Merge remote-tracking branch 'refs/remotes/origin/master'

emb/command.c

@@ -2,7 +2,7 @@
 #include <stdlib.h>
 #include "command.h"
 
-#define NUM_COMMANDS 20
+#define NUM_COMMANDS 200
 
 /* Cyclic buffer; when comm_start == comm_end, length = 0 */
 struct command command_buf[NUM_COMMANDS];

emb/servos.cpp

@@ -5,6 +5,8 @@
 #include <stdint.h>
 
 #define NUM_SERVOS 3
+#define MIN_PULSE 999
+#define MAX_PULSE 4999
 
 static void reorderServos();
 static void initTimer1();
@@ -41,7 +43,7 @@ void initServos()
 void setServoAngle(uint8_t servo, int16_t arcMin)
 {
     if (0 <= servo && servo < NUM_SERVOS)
-        servos[servo].tempValue = 2999 + (int32_t) arcMin * 1000 / (180 * 60);
+        servos[servo].tempValue = MIN_PULSE + (int32_t) (arcMin + 180 * 60)  * (MAX_PULSE - MIN_PULSE) / (360 * 60);
 }
 
 void updateServos()

emb/time.cpp

+#include "time.hpp"
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <stdint.h>
+
+static uint32_t millis;
+
+void initTime()
+{
+    cli();
+    
+    TCCR0A = (1 << WGM01);              // CTC mode, TOP = OCRA
+    TCCR0B = (1 << CS01) | (1 << CS00); // 64th prescaler
+    OCR0A = 249;                        // set TOP for 1 kHz interrupts
+    TIMSK0 = (1 << OCIE0A);             // enable compare A interrupt
+    
+    sei();
+}
+
+uint32_t getCurrentMillis()
+{
+    return millis;
+}
+
+ISR(TIMER0_COMPA_vect)
+{
+    millis++;
+}

emb/time.hpp

+#ifndef TIME_H
+#define TIME_H
+
+#include <stdint.h>
+
+/**
+ * Initialises time.
+ */
+void initTime();
+
+/**
+ * Gets the number of milliseconds since program start.
+ */
+uint32_t getCurrentMillis();
+
+#endif /* TIME_H */