PS regulátor

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

#include "pomocne.h"

FILE mystdout_uart = FDEV_SETUP_STREAM(sendchar, NULL, _FDEV_SETUP_WRITE);

int main(void)
{ 	
  	UCSR0B = 0x00;        // Disable RxD and TxD for UART0

	//  Inicializacia
	//  Nie vsetky registre su rozpisane; doplnte
   	inituart();		// inicializacia UARTU
	adc_init();		// inicializacia ADC
 	timer1_init();   	// inicializacia Timer1: PWM
	timer2_init();		// inicializacia Timer2: 1ms vzorky su zakladom 

        stdout = &mystdout_uart; 
	//printf("\x1B[1;1HAD [4]=");	

        sei();                 // Enable ALL interrupts             

	do{  
	  if(vypis){           // Vypis sa realizuje kazdych 100 ms
 	  vypis=0;
          //printf("\x1b[2;1H%04x %04d  %04d %04d %3d.%02d ",plnenie,iii,w_zel,reg_odch_n,(y_reg/100),(y_reg%100));
          printf("%d\r",y_reg/2);
          }
	} while(1);
}

K programu potrebujete aj knižnicu pomocne.h s pomocnými funkciami:

// Premenne:
extern int K_reg;   
extern int Ti_reg;  

extern volatile long m_P_s,m_P_n,m_I_s,m_I_n;
extern volatile int m_reg;    

extern int w_zel;    
extern int w_zel1,w_zel2;    
extern volatile int reg_odch_n; 
extern volatile int reg_odch_s; 

volatile unsigned char plnenie;
extern volatile unsigned int y_reg;
extern int T_v; // 110ms=109 20ms=19
extern volatile unsigned char t_out_spust_prev;
extern volatile unsigned char t_100ms;
extern volatile unsigned int iii;
extern volatile unsigned char vypis;


// Hlavne funkcie:

extern void PS_reg(void);

extern void adc_init(void);
extern void timer1_init(void);
extern void timer2_init(void);
extern void timer2_ovf_isr(void);

// Pomocne funkcie:
 
extern void inituart(void);
extern int sendchar(char c, FILE *stream);

 // Following calculation assumes that F_CPU is assigned in 'Project/Options'

#define BAUDRATE       9600      
#define BAUD_PRESCALE  (((F_CPU / (BAUDRATE * 16UL))) - 1)

/* definitions for UART control */      
                                        // Valid for ATmega328
#define	BAUD_RATE_REG	        UBRR0   // 
#define	UART_STATUS_REG		UCSR0A  // OK, checked (but also control reg.)
#define	UART_CONTROL_REG_B	UCSR0B  // OK, checked
#define UART_CONTROL_REG_C      UCSR0C  // Added for mode setting
#define	ENABLE_TRANSMITTER_BIT	TXEN0   // OK, checked
#define	ENABLE_RECEIVER_BIT	RXEN0   // OK, checked
#define DATA_REGISTER_EMPTY_BIT UDRE0   // Added, for possible speed-up
#define	TRANSMIT_COMPLETE_BIT	TXC0    // OK, checked
#define	RECEIVE_COMPLETE_BIT	RXC0    // OK, checked
#define	UART_DATA_REG		UDR0    // OK, checked

#define SETBIT(VAR,BIT)			((VAR)|=(1<<(BIT)))