roboforum.ru

#include <io2313v.h>
#include <macros.h>
#define CENTER 2514
int mks_g=CENTER;
int del_0=CENTER;

char in;

void delaysa(unsigned int mks)
{
while(mks>0)
{
 mks--;
}
}

void port_init(void)
{
PORTB = 0xFF;
DDRB  = 0xFF;
PORTD = 0x00;
DDRD  = 0x00;
}

void timer0_init(void)
{
TCCR0 = 0x00; //stop timer
TCNT0 = 0x29; //set count
TCCR0 = 0x05; //start timer
}

#pragma interrupt_handler timer0_ovf_isr:7
void timer0_ovf_isr(void)
{

PORTB |=BIT(0);
delaysa(del_0);
PORTB &=~BIT(0);

TCNT0 = 0x29; //TIMER0 has overflowed
 //reload counter value

}

void uart0_init(void)
{
UCR  = 0x00; //disable while setting baud rate
UBRR = 0x47; //set baud rate
UCR  = 0xD8; //enable
}

#pragma interrupt_handler uart0_rx_isr:8
void uart0_rx_isr(void)
{
in=UDR;
in=in*1;
if (in=45)
PORTB^=BIT(7);
in=0;
}

#pragma interrupt_handler uart0_tx_isr:10
void uart0_tx_isr(void)
{


}

//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();
uart0_init();

MCUCR = 0x00;
GIMSK = 0x00;
TIMSK = 0x02;
SEI(); //re-enable interrupts
//all peripherals are now initialized
}

//
void main(void)
{
init_devices();
while(1);


}

void delaysa(unsigned int mks)
{
while(mks>0)
{
 mks--;
}
}

void delaysa(unsigned int mks) {
while((mks--) > 0) ;
}