main.c
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#include <avr/io.h>
#include <util/delay.h>
#define CPU_FREQ 16000000L
unsigned int joystick_lr;
unsigned int joystick_ud;
void init_serial(unsigned long int speed)
{
//UBRR0 = CPU_FREQ/((speed)<<4)-1;
UBRR0 = 8;
UCSR0B = (1<<TXEN0 | 1<<RXEN0);
UCSR0C = (1<<UCSZ01 | 1<<UCSZ00);
UCSR0A &= (1 << U2X0);
}
void send_serial(unsigned char c)
{
loop_until_bit_is_set(UCSR0A, UDRE0);
UDR0 = c;
}
unsigned char get_serial(void)
{
loop_until_bit_is_set(UCSR0A, RXC0);
return UDR0;
}
void port_initio(void)
{
DDRD &= 0xFC;
DDRD |= 0x3C;
DDRB &= 0xFE;
PORTD |= 0x3C;
}
int main(void)
{
init_serial(250000);
port_initio();
uint8_t opto0 = 0;
uint8_t opto2 = 0;
while (1)
{
if((opto0 == 1) && ((PIND & 0x40) == 0x40))
PORTD &= 0xE7;
else
PORTD |= 0x18;
if((opto2 == 1) && ((PIND & 0x80) == 0x80))
PORTD &= 0xDB;
else
PORTD |= 0x24;
if((PINB & 0x01) == 0x01)
send_serial('U');
else
send_serial('D');
}
return 0;
}