update main

.gitignore

@@ -1,4 +1,4 @@
-### JetBrains template
+### CLion+iml template
 # Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
 # Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
 
@@ -77,6 +77,173 @@ fabric.properties
 # Android studio 3.1+ serialized cache file
 .idea/caches/build_file_checksums.ser
 
+### JetBrains+all template
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# AWS User-specific
+.idea/**/aws.xml
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# SonarLint plugin
+.idea/sonarlint/
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### C++ template
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### C template
+# Prerequisites
+*.d
+
+# Object files
+*.o
+*.ko
+*.obj
+*.elf
+
+# Linker output
+*.ilk
+*.map
+*.exp
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Libraries
+*.lib
+*.a
+*.la
+*.lo
+
+# Shared objects (inc. Windows DLLs)
+*.dll
+*.so
+*.so.*
+*.dylib
+
+# Executables
+*.exe
+*.out
+*.app
+*.i*86
+*.x86_64
+*.hex
+
+# Debug files
+*.dSYM/
+*.su
+*.idb
+*.pdb
+
+# Kernel Module Compile Results
+*.mod*
+*.cmd
+.tmp_versions/
+modules.order
+Module.symvers
+Mkfile.old
+dkms.conf
+
 ### CLion+all template
 # Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
 # Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
@@ -156,3 +323,161 @@ fabric.properties
 # Android studio 3.1+ serialized cache file
 .idea/caches/build_file_checksums.ser
 
+### CLion template
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# AWS User-specific
+.idea/**/aws.xml
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# SonarLint plugin
+.idea/sonarlint/
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### JetBrains+iml template
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# AWS User-specific
+.idea/**/aws.xml
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# SonarLint plugin
+.idea/sonarlint/
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+

.idea/.gitignore

@@ -1,8 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml
-# Editor-based HTTP Client requests
-/httpRequests/
-# Datasource local storage ignored files
-/dataSources/
-/dataSources.local.xml

.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/pmw.iml" filepath="$PROJECT_DIR$/.idea/pmw.iml" />
-    </modules>
-  </component>
-</project>

.idea/pmw.iml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module classpath="CMake" type="CPP_MODULE" version="4" />

.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="" vcs="Git" />
-  </component>
-</project>

README.md

@@ -10,8 +10,8 @@
 - #### Выключить ШИМ.
 - #### Увеличить частоту на 25% от текущего.
 - #### Уменьшить частоту на 20% от текущего.
-- #### Увеличить скважность.
-- #### Уменьшить скважность.
+- #### Увеличить скважность на 10% от текущего.
+- #### Уменьшить скважность на 10% от текущего.
 
 ### Пояснения к заданию
 
@@ -22,13 +22,13 @@
 ### Набор команд
 
 | Команда | Описание                                  |
-|:--------|:--------------------------------------|
-| TODO:   | Включить ШИМ.                         |
-| TODO:   | Выключить ШИМ.                        |
-| TODO:   | Увеличить частоту на 25% от текущего. |
-| TODO:   | Уменьшить частоту на 20% от текущего. |
-| TODO:   | Увеличить скважность.                 |
-| TODO:   | Уменьшить скважность.                 |
+|:--------|:------------------------------------------|
+| 0x01:   | Включить ШИМ.                             |
+| 0x02:   | Выключить ШИМ.                            |
+| 0x03:   | Увеличить частоту на 25% от текущего.     |
+| 0x04:   | Уменьшить частоту на 20% от текущего.     |
+| 0x05:   | Увеличить скважность на 10% от текущего   |
+| 0x06:   | Уменьшить скважность. на 10% от текущего  |
 
 ### Описание регистров для I2C
 

Wire.h

@@ -1,40 +0,0 @@
-#define I2C_FREQ 100000UL
-
-void i2c_begin(uint8_t address) {
-    TWBR = ((F_CPU / I2C_FREQ) - 16) / 2;  // Расчет предделителя для заданной частоты
-    TWAR = (address << 1);  // Установка адреса устройства
-}
-
-void i2c_endTransaction() {
-    TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);  // Отправка условия STOP
-}
-
-void i2c_beginTransmission(uint8_t address) {
-    TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN);  // Отправка условия START
-    while (!(TWCR & (1 << TWINT)));  // Ожидание завершения START
-
-    TWDR = (address << 1);  // Отправка адреса устройства
-    TWCR = (1 << TWINT) | (1 << TWEN);  // Отправка адреса
-    while (!(TWCR & (1 << TWINT)));  // Ожидание завершения передачи адреса
-}
-
-
-void i2c_endTransmission() {
-    TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);  // Отправка условия STOP
-}
-
-void i2c_write(uint8_t data) {
-    TWDR = data;  // Запись данных
-    TWCR = (1 << TWINT) | (1 << TWEN);  // Отправка данных
-    while (!(TWCR & (1 << TWINT)));  // Ожидание завершения передачи данных
-}
-
-void i2c_read(uint8_t *data, uint8_t ack) {
-    if (ack) {
-        TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA);  // Отправка ACK
-    } else {
-        TWCR = (1 << TWINT) | (1 << TWEN);  // Отправка NACK
-    }
-    while (!(TWCR & (1 << TWINT)));  // Ожидание завершения приема данных
-    *data = TWDR;  // Чтение данных
-}

