sound.c

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/****************************************************************************/
/*****************************************************************************
*                                                                            *
*   This program is free software; you can redistribute it and/or modify     *
*   it under the terms of the GNU General Public License as published by     *
*   the Free Software Foundation; either version 2 of the License, or        *
*   any later version.                                                       *
*                                                                            *
*****************************************************************************/
#include "asuro.h"



/****************************************************************************/
void Sound (
  uint16_t freq,
  uint16_t duration_msec,
  uint8_t  amplitude)
{
  uint16_t wait_tics;
  uint32_t n,k,period_usec,dauer_usec;

  period_usec = 1000000L / freq;
  dauer_usec = 1000 * (uint32_t) duration_msec;
  k = dauer_usec / period_usec;

  //IR Interuptfreq=36KHz
  //Wavefreq=18KHz

  wait_tics = 18000 / freq;

  MotorSpeed (amplitude, amplitude);

  for (n = 0; n < k; n++)
  {
    MotorDir (FWD, FWD);
    Sleep (wait_tics);
    MotorDir (RWD, RWD);
    Sleep (wait_tics);
  }
  MotorSpeed (0, 0);
}

#define BEEP sound (1000, 100, 255)

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