sabertooth.c

   1 #include "brmpuk.h"
   2
   3 #include <avr/io.h>
   4 #include "sabertooth.h"
   5
   6 #define BAUD 38400  // Rychlost prenosu dat
   7 #define MYUBRR (F_CPU/16/BAUD-1) // Konstanta pouzita pro nastaveni prenosu
   8
   9 static void USART1_Init(uint16_t ubrr) { // fukce pro inicializaci USART1 komunikace
  10         UBRR1H = (uint8_t) (ubrr >> 8);
  11         UBRR1L = (uint8_t) ubrr;
  12
  13         UCSR1B = (1<<RXEN1)|(1<<TXEN1);
  14         UCSR1C = (1<<UCSZ11)|(1<<UCSZ10); // nastaveni stop bitu a pocet bitu zpravy 8bit a 1stop bit
  15 }
  16
  17 static void USART1_Transmit(uint8_t data) { // poslani dat po USART1
  18         while (!(UCSR1A & (1<<UDRE1))) ; // cekani na odesilaci buffer
  19         UDR1 = data; // zapsani dat = odeslani dat po USART1
  20 }
  21
  22 void motor_init(void)
  23 {
  24         USART1_Init(MYUBRR);
  25         motor_stop();
  26 }
  27
  28 void motor_send(signed char m1, signed char m2)
  29 {
  30         USART1_Transmit(~0x80 & (64 - m1));
  31         USART1_Transmit(0x80 | (64 - m2));
  32 }
  33
  34 void motor_stop(void)
  35 {
  36         USART1_Transmit(0);
  37 }