Added untested pwm input

firmware/Makefile

@@ -3,8 +3,8 @@ F_CPU = 8000000
 
 VERSION = 0.1
 
-HEADERS = pwm.h
-SRC = main.c
+HEADERS = pwm.h input.h
+SRC = main.c input.c
 TARGET = mate-driver-$(AVRMCU)
 OBJDIR = bin
 

firmware/input.c

@@ -0,0 +1,33 @@
+#include "input.h"
+
+uint16_t volatile last_count;
+
+void input_init() {
+    MCUCR |= (1 << ISC10);
+    EIFR |= (1 << INTF1);
+
+    last_count = 0;
+}
+
+ISR(INT1_vect) {
+    if((PORTB & (1 << PD3)) != 0) {
+        TCCR1B |= (1 << CS11); //Prescaler 8, enable Timer
+        TCNT1 = 0;
+    } else {
+        TCCR1B &= ~(1 << CS11); //Prescaler 8, disable Timer
+        last_count = TCNT1;
+    }
+}
+
+int16_t input_get_result() {
+    uint16_t tmp = last_count;
+    if(tmp < 1000) {
+        tmp = 0;
+    }
+    tmp = (tmp - 1000);
+    if(tmp > 1000) {
+        tmp = 1000;
+    }
+
+    return ((int16_t)tmp) / 2 - 1000;
+}

firmware/input.h

@@ -0,0 +1,12 @@
+#ifndef _INPUT_H
+#define _INPUT_H
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+
+void input_init(void);
+int16_t input_get_result(void);
+
+
+#endif

firmware/main.c

@@ -2,6 +2,7 @@
 #include <util/delay.h>
 
 #include "pwm.h"
+#include "input.h"
 
 int main(void) {
 
@@ -9,6 +10,7 @@ int main(void) {
 	_delay_ms(5000);
 
 	hbridge_init();
+	input_init();
 
 
 	while(1) {