仕事ーPWM

AVR（ATtiny2313）による高速PWM動作を使ったRCサーボのテスト＠C言語

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

/***************関数******************/
void wait(uint16_t w){
    while(w--){
        volatile uint16_t i=200;
        while(i--);
    }
}
void servo_init(void){
    
    TCNT1 = 0x00;
    OCR1A = 0x00;
    ICR1  = 0x9C4;
    TCCR1A = 0b10000010;
    TCCR1B = 0b00011010;
}
/**************メイン*****************/
int main(){
    DDRB = 0xFF;

    servo_init();
    OCR1A = 0xFA;

    while(1) {
    OCR1A = 0x7D;
    wait(1000);
    OCR1A = 0xFA;
    wait(1000);
    }
}

//==========================================================================

//Global variables and definition
#define PULSE_WIDTH 0x40

void pwm_start(){
        OCR1AL = PULSE_WIDTH;   //Load Pulse width
        OCR1AH = 0;
        DDRD |= (1<<5);         //PortD.5 as o/p
        TCCR1A = 0x81;          //8-bit, Non-Inverted PWM
        TCCR1B = 1;             //Start PWM
}

//==========================================================================