AVRFreaks.net

/*
 * myhexapod.c
 *
 * Created: 28/05/2012 4:10:47 PM
 *  Author: Team30
 */

#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdint.h>
#include <stdbool.h>
#include <util/delay.h>

#define F_CPU         8000000ul
#define MAX_SERVOS_MUX   6
#define PERIOD         2499
#define PERIOD_END      7499


volatile uint16_t servoBody[MAX_SERVOS_MUX] = {2000, 1000, 1500, 1500, 1500, 1500};
volatile uint16_t servoCoxa[MAX_SERVOS_MUX] = {1500, 1500, 1500, 1500, 1500, 1500};
volatile uint16_t servoTibia[MAX_SERVOS_MUX] = {1500, 1500, 1500, 1500, 1500, 1500};

volatile uint8_t j;


ISR(TIMER1_OVF_vect) {
   
   //time the period of each selection
   if (++j < 5) {
      ICR1 = PERIOD;
      //select demux
      PORTD = j << 5;
      OCR1A = servoBody[j];
   }
   else {
      ICR1 = PERIOD_END;
      //select demux
      PORTD = j << 5;
      OCR1A = servoBody[j];
      j = 0;
   }
}



   
void initialize() {
   DDRB = 0b000000110;
   DDRD = 0xff;
   //setting PWM
   TCCR1A = (1<<WGM11)|(0 <<WGM10)|(1<<COM1A1)|(1<<COM1A0);
    TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11);
   ICR1 = PERIOD;
   OCR1A = servoBody[j];
   TIMSK1 |= (1<<TOIE1);
   TCNT1= 0;

}   

int main(void)
{
   initialize();
   sei();
    while(1)
    {
      uint8_t k = 8;
        //TODO:: Please write your application code
      
    }
}