roboforum.ru

#--------------------------------------------------------------------
## Programmer
## ==========
## Avrdude programmer flags used by `make program`

##- AVR Dragon (default)
#PROGRAMMER = dragon_isp
#PROGRAMMER_PORT = usb

##- Bootloader
##  AVR910 compatible w/ 115200 baud rate
#PROGRAMMER = avr109 -b115200
#PROGRAMMER_PORT = /dev/ttyUSB0

int TestInt=256;
   
  uart_init();
  stdout = stdin = &uart_str;
  printf("Linetracer ready 1!\n Ohh, yeah!\n");
  printf("This program created to test modified HXT900, you welcome!\nType me first int from which value I have to test:");
  scanf ("%d",&TestInt);
  printf("You choosed - %d\n",TestInt);

#include "defines.h"

#include <ctype.h>
#include <stdint.h>
#include <stdio.h>
#include <string.h>

#include <avr/interrupt.h>

#include <util/delay.h>

#include "uart.c"


FILE uart_str = FDEV_SETUP_STREAM(uart_putchar, uart_getchar, _FDEV_SETUP_RW);

int main(void)
{
  int TestInt=256;
   
  uart_init();
  stdout = stdin = &uart_str;
  printf("Linetracer ready 1!\n Ohh, yeah!\n");
  printf("This program created to test modified HXT900, you welcome!\nType me first int from which value I have to test:");
  scanf ("%d",&TestInt);
  printf("You choosed - %d\n",TestInt);


  DDRC=0x20;//0010 0000
  DDRD=0x30;//0011 0000

  _delay_ms(1000);
 


  //PWM, Phase and frequency correct, TOP=ICR1
  TCCR1A=0xA0; //clear on up-counting, set on down-counting 1010 0000
  TCCR1B=0x12; //Clock prescaler 1/8 0001 0010
  ICR1=9216;  //Set 50Hz frequency   
  //uint16_t baseA=(153*2+1)*23/10;
  //uint16_t baseB=(153*2+1)*23/10;
 

 
  ///* тест сервы
  uint16_t baseA=0;
  uint16_t baseB=0;
  OCR1A=baseA;
  OCR1B=baseB;
 
  DDRC=0xFF;
  PORTC=0xFF;
  int IsLED_C5_On=1;
  //1050 1200
 
   
      for (int i=200; i<500; i+=25)
      {
         baseA=i;
         _delay_ms(250);
         OCR1A=baseA;
         printf("i=%d\n",i);
         //OCR1B=baseA;
         
         if (IsLED_C5_On==1) {PORTC=0x00;IsLED_C5_On=0;}else{PORTC=0xFF;IsLED_C5_On=1;}
      }
      
   baseA=0;
   OCR1A=baseA;
   OCR1B=baseA;
   PORTC=0x00;
  while(1==1)
   {   
   } //Конец теста сервы*/
 
}