Updated with comments on prescaler usage for F_CPU

CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.20)
 
 # Use the fancy version substitution
 project(main
-    VERSION 0.2.2
+    VERSION 0.2.4
     DESCRIPTION "template for cmake + cpputest"
     LANGUAGES   C CXX
 )
@@ -71,6 +71,7 @@ include_directories(
     ./inc
     /usr/local/avr/include/avr
     /usr/local/avr/include
+    /usr/local/avr/avr/include #for Linux
 )
 
 add_subdirectory(src)

avr-gcc-toolchain.cmake

@@ -15,9 +15,11 @@ set(AVR_MCU attiny13a)
 #set(AVR_MCU avr64dd28) # Newer DX series, avrxmega2
 
 #set(F_CPU 16000000UL)
-#set(F_CPU 8000000)
-set(F_CPU 9600000)
-#set(F_CPU 4800000)
+#set(F_CPU 8000000UL)
+#set(F_CPU 9600000UL)#AVR without prescaler
+set(F_CPU 1200000UL) #AVR (9.6MHz) with prescaler 8DIV
+#set(F_CPU 4800000UL) #AVR without prescaler
+#set(F_CPU 600000UL) #AVR (4.8MHz) with prescaler 8DIV
 
 add_compile_definitions(F_CPU=${F_CPU})
 # add_compile_definitions(MCU=atmega328p)

inc/main.h

@@ -49,7 +49,7 @@
 #define SPEED_PIN PB2 // Pin 7/ADC1
 #define BUTTON_PIN PB4 // Pin 3 - Button input
 
-#define MOTOR_PULSE 1 //uS motor base pulse
+#define MOTOR_PULSE 6 //uS motor base pulse
 
 
 /*The timing of "ticks" is dependent on the AVR timer's counter register

src/CMakeLists.txt

@@ -3,7 +3,7 @@ add_executable(${PROJECT_NAME}
 )
 
 target_link_libraries(${PROJECT_NAME}
-    #RegEdit
+    RegEdit
     #timer
 )
 
@@ -36,10 +36,11 @@ add_custom_target(bin ALL
 endif()
 
 
+# Setup for default 9.6MHz
 if(NOT TARGET upload)
 # Upload command (adjust according to your programmer)
 add_custom_target(upload ALL
-    COMMAND avrdude -c ${PROGRAMMER} -P ${PORT} -p ${AVR_MCU} -B 125kHz -U flash:w:${CMAKE_PROJECT_NAME}.hex
+    COMMAND avrdude -c ${PROGRAMMER} -P ${PORT} -p ${AVR_MCU} -B 125kHz -U lfuse:w:0x6a:m -U hfuse:w:0xFF:m -U lock:w:0xFF:m -U flash:w:${CMAKE_PROJECT_NAME}.hex
     DEPENDS hex
 )
 endif()

src/main.c

@@ -1,8 +1,10 @@
 #ifndef F_CPU
-#define F_CPU 4800000UL
+#error "F_CPU not defined: defaulting to 9.6MHz"
+#define F_CPU 1200000UL
 #endif
 
 #include "main.h"
+//#include "ADC.h"
 #include <avr/eeprom.h>
 #include <avr/interrupt.h>
 #include <util/delay.h>
@@ -49,6 +51,7 @@ int main() {
   while (1) {
     UpdateButtonOutput(&btn1);
     UpdateButtonInput(&btn1);
+    //MotorMoveTo(0);
   }
 
   return 0;
@@ -85,6 +88,7 @@ void InitProg(void) {
 
 uint8_t ReadSpeed(void) {
   // Initialize ADC
+
   ADMUX = (0 << MUX1) | (1 << MUX0);                  // Select ADC1 (PB2)
   ADCSRA = (1 << ADEN) | (1 << ADPS1) | (1 << ADPS0); // Enable ADC, prescaler 8
 
@@ -94,10 +98,8 @@ uint8_t ReadSpeed(void) {
 
   uint8_t val = (uint8_t)(ADC >> 2);
 
-  // We want to set a minimum acceptable speed.
-  if (val < 32) {
-    val = 32;
-  }
+    //Map the speed value to the 100%-50% duty cycle range.
+    //val = (uint8_t)( (float)val / 255.0 ) * 100;
 
   return val;
 }
@@ -139,11 +141,12 @@ uint8_t MotorGetSavedPos(void) {
 
 void MotorMoveTo(uint8_t target) {
 
-  uint8_t on_delay = ReadFader();
-  uint8_t off_delay = 255 - on_delay;
+  uint8_t on_delay = ReadSpeed();
   uint8_t pos = (uint8_t)(ReadFader() >> 2);
+  uint8_t idx =0;
 
   while (diff(target, pos) > 8) {
+    on_delay = ReadSpeed();
     pos = (uint8_t)(ReadFader() >> 2);
     if (target > pos) {
       MotorMove(1);
@@ -152,12 +155,12 @@ void MotorMoveTo(uint8_t target) {
     }
 
     // The delay ratio controlls the PWM waveforms.
-    for(uint8_t i = 0; i < on_delay; i++){
-        _delay_us(MOTOR_PULSE);
+    for (idx = 0; idx < on_delay; idx++) {
+      _delay_us(MOTOR_PULSE);
     }
     MotorCoast();
-    for(uint8_t i = 0; i < off_delay; i++){
-        _delay_us(MOTOR_PULSE);
+    for (;idx < 255; idx++) {
+      _delay_us(MOTOR_PULSE);
     }
   }
 
@@ -165,6 +168,7 @@ void MotorMoveTo(uint8_t target) {
 }
 
 // Using the compatable bool type.
+// The motor being used seems to stop working below a 50% duty cycle.
 void MotorMove(uint8_t fwd) {
   if (fwd) {
     PORTB |= (1 << PWM_PIN1);

tests/ADC/CMakeLists.txt

@@ -13,5 +13,6 @@ target_link_libraries(test_ADC
 #Needed for the tests to function
 include_directories(
     /usr/local/avr/include/avr
+    #/usr/local/avr/avr/include #for Linux
     #/usr/lib/avr/include/avr
 )