atiny2313 - 테스트 소스.

#include <avr/io.h>
#include <avr/eeprom.h>
#include <avr/interrupt.h>
#include <avr/signal.h>

#define sbi(PORT,BIT)  PORT|=_BV(BIT)  //set bit
#define cbi(PORT,BIT)  PORT&=~_BV(BIT)  //clear bit

 

void delay_us(unsigned int delay) // 1us
{
 register unsigned int i;
 for(i=0;i<delay;i++)
 {
  asm volatile("PUSH R0");
  asm volatile("POP R0");
  asm volatile("PUSH R0");
  asm volatile("POP R0");
 }
}

void delay_ms(unsigned int time_ms) // 1ms
{
 register unsigned int i;
 for(i=0;i<time_ms;i++)
 {
  delay_us(250);
  delay_us(250);
  delay_us(250);
  delay_us(250);
 }
}

 

/********************************************************************************************

string 처리 함수들

*******************************************************************************************/
void __strcpy(char* str1,char* str2)
{
 int i = 0;
 while(*(str2+i)!= 0) {
  *(str1+i) = *(str1+2);
  i++;
 }
 *(str1+i) = '\0';
}

// str    : string
// return : size of str
char __strlen(char *str)  // verified
{
 char ret = 0;
 while( (*(str+ret)) != '\0') {
  ret++;
  if (ret > 100) {
   break;
  }

 }
 return ret;
}
void __strcatc(char* str,char c)
{
 char j;
 j = __strlen(str);
 *(str+j) = c;
 *(str+j+1) = '\0';
}

void  __clrstr(char* str,char size)
{
 int i;
 for(i = 0; i< size;i++) *(str+i) = '\0';
}

unsigned int __atoi(char* str)  // verified
{
 char i;
 unsigned c;
 unsigned int ret =0;
 char s = __strlen(str);

 for(i=0;i < s;i++) {
  c = (*(str + i)) - '0';
  ret = ret*10 + c;
 }
 return ret;
}

void __itoa(char* str,char s,long i)  // verified
{
 char c;
 *(str+s -1) = '\0';
 if(i < 0) {
  *str = '-';
  i = i * -1;
 } else {
  *str = '+';
 }
 for(c = s - 2 ;c >= 1;c--) {
  *(str+c) = i % 10 + '0';
  i = i / 10;
 }
 
}

void __putch(char data)
{
 while(!(UCSRA &0X20));
 UDR=data;
 UCSRA |= 0X20;
}

void send_hex(char data)
{
 __putch(data/10 + '0');
 __putch(data%10 + '0');
}

void __puts(char* str)
{
 do{
  __putch(*(str));
  str++;
 } while(*(str) != '\0');
}

 

volatile short angle[8] = {0,0,0,0,0,0,0,0};
volatile unsigned char buff[16];
volatile unsigned char buff_offset = 0;
#define DELAY_TIME 2
#define PULSE_WIDTH 50

// 0xffff - 625 = 0xfd82
#define FREQ_TIME 0xfd82
#define MAX_SERVO_VAL 99

SIGNAL(SIG_TIMER1_OVF)
{
 asm volatile("cli");  // disable interrupt
 int i;
 TCNT1=FREQ_TIME;
 __putch('s');

 PORTB = 0xff;
 delay_us(220);

 for(i = 0 ;i < 254;i++) {
  delay_us(2);
  if(i == angle[0]) {
   cbi(PORTB,1);
  }
  if(i == angle[1]) {
   cbi(PORTB,2);
  }
  if(i == angle[2]) {
   cbi(PORTB,3);
  }
  if(i == angle[3]) {
   cbi(PORTB,4);
  }
 }

 
 asm volatile("sei");  // disable interrupt
}

SIGNAL(SIG_USART0_RX )
{
 asm volatile("cli");  // disable interrupt
 unsigned char c;
 c=UDR;
 UCSRA |= 0X80;
 *(buff + buff_offset) = c;
 if(c == 0) {
  buff_offset = 0;
  angle[0] = buff[0];
  angle[1] = buff[1];
  angle[2] = buff[2];
  angle[3] = buff[3];
  angle[4] = buff[4];
  angle[5] = buff[5];
  angle[6] = buff[6];
  angle[7] = buff[7];
 }
 asm volatile("sei");  // enable interrupt
}

 

int main()
{

 unsigned char c;
// unsigned char buff[30];
 unsigned char offset;

 asm volatile("cli");  // disable interrupt

 DDRB = 0xff; // 1111 1111
 DDRD  = 0xFE;

 // serial set
 UCSRA=0X00;
 UCSRB=0X98; // (1<<RXEN) | (1<<TXEN); // recieve enalbe, trnas enable..
 UCSRC= 0X06; //(1<<USBS) | (3 << UCSZ0); // async, no parity, 1 stop bit

 // BAUD = 16M / 16 /(UBRR+1)
 // UBRR = 20M / 16 / BAUD - 1
 UBRRH=0X00;
 UBRRL=0X67; //9600 bps

 PORTB = 0x00;

 TCCR1B |= 0X05; // pre-scaler : clk/ 1024 = 31250 hz
 // 31250 / 625 = 50Hz (20ms)
 TCNT1=FREQ_TIME;
// OCR1A=0X001;
 TIMSK=(1<<TOIE1); // TOIE1에  인터럽트허용

 angle[0] = angle[1] = angle[2] = angle[3] = 120;
 asm volatile("sei");  // enable interrupt

 c = 'f';
 offset = 0;

 do {
 } while(1);

 return 1;
}