demo.c

@@ -0,0 +1,272 @@
+#define F_CPU 16000000UL
+#define I2C_FREQ 100000UL
+#define I2C_PRESCALER 1
+#define I2C_BITRATE ((F_CPU / I2C_FREQ) - 16) / (2 * I2C_PRESCALER)
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <util/delay.h>
+
+float pwm_frequency = 1.0;
+uint8_t pwm_duty_cycle = 50;
+
+volatile uint8_t pwm_enabled = 0;
+volatile uint8_t pwm_changed = 0;
+
+void i2c_init() {
+    TWBR = I2C_BITRATE;
+}
+
+void i2c_start() {
+    TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN);
+    while (!(TWCR & (1 << TWINT)))
+        ;
+}
+
+void i2c_stop() {
+    TWCR = (1 << TWINT) | (1 << TWSTO) | (1 << TWEN);
+    while (TWCR & (1 << TWSTO))
+        ;
+}
+
+void i2c_write(uint8_t data) {
+    TWDR = data;
+    TWCR = (1 << TWINT) | (1 << TWEN);
+    while (!(TWCR & (1 << TWINT)))
+        ;
+}
+
+uint8_t i2c_read_ack() {
+    TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA);
+    while (!(TWCR & (1 << TWINT)))
+        ;
+    return TWDR;
+}
+
+uint8_t i2c_read_nack() {
+    TWCR = (1 << TWINT) | (1 << TWEN);
+    while (!(TWCR & (1 << TWINT)))
+        ;
+    return TWDR;
+}
+
+const uint8_t PWM_SLAVE_ADDR = 9;
+
+void pwm_enable() {
+    pwm_enabled = 1;
+    pwm_changed = 1;
+}
+
+void pwm_disable() {
+    pwm_enabled = 0;
+    pwm_changed = 1;
+}
+
+void setPWMFrequency(float frequency) {
+    if (frequency < 0 || frequency > 50000.0) {
+        return; // Недопустимая частота
+    }
+    pwm_frequency = frequency;
+    pwm_changed = 1;
+}
+
+void setPWMDutyCycle(float duty_cycle) {
+    if (duty_cycle < 1 || duty_cycle > 100) {
+        return; // Недопустимый коэффициент заполнения
+    }
+    pwm_duty_cycle = duty_cycle;
+    pwm_changed = 1;
+}
+
+void pwm_check_state() {
+    if (pwm_enabled) {
+        // Включаем пин ШИМ - реализация зависит от аппаратной платформы
+        Serial.print("PWM enabled. Frequency: ");
+        Serial.print(pwm_frequency);
+        Serial.print(" Hz, duty cycle: ");
+        Serial.println(pwm_duty_cycle);
+    } else {
+        // Выключаем пин ШИМ - реализация зависит от аппаратной платформы
+        Serial.println("PWM disabled");
+    }
+}
+
+void pwm_set_frequency(float frequency) {
+    // Устанавливаем частоту ШИМ - реализация зависит от аппаратной платформы
+    Serial.print("Setting PWM frequency to: ");
+    Serial.println(frequency);
+}
+
+void pwm_set_duty_cycle(float duty_cycle) {
+    // Устанавливаем коэффициент заполнения ШИМ - реализация зависит от аппаратной платформы
+    Serial.print("Setting PWM duty cycle to: ");
+    Serial.println(duty_cycle);
+}
+
+void enablePWM() {
+    pwm_enable();
+    // Включаем ШИМ
+    sendCommand(0x01, 0.0);
+}
+
+void disablePWM() {
+    // Выключаем ШИМ
+    sendCommand(0x02, 0.0);
+    pwm_disable();
+}
+
+void increaseFrequency() {
+    setPWMFrequency(pwm_frequency * 1.25);
+    // Выключаем ШИМ, отправляем команду и включаем обратно
+    disablePWM();
+    sendCommand(0x03, pwm_frequency);
+    enablePWM();
+}
+
+void decreaseFrequency() {
+    setPWMFrequency(pwm_frequency * 0.8);
+    // Выключаем ШИМ, отправляем команду и включаем обратно
+    disablePWM();
+    sendCommand(0x04, pwm_frequency);
+    enablePWM();
+}
+
+void increaseDutyCycle() {
+    if (pwm_duty_cycle < 100) {
+        pwm_duty_cycle+=10;
+        setPWMDutyCycle(pwm_duty_cycle);
+        // Выключаем ШИМ, отправляем команду и включаем обратно
+        disablePWM();
+        sendCommand(0x05, pwm_duty_cycle);
+        enablePWM();
+    } else {
+        Serial.println("Maximum duty cycle reached!");
