From bcbb32028933ac8529b0855a1af7421bfb380ba9 Mon Sep 17 00:00:00 2001
From: Jimmy <me@jimmy.nz>
Date: Thu, 10 Dec 2020 14:53:44 +1300
Subject: [PATCH] Intial commit

---
 .gitignore    |  2 ++
 makefile      | 31 +++++++++++++++++++++++++++
 src/main.cpp  | 59 +++++++++++++++++++++++++++++++++++++++++++++++++++
 src/servo.cpp | 16 ++++++++++++++
 src/servo.h   |  8 +++++++
 5 files changed, 116 insertions(+)
 create mode 100644 makefile
 create mode 100644 src/main.cpp
 create mode 100644 src/servo.cpp
 create mode 100644 src/servo.h

diff --git a/.gitignore b/.gitignore
index e257658..84f0256 100644
--- a/.gitignore
+++ b/.gitignore
@@ -32,3 +32,5 @@
 *.out
 *.app
 
+.vscode/
+bin/
diff --git a/makefile b/makefile
new file mode 100644
index 0000000..665f8ab
--- /dev/null
+++ b/makefile
@@ -0,0 +1,31 @@
+MCU=atmega32
+F_CPU=8000000
+PROG=dragon_jtag
+DEBUGGER = dragon
+PORT=/dev/ttyUSB0
+
+CC=avr-g++
+OBJCOPY=avr-objcopy
+CFLAGS=-Wall -g -mmcu=${MCU} -DF_CPU=${F_CPU} -I.
+TARGET=main
+SRCS=src/*.cpp 
+
+default: build flash
+
+build:
+	${CC} ${CFLAGS} -o bin/${TARGET}.bin  ${SRCS}
+	${CC} ${CFLAGS} -o bin/${TARGET}.elf  ${SRCS}
+	${OBJCOPY} -j .text -j .data -O ihex bin/${TARGET}.bin bin/${TARGET}.hex
+
+flash:
+	avrdude -p ${MCU} -c ${PROG} -U flash:w:bin/main.hex
+
+clean:
+	rm -f bin/*
+
+debug: flash avarice
+	sleep 1
+	avr-gdb -ex "target remote :4242" bin/main.elf
+
+avarice:
+	avarice --file bin/main.elf --part ${MCU} --${DEBUGGER} :4242
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000..452f96d
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,59 @@
+#define F_CPU 8000000UL
+#include<avr/io.h>
+#include <util/delay.h>
+#include "servo.h"
+ 
+ int main()
+{
+	servo::init();
+	//Configure TIMER1
+	// TCCR1A|=(1<<COM1A1)|(1<<COM1B1)|(1<<WGM11); //NON Inverted PWM
+	// TCCR1B|=(1<<WGM13)|(1<<WGM12)|(1<<CS11)|(0<<CS10); //PRESCALER=1 MODE 14(FAST PWM)
+		
+	// ICR1=19999; //fPWM=50Hz (Period = 20ms Standard).
+	
+	// DDRD|=(1<<PD4)|(1<<PD5); //PWM Pins as Out
+    
+	while(1)
+	{
+		// for(int i = 1000; i < 2000; i++) {
+		// 	OCR1A = i;
+		// 	_delay_ms(1);
+		// }
+
+		// for(int i = 2000; i > 999; i--) {
+		// 	OCR1A = i;
+		// 	_delay_ms(1);
+		// }
+
+		servo::pos(1000);
+		_delay_ms(1000);
+		servo::pos(2000);
+		_delay_ms(1000);
+		// 	OCR1A=0; //0 degree
+		// 	_delay_ms(1000);
+	
+		// OCR1A=600; //45 degree 
+		// _delay_ms(1000);
+		
+		// OCR1A=950; //90 degree 
+		// _delay_ms(1000);
+		
+		// OCR1A=1425; //135 degree 
+		// _delay_ms(1000);
+		
+		// OCR1A=1900; //180 degree 
+		// _delay_ms(1000);
+			
+		// 	OCR1A=1425; //135 degree
+		// 		_delay_ms(1000);
+		
+		// OCR1A=950; //90 degree
+		// _delay_ms(1000);
+		
+		// OCR1A=650; //45 degree
+		// _delay_ms(1000);
+	
+	}
+	return 0;
+}
\ No newline at end of file
diff --git a/src/servo.cpp b/src/servo.cpp
new file mode 100644
index 0000000..defcb87
--- /dev/null
+++ b/src/servo.cpp
@@ -0,0 +1,16 @@
+#include "servo.h"
+
+namespace servo
+{
+    void init() {
+        //Configure TIMER1
+        TCCR1A|=(1<<COM1A1)|(1<<COM1B1)|(1<<WGM11); //NON Inverted PWM
+        TCCR1B|=(1<<WGM13)|(1<<WGM12)|(1<<CS11)|(0<<CS10); //PRESCALER=1 MODE 14(FAST PWM)
+        ICR1=19999; //fPWM=50Hz (Period = 20ms Standard).
+        DDRD|=(1<<PD4)|(1<<PD5); //PWM Pins as Out
+    }
+
+    void pos(int pos) {
+        OCR1A = pos;
+    }
+} // namespace servo
diff --git a/src/servo.h b/src/servo.h
new file mode 100644
index 0000000..725bc40
--- /dev/null
+++ b/src/servo.h
@@ -0,0 +1,8 @@
+#pragma once
+#include <avr/io.h>
+
+namespace servo
+{
+    void init();
+    void pos(int pos); 
+} // namespace servo