IRobot Roomba के लिए घर का बना आईआर रिमोट

/*   - Irobot Roomba.    Atmel ATTINY2313A. FUSE-: Fuse Low Byte: CKDIV|CKOUT|SUT|SKSEL| 0 | 1 |10 |0100 | 0x64 Default 1 | 1 |10 |1100 | 0b11101100=0xEC   3-8  */ //#define F_CPU 7.3728E6 //#define __AVR_ATtiny2313A__ #include <avr/io.h> #include <avr/interrupt.h> #include <avr/sleep.h> /*------<>-----*/ // 39477  // 25,3 : #define P_GEN {TCNT0=0; PORTB |= 0x8; while (TCNT0 < 93); PORTB &= ~0x8; while (TCNT0 < 186);} //Roomba : #define LEFT 129 #define FORWARD 130 #define RIGHT 131 #define SPOT 132 #define DOCK 133 #define CLEAN 136 #define PAUSE 137 #define POWER 138 #define FORWARD_LEFT 139 #define FORWARD_RIGHT 140 #define TEST 170 /*----------------<:>----------------*/ void init(void) { //    /1: CLKPR = (1<<CLKPCE); CLKPR = (0<<CLKPS0)|(0<<CLKPS1)|(0<<CLKPS2)|(0<<CLKPS3); // : PORTD = 0xFF; DDRD = 0x0; PORTB = (1<<PORTB0)|(1<<PORTB1)|(1<<PORTB2); DDRB = (1<<DDB3)|(1<<DDB4); // : GIMSK = 0x30; //(1<<PCIE)|(1<<4); PCMSK = 0x3; //(1<<PCINT0)|(1<<PCINT1); PCMSK2 = 0x7F; } void ir_tx(unsigned char data_ir) { PORTB |= (1<<PB4); //  /*  : 1: __________ 2862uS |988uS |_____ 0: _____ 887uS| 2862uS |__________    ~16870 uS */ unsigned char cnt; // : TCCR0B = (0<<CS12)|(0<<CS11)|(1<<CS10); //   f/1 TCCR1B = (0<<CS12)|(1<<CS11)|(1<<CS10); //   f/64 for (cnt=0; cnt<8; cnt++) { TCNT1=0; if (data_ir & (0x80 >> cnt)) { // 1 while (TCNT1 < 330) P_GEN; while (TCNT1 < (330+114)) ; } else { // 0 while (TCNT1 < 113) P_GEN; while (TCNT1 < (330+114)) ; } } TCNT1=0; while (TCNT1 < 1950) ; PORTB &= ~(1<<PB4); //  } void send_command(void) { volatile unsigned char button_b; volatile unsigned char button_d; volatile unsigned char button_b_new; volatile unsigned char button_d_new; unsigned char pause_cnt = 0; TCCR1B = (0<<CS12)|(1<<CS11)|(1<<CS10); // f/64 TCNT1=0; while (TCNT1 < 346); //346 -  3 ms button_b = ~PINB & ((1<<PINB0)|(1<<PINB1)); button_d = ~PIND & 0x7F; button_b_new = button_b; button_d_new = button_d; while ((button_b == button_b_new)&&(button_d == button_d_new)) { if ((button_b_new == 0) && (button_d_new == 0)) break; if (button_b == (1<<PINB0)) {ir_tx(DOCK);} if ((pause_cnt < 20) && (button_b == (1<<PINB1))) {ir_tx(PAUSE); pause_cnt++;} if (pause_cnt >= 20) {ir_tx(POWER);} if (button_d == (1<<PIND0)) {ir_tx(FORWARD_LEFT);} if (button_d == (1<<PIND1)) {ir_tx(CLEAN);} if (button_d == (1<<PIND2)) {ir_tx(LEFT);} if (button_d == (1<<PIND3)) {ir_tx(FORWARD);} if (button_d == (1<<PIND4)) {ir_tx(SPOT);} if (button_d == (1<<PIND5)) {ir_tx(RIGHT);} if (button_d == (1<<PIND6)) {ir_tx(FORWARD_RIGHT);} button_b_new = ~PINB & ((1<<PINB0)|(1<<PINB1)); button_d_new = ~PIND & 0x7F; } } /*----------------------< :>------------------------*/ ISR(PCINT_B_vect) { cli(); send_command(); sei(); } ISR(PCINT_D_vect) { cli(); send_command(); sei(); } /*-----------------<  >-----------------------*/ int main(void) { init(); sei(); for(;;) { set_sleep_mode(SLEEP_MODE_PWR_DOWN); sleep_mode(); } }