mcu2.i

communication between MCU 2 (atmega32), using codevisionAVR

#pragma used+
sfrb TWBR=0;
sfrb TWSR=1;
sfrb TWAR=2;
sfrb TWDR=3;
sfrb ADCL=4;
sfrb ADCH=5;
sfrw ADCW=4;      
sfrb ADCSRA=6;
sfrb ADCSR=6;     
sfrb ADMUX=7;
sfrb ACSR=8;
sfrb UBRRL=9;
sfrb UCSRB=0xa;
sfrb UCSRA=0xb;
sfrb UDR=0xc;
sfrb SPCR=0xd;
sfrb SPSR=0xe;
sfrb SPDR=0xf;
sfrb PIND=0x10;
sfrb DDRD=0x11;
sfrb PORTD=0x12;
sfrb PINC=0x13;
sfrb DDRC=0x14;
sfrb PORTC=0x15;
sfrb PINB=0x16;
sfrb DDRB=0x17;
sfrb PORTB=0x18;
sfrb PINA=0x19;
sfrb DDRA=0x1a;
sfrb PORTA=0x1b;
sfrb EECR=0x1c;
sfrb EEDR=0x1d;
sfrb EEARL=0x1e;
sfrb EEARH=0x1f;
sfrw EEAR=0x1e;   
sfrb UBRRH=0x20;
sfrb UCSRC=0X20;
sfrb WDTCR=0x21;
sfrb ASSR=0x22;
sfrb OCR2=0x23;
sfrb TCNT2=0x24;
sfrb TCCR2=0x25;
sfrb ICR1L=0x26;
sfrb ICR1H=0x27;
sfrb OCR1BL=0x28;
sfrb OCR1BH=0x29;
sfrw OCR1B=0x28;  
sfrb OCR1AL=0x2a;
sfrb OCR1AH=0x2b;
sfrw OCR1A=0x2a;  
sfrb TCNT1L=0x2c;
sfrb TCNT1H=0x2d;
sfrw TCNT1=0x2c;  
sfrb TCCR1B=0x2e;
sfrb TCCR1A=0x2f;
sfrb SFIOR=0x30;
sfrb OSCCAL=0x31;
sfrb TCNT0=0x32;
sfrb TCCR0=0x33;
sfrb MCUCSR=0x34;
sfrb MCUCR=0x35;
sfrb TWCR=0x36;
sfrb SPMCR=0x37;
sfrb TIFR=0x38;
sfrb TIMSK=0x39;
sfrb GIFR=0x3a;
sfrb GICR=0x3b;
sfrb OCR0=0X3c;
sfrb SPL=0x3d;
sfrb SPH=0x3e;
sfrb SREG=0x3f;
#pragma used-

#asm
	#ifndef __SLEEP_DEFINED__
	#define __SLEEP_DEFINED__
	.EQU __se_bit=0x80
	.EQU __sm_mask=0x70
	.EQU __sm_powerdown=0x20
	.EQU __sm_powersave=0x30
	.EQU __sm_standby=0x60
	.EQU __sm_ext_standby=0x70
	.EQU __sm_adc_noise_red=0x10
	.SET power_ctrl_reg=mcucr
	#endif
#endasm

typedef char *va_list;

#pragma used+

char getchar(void);
void putchar(char c);
void puts(char *str);
void putsf(char flash *str);

char *gets(char *str,unsigned int len);

void printf(char flash *fmtstr,...);
void sprintf(char *str, char flash *fmtstr,...);
void snprintf(char *str, unsigned int size, char flash *fmtstr,...);
void vprintf (char flash * fmtstr, va_list argptr);
void vsprintf (char *str, char flash * fmtstr, va_list argptr);
void vsnprintf (char *str, unsigned int size, char flash * fmtstr, va_list argptr);
signed char scanf(char flash *fmtstr,...);
signed char sscanf(char *str, char flash *fmtstr,...);

#pragma used-

#pragma library stdio.lib

#pragma used+

void delay_us(unsigned int n);
void delay_ms(unsigned int n);

#pragma used-

#asm
   .equ __lcd_port=0x15 ;PORTC
#endasm

#pragma used+

void _lcd_ready(void);
void _lcd_write_data(unsigned char data);

void lcd_write_byte(unsigned char addr, unsigned char data);

unsigned char lcd_read_byte(unsigned char addr);

void lcd_gotoxy(unsigned char x, unsigned char y);

void lcd_clear(void);
void lcd_putchar(char c);

void lcd_puts(char *str);

void lcd_putsf(char flash *str);

unsigned char lcd_init(unsigned char lcd_columns);

#pragma used-
#pragma library lcd.lib

void main(void)
{
char charin;

PORTD=0x00;
DDRD=0x20;

TCCR1A=0x80;
TCCR1B=0x12;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0b100111;
ICR1L=0b00010000;
OCR1A=250;

UCSRA=0x00;
UCSRB=0x18; 
UBRRH=0x00;
UBRRL=0xCF; 

lcd_init(16);
lcd_gotoxy(0,0);
lcd_putsf("INICIANDO...");
delay_ms(1000);
lcd_gotoxy(0,0);
lcd_putsf("CONTROL_REMOTO");
delay_ms(1000);
while (1)
{

if(UCSRA & 0x80)
{

charin=UDR;

lcd_gotoxy(0,1);
lcd_putsf("                ");      

switch(charin)
{

case '0':

OCR1A=250;
lcd_gotoxy(0,1);
lcd_putsf("MOV. SERVO 0