_Transmit('\r');
USART0_Transmit('\n');
}
*/
//USART_Handler();
char s[12];
int tmp = 0;
s[0] = U0RBR;
for(tmp=1;tmp<11;tmp++){
s[tmp] = USART0_Receive();
if(s[tmp] == '\n') break;
}
s[tmp+1] = '\0';
tmp = (int)strtol(s, NULL, 10);
pwm_set_value(FAN_ADC, tmp);
//heater_set_temp(EXTRUDER_ADC, tmp);
//STEPS_PER_M_E = tmp;
char a[12];
itoa(tmp, a, 10);
USART0_String(a);
USART0_Transmit('\n');
//enable interrupt
U0IER = 0x1;
}
void pwm_test(){
pwm_set_value(150);
}
void pwm_set_servo(int16_t val){
val += 128;
//printf("%d\n", val);
val = (val*(VAL_SCALE/UNDERFLOW_FIX)) / 255 * UNDERFLOW_FIX + MIN_SERVO;
pwm_set_value(val);
}
/*
DDRH = (1 << DDH6);
//fast pwm
TCCR4A &= ~(1 << WGM40);
TCCR4A |= (1 << WGM41);
TCCR4B |= (1 << WGM42) | (1 << WGM43);
//set non-inverting
TCCR4A &= ~(1 << COM4A0);
TCCR4A |= (1 << COM4A1);
//set prescaler
TCCR4B |= (1 << CS41);
TCCR4B &= ~((1 << CS42)|(1 << CS40));
//Set duty cycle?
ICR4 = F_CPU/prescaler/1000*20;
//Set on time?
OCR4A = 2/1000*F_CPU/prescaler;
*/
}
void pwm_set_value(unsigned int val){
OCR3A = val;
}
void pwm_test(void){
pwm_set_value(150)
}
