main.c.bak

/*
 * FF:Actuator_2018.c
 *
 * Created: 21/12/17 22:00
 * Author : Sivert
 */ 
#ifndef F_CPU
	#define F_CPU 8000000UL
#endif

//#include <stdlib.h>
//#include <stdint.h>
#include <avr/io.h>
#include <util/delay.h>
#include <math.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <stdio.h>
#include <string.h>

#include "UniversalModuleDrivers/timer.h"
#include "UniversalModuleDrivers/rgbled.h"
#include "ActuatorDrivers/i2c_master.h"
#include "ActuatorDrivers/actuator.h"
#include "ActuatorDrivers/ads_1115.h"
#include "AVR-UART-lib/usart.h"




volatile int16_t adcReading = 0;

int main (void)
{	
	DDRE	|= (1 <<PE4 )  | (1 <<PE5 );
	TCCR3B	|=(1<<CS00);  //NO PRESCALER
	
	TCCR3A	|= (1<<COM3B1) |(1<<COM3C0) | (1<<COM3C1) | (1<<WGM31); //COM3B clear on comp. match, omvendt com3c  |(WGM30<<1)| |
	TCCR3B	|= (1<<WGM32)  |(1<<WGM33);
	
	ICR3 = 256;
	
	rgbled_init();
	rgbled_turn_on(LED_ALL);
	uint16_t duty = 140;//lave verdier = innover |
	i2c_init();
	
	ads_1115_write_config();

	
	
	uart_init(BAUD_CALC(500000)); // 8n1 transmission is set as default
	sei();
	
	while(1){
		adcReading=ads_1115_get_reading();
		if (adcReading < 100)
		duty=170;
		if (adcReading > 20000)
		duty=100;
		rgbled_toggle(LED_ALL);
		_delay_ms(40);
	
		actuator_pwmSpeed(duty);
		
		_delay_ms(30);
		
		//actuator_out();
		_delay_ms(30);
		
		uart_putint(duty);
		uart_puts("\r\n");
		//_delay_ms(1000);
		if(uart_AvailableBytes()!=0){
			duty=uart_getint();
			uart_flush();
			
			}
		
				
				
	}
	
	
	
	/* Insert application code here, after the board has been initialized. */
}