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#include 
#include 
#include 
#define F_CPU 16000000UL
#include 
#include 

/*                   ADC                                             */
unsigned int adc_check(unsigned char value)
{
	ADMUX = value;
	ADCSRA |= 0x40;
	while ((ADCSRA & 0x10) == 0); 
	ADCSRA |= 0x10;
	return ADCW;
}

void RC_Motor(int angle)
{ 
	int i;

	if(angle < -90)angle=-90;// angle : -90도 ~ +90도
	if(angle > 90)angle= 90;
	i=(angle)*18 + 3000;
	OCR1C=i; //PB7
}

void Init_USART1(void)
{
	UBRR1H = 0; 
	UBRR1L = 103; 
	UCSR1A = 0x00;
	UCSR1B = 0x98; 
	UCSR1C = 0x06; 
	DDRB = 0xFF;
} 

void Init_Servo(void)
{
	TCCR1A=0x0A; // FAST PWM , TOP:ICR1, OCR1C업데이트:TOP
	TCCR1B=0x1A; // 16MHz -> 8분주 = 0.5usec(클럭1개 소요시간)
	ICR1=47999;
	OCR1C=1380;
}

void TX(unsigned char data)
{
	while(!(UCSR1A & (1 << UDRE1))); 
	UDR1 = data; 
} 

unsigned char RX(void)
{
	while(!(UCSR1A & (1 << RXC1)));
	return UDR1;
} 

int main(void)
{
	int in,out;
	int t;

	Init_USART1();
	ADCSRA=0x85;
	Init_Servo();
	TIMSK=0x00;
	sei();

	TX('a');
	while(1)
	{
		_delay_ms(1);
		in=adc_check(1);
		
		_delay_ms(1);
		out=adc_check(3);
		
		if(in > 100 || out > 100)
		{
		if(in < 100 && out > 100)
			TX('A');
		else if(in > 100 && out > 100)
			TX('X');

		if(in > 100 && out < 100)
			TX('B');
		else if(in > 100 && out > 100)
			TX('x');
		}
		if(in < 100 && out < 100)
		 	TX('C');

		_delay_ms(100);

 		adc_check(7);
		t = ADCW;
		_delay_ms(1);
		/*
		TX(t / 1000 + '0');//1234/1000 =1.234 + '0' = 1
		TX(t % 1000 / 100 + '0');//1234 % 1000 = 234, 234/100 = 2.34
		TX(t % 100 / 10  + '0');//1234 % 100 = 34, 34/10 = 3.4
		TX(t % 10 +'0');//1234 %10=4
		TX('\n');
		*/
		if(t > 350 )
		{
			if(OCR1C == 4620)
			{
				RC_Motor(-90);
				TX('R');
			}
		}
		/*
		m = OCR1C;
		TX(m / 1000 + '0');//1234/1000 =1.234 + '0' = 1
		TX(m % 1000 / 100 + '0');//1234 % 1000 = 234, 234/100 = 2.34
		TX(m % 100 / 10  + '0');//1234 % 100 = 34, 34/10 = 3.4
		TX(m % 10 +'0');//1234 %10=4
		TX('\n');
		*/
	}
	return 0;
}

ISR(USART1_RX_vect)
{
	
	unsigned char i;

	i = RX();

	if(i == 'a') //PB1. LED
	{
		PORTB ^= 0x02;
	}

	else if(i == 'b') //PB5
	{
		PORTB ^= 0x20;
	}

	else if(i == 'm') //PB3
	{
		PORTB ^= 0x08;
	}

	else if(i == 's')
	{

		if(OCR1C==1380)
		{
			RC_Motor(0);
		}
		else if(OCR1C==3000)
		{
			RC_Motor(-90);
		}

		
	}
	i=0;
}

포트열고닫기 (Servo Motor, LED, Dc Motor)