roboforum.ru

/*****************************************************
This program was produced by the
CodeWizardAVR V2.05.0 Professional
Automatic Program Generator
© Copyright 1998-2010 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com

Project : 
Version : 
Date    : 23.03.2011
Author  : 
Company : 
Comments: 


Chip type               : ATtiny2313
AVR Core Clock frequency: 4,000000 MHz
Memory model            : Tiny
External RAM size       : 0
Data Stack size         : 32
*****************************************************/

#include <tiny2313.h>
#include <delay.h>
#define IR1_ON TCCR0A=0b01000010;
#define IR2_ON TCCR0A=0b00010010;
#define IR12_OFF TCCR0A=0b00000010;
#define LED1_ON PORTB.0 = 1
#define LED2_ON PORTB.1 = 1
#define LED1_OFF PORTB.0 = 0
#define LED2_OFF PORTB.1 = 0
#define IR3_ON TCCR1A=0b01000000;
#define IR4_ON TCCR1A=0b00010000;
#define IR34_OFF TCCR1A=0b00000000;
void main(void)
{
// Declare your local variables here

// Crystal Oscillator division factor: 1
#pragma optsize-
CLKPR=0x80;
CLKPR=0x00;
#ifdef _OPTIMIZE_SIZE_
#pragma optsize+
#endif

// Input/Output Ports initialization
// Port A initialization
// Func2=In Func1=In Func0=In 
// State2=T State1=T State0=T 
PORTA=0x00;
DDRA=0x00;

// Port B initialization
// Func7=In Func6=In Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out 
// State7=T State6=T State5=0 State4=0 State3=0 State2=0 State1=0 State0=0 
PORTB=0x00;
DDRB=0x3F;

// Port D initialization
// Func6=In Func5=Out Func4=In Func3=In Func2=In Func1=In Func0=In 
// State6=T State5=0 State4=T State3=T State2=T State1=T State0=T 
PORTD=0x00;
DDRD=0x20;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 62,500 kHz
// Mode: Fast PWM top=OCR0A
// OC0A output: Non-Inverted PWM
// OC0B output: Non-Inverted PWM
TCCR0A=0b00000010;
TCCR0B=0b11000001;
OCR0A=0x37;
OCR0B=0x37;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer1 Stopped
// Mode: Normal top=0xFFFF
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0b00000000;
TCCR1B=0b00001001;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x37;
OCR1BH=0x00;
OCR1BL=0x37;
// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// Interrupt on any change on pins PCINT0-7: Off
GIMSK=0x00;
MCUCR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x05;

// Universal Serial Interface initialization
// Mode: Disabled
// Clock source: Register & Counter=no clk.
// USI Counter Overflow Interrupt: Off
USICR=0x00;

// USART initialization
// USART disabled
UCSRB=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
DIDR=0x00;

// Global enable interrupts


while (1)
      {
      IR1_ON
      delay_us(600);
      IR12_OFF
      if (PIND.6 == 0){LED1_ON;}
      else {LED1_OFF;}
      delay_ms(50);
      IR3_ON
      delay_us(600);
      IR34_OFF;
      delay_ms(50);
      IR2_ON
      delay_us(600);
      IR12_OFF
      if (PIND.6 == 0){LED2_ON;}
      else {LED2_OFF;}
      delay_ms(50);
      IR4_ON 
      delay_us(600);
      IR34_OFF
      delay_ms(50);
      }
}