roboforum.ru

  #include <io2313v.h>
#include <macros.h>

void port_init(void);
void timer0_init(void);
void init_devices(void);
void delaysa(unsigned int mks);

unsigned char deltaServo1 = 100;
 
unsigned int maxServo1 = 4000;
unsigned int minServo1 = 900;


void nomovieServo1(void);



const int period = 30800; //period = 20 ms
int N = 2497; //neutral servo = 1.5 ms

//TIMER0 initialize - prescale:256
// desired value: 200Hz
// actual value: 200,321Hz (0,2%)
void timer0_init(void)
{
 TCCR0 = 0x00; //stop timer
 TCNT0 = 0x3D; //set count
 TCCR0 = 0x04; //start timer
}

#pragma interrupt_handler timer0_ovf_isr:7
void timer0_ovf_isr(void) 
{
 TCNT0 = 0x3D; //reload counter value
 if (PIND==0x04)
 forwardServo1(deltaServo1);
 if (PIND==0x08)
 backwardServo1(deltaServo1);
 if((PIND!=0x04)&&(PIND!=0x08))
 nomovieServo1();

 
}
//The first servo
void forwardServo1(unsigned char deltaServo1)
{
  if(N<maxServo1)
  {
    N=N+deltaServo1;
    PORTB|=0x10;
    delaysa(N);
    PORTB&=~0x10;
    delaysa(period);
   }
}
void backwardServo1(unsigned char deltaServo1)
{
  if(N>minServo1)
  {
   N=N-deltaServo1;
   PORTB|=0x10;
   delaysa(N);
   PORTB&=~0x10;
   delaysa(period);
  }
}
void nomovieServo1(void)
{
 N=N-0;
 PORTB|=0x10;
 delaysa(N);
 PORTB&=~0x10;
 delaysa(period);
}
void delaysa(unsigned int mks)
{
 while(mks>0)
 {
  mks--;
 }
}
//Init ports
void port_init(void)
{
 PORTB = 0x00;
 DDRB  = 0xFF; 
 PORTD = 0x0C; // for buttons
 DDRD  = 0x00; 
}

//call this routine to initialize all peripherals
void init_devices(void)
{
//stop errant interrupts until set up
CLI(); //disable all interrupts
port_init();
timer0_init();

MCUCR = 0x00;
GIMSK = 0x00;
TIMSK = 0x02;
SEI(); //re-enable interrupts
//all peripherals are now initialized
}
void main(void)
{
 init_devices();
 while(1);
}