#include <tiny2313.h>

int us;
int S_1,S_2,S_3;
int CS_1,CSt_1;

// Timer1 output compare A interrupt service routine
interrupt [TIM1_COMPA] void timer1_compa_isr(void)
{
TCNT1=0;
us++;
    
   if(us>=2000)           //создание периода 20 мс
   {
   us=0;
   };
   
}

// Declare your global variables here

void main(void)
{

// Crystal Oscillator division factor: 1
#pragma optsize-
CLKPR=0x80;
CLKPR=0x00;
#ifdef _OPTIMIZE_SIZE_
#pragma optsize+
#endif

// Input/Output Ports initialization
// Port A initialization
// Func2=In Func1=In Func0=In  
// State2=T State1=T State0=T  
PORTA=0x00;
DDRA=0x00;

// Port B initialization
// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out  
// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0  
PORTB=0x00;
DDRB=0xFF;

// Port D initialization
// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In  
// State6=T State5=T State4=T State3=T State2=T State1=T State0=T  
PORTD=0x00;
DDRD=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 1000,000 kHz
// Mode: Normal top=0xFFFF
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: On
// Compare B Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x02;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x07;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x40;

// Global enable interrupts
#asm("sei")

     
     S_1=150;
     S_2=150;
     S_3=150;
      

while (1)
{
    
    
   
    
      

    
   if(us<S_1)            //серво №1
   {
   PORTB.1=1;   
   }
   else   
   {
   PORTB.1=0;      
   };
      
   if(us<S_2)            //серво №2
   {
   PORTB.2=1;   
   }
   else   
   {
   PORTB.2=0;      
   };
    
   if(us<S_3)            //серво №3
   {
   PORTB.3=1;   
   }
   else   
   {
   PORTB.3=0;      
   };
}
}

#include <tiny2313.h>

int us;
int S_1,S_2,S_3;
int CS_1,CSt_1;

// Timer1 output compare A interrupt service routine
interrupt [TIM1_COMPA] void timer1_compa_isr(void)
{
TCNT1=0;
us++;
    
   if(us>=2000)           //создание периода 20 мс
   {
   us=0;
   };
   
}

// Timer1 output compare B interrupt service routine
interrupt [TIM1_COMPB] void timer1_compb_isr(void)
{
TCNT1=0;
CSt_1++;

   if(CSt_1>=2000)           //создание периода 20 мс
   {
   CSt_1=0;
   };
}

void main(void)
{

// Crystal Oscillator division factor: 1
#pragma optsize-
CLKPR=0x80;
CLKPR=0x00;
#ifdef _OPTIMIZE_SIZE_
#pragma optsize+
#endif

// Input/Output Ports initialization
// Port A initialization
// Func2=In Func1=In Func0=In  
// State2=T State1=T State0=T  
PORTA=0x00;
DDRA=0x00;

// Port B initialization
// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out  
// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0  
PORTB=0x00;
DDRB=0xFF;

// Port D initialization
// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In  
// State6=T State5=T State4=T State3=T State2=T State1=T State0=T  
PORTD=0x00;
DDRD=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 1000,000 kHz
// Mode: Normal top=0xFFFF
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: On
// Compare B Match Interrupt: On
TCCR1A=0x00;
TCCR1B=0x02;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x07;
OCR1BH=0x00;
OCR1BL=0x07;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x40;

// Global enable interrupts
#asm("sei")

     
     S_1=150;
     S_2=150;
     S_3=150;
      

while (1)
{
    
    
   
    
      

    
   if(CSt_1<S_1)            //серво №1
   {
   PORTB.1=1;   
   }
   else   
   {
   PORTB.1=0;      
   };
      
   if(us<S_2)            //серво №2
   {
   PORTB.2=1;   
   }
   else   
   {
   PORTB.2=0;      
   };
    
   if(us<S_3)            //серво №3
   {
   PORTB.3=1;   
   }
   else   
   {
   PORTB.3=0;      
   };
}
}