blob: aba1916de01cbbac8df9858376c8194bb4354be5 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
|
#define F_CPU 1000000UL
#include <stdint.h>
#include <string.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
#include <avr/pgmspace.h>
#include <avr/eeprom.h>
#include <util/delay.h>
/* port D
*
* 4 1- (NMOS, inverted)
* 5 1+ (PMOS)
* 6 2- (NMOS, inverted)
* 7 2+ (PMOS)
*
*/
#define D_1_MINUS (1 << 4)
#define D_1_PLUS (1 << 5)
#define D_2_MINUS (1 << 6)
#define D_2_PLUS (1 << 7)
/* Turns the H-bridge off, putting the output
* into high impedance mode. */
static void bridge_off(void)
{
PORTD |= D_1_MINUS | D_2_MINUS;
PORTD &= ~(D_1_PLUS | D_2_PLUS);
}
/* Turns the H-bridge on, setting 1+ 2- */
static void bridge_on_a(void)
{
bridge_off();
_delay_ms(100);
PORTD |= D_1_PLUS;
PORTD &= ~D_2_MINUS;
}
/* Turns the H-bridge on, setting 1- 2+ */
static void bridge_on_b(void)
{
bridge_off();
_delay_ms(100);
PORTD |= D_2_PLUS;
PORTD &= ~D_1_MINUS;
}
/* Initializes the output port needed for the H-bridge */
static void bridge_init(void)
{
bridge_off();
DDRD |= D_1_PLUS | D_1_MINUS | D_2_PLUS | D_2_MINUS;
}
int main()
{
bridge_init();
/* simple demo, just flips polarity every now and then */
while (1) {
bridge_on_a();
_delay_ms(200);
bridge_on_b();
_delay_ms(200);
}
}
|
