Created
February 20, 2018 07:07
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ATtiny 5/10: Read ADC2 (PB2) and output servo PWM signal on PB0 and PB1
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/* | |
Read ADC2 (PB2) and output servo signal on PB0 and PB1. | |
ATtiny5 or 10 at default 1MHz. | |
*/ | |
#include <avr/io.h> | |
int main(void) | |
{ | |
// ADC channel 2 | |
ADMUX = 2; | |
// Disable digital input on PB2 | |
DIDR0 = (1<<ADC2D); | |
// Enable ADC, presc 1:8 for 125kHz ADC-clock | |
ADCSRA = (1<<ADEN) | (1<<ADPS1) | (1<<ADPS0); | |
// PB0 and 1 output. | |
DDRB = (1<<PB0) | (1<<PB1); | |
// Timer0 50Hz PWM, 1us tick, mode 14 with ICR0 as TOP. | |
ICR0 = 19999; // 1MHz / 50Hz - 1 | |
// Start with 1.5 ms pulse-width | |
OCR0A = OCR0B = 1500; | |
// OC0A and OC0B non inverting PWM, mode bit 1 | |
TCCR0A = (1<<COM0A1) | (1<<COM0B1) | (1<<WGM01); | |
// mode bits 2 and 3, presc 1:1 | |
TCCR0B = (1<<WGM03) | (1<<WGM02) | (1<<CS00); | |
while(1) | |
{ | |
uint8_t i; | |
uint16_t adc4; | |
// Take four ADC samples, add them in adc4 | |
for (i = 0, adc4 = 0; i < 4; i++) | |
{ | |
// Start a conversion | |
ADCSRA |= (1<<ADSC); | |
// wait until it's finished | |
while (ADCSRA & (1<<ADSC)) | |
; // Nothing | |
adc4 += ADCL; | |
} | |
// Set PWM to 990 to 2010 ms from ADC. | |
OCR0A = 990 + adc4; | |
// OCR0B "inverted" servo signal | |
OCR0B = 2010 - adc4; | |
} | |
} |
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