+    }
+}
+
+void decreaseDutyCycle() {
+
+    if (pwm_duty_cycle > 1) {
+        pwm_duty_cycle-=10;
+        setPWMDutyCycle(pwm_duty_cycle);
+        // Выключаем ШИМ, отправляем команду и включаем обратно
+        disablePWM();
+        sendCommand(0x06, pwm_duty_cycle);
+        enablePWM();
+    } else {
+        Serial.println("Minimum duty cycle reached!");
+    }
+}
+
+void checkButton(uint8_t pin, const char* message, void (*command)()) {
+    if (bit_is_clear(PINC, pin)) {
+        Serial.println(message);
+        delay(200);
+        command();
+    }
+
+    if (pwm_changed) {
+        pwm_changed = 0;
+        pwm_check_state();
+        if (pwm_enabled) {
+            pwm_set_frequency(pwm_frequency);
+            pwm_set_duty_cycle(pwm_duty_cycle);
+        }
+    }
+}
+
+void setup() {
+    i2c_init();
+    DDRC &= ~(1 << PINC0) & ~(1 << PINC1) & ~(1 << PINC2) & ~(1 << PINC3) & ~(1 << PINC4) & ~(1 << PINC5);
+    PORTC |= (1 << PINC0) | (1 << PINC1) | (1 << PINC2) | (1 << PINC3) | (1 << PINC4) | (1 << PINC5);
+    Serial.begin(9600);
+    Serial.println("PWM Controller started!");
+    sendCommand(0x01, 0.0);
+}
+
+void loop() {
+    checkButton(0, "Turn on PWM!", enablePWM);
+    checkButton(1, "Turn off PWM!", disablePWM);
+    checkButton(2, "Increase frequency by 25%!", increaseFrequency);
+    checkButton(3, "Decrease frequency by 20%!", decreaseFrequency);
+    checkButton(4, "Increase duty cycle by 10%!", increaseDutyCycle);
+    checkButton(5, "Decrease duty cycle by 10%!", decreaseDutyCycle);
+}
+
+
+void sendCommand(uint8_t cmd, float value) {
+    uint16_t cmd_value;
+
+    switch (cmd) {
+        case 0x01:
+        case 0x02:
+            sendCommandOneByte(cmd);
+            break;
+
+        case 0x03:
+        case 0x04:
+            sendCommandThreeBytes(cmd, value);
+            break;
+
+        case 0x05:
+        case 0x06:
+            sendCommandTwoBytes(cmd, value);
+            break;
+
+        default:
+            Serial.println("Unknown command");
+            break;
+    }
+}
+
+void sendCommandOneByte(uint8_t cmd) {
+    i2c_start();
+    i2c_write(PWM_SLAVE_ADDR << 1);
+    i2c_write(cmd);
+    i2c_stop();
+
+    Serial.print("Sent command: 0x");
+    Serial.println(cmd, HEX);
+}
+
+void sendCommandTwoBytes(uint8_t cmd, float value) {
+    uint16_t cmd_value = round(value);
+
+    i2c_start();
+    i2c_write(PWM_SLAVE_ADDR << 1);
+    i2c_write(cmd);
+    i2c_write(cmd_value & 0xFF);
+    i2c_stop();
+
+    Serial.print("Sent command: 0x");
+    Serial.print(cmd, HEX);
+    Serial.print(", value: ");
+    Serial.print(value);
+    Serial.print(", cmd value: ");
+    Serial.print(cmd_value);
+    Serial.print(", data bytes: 0x");
+    Serial.println(cmd_value & 0xFF, HEX);
+}
+
+void sendCommandThreeBytes(uint8_t cmd, float value) {
+    uint16_t cmd_value = round(value * 16); // приводим к 12 бит и 4 бита дробной части
+    uint8_t data_bytes[2] = {(cmd_value >> 8) & 0xFF, cmd_value & 0xFF};
+
+    i2c_start();
+    i2c_write(PWM_SLAVE_ADDR << 1);
+    i2c_write(cmd);
+    i2c_write(data_bytes[0]);
+    i2c_write(data_bytes[1]);
+    i2c_stop();
+
+    Serial.print("Sent command: 0x");
+    Serial.print(cmd, HEX);
+    Serial.print(", value: ");
+    Serial.print(value);
+    Serial.print(", cmd value: ");
+    Serial.print(cmd_value);
+    Serial.print(", data bytes: 0x");
+    Serial.print(data_bytes[0], HEX);
+    Serial.print(" ");
+    Serial.println(data_bytes[1], HEX);
+}

gpio.c

@@ -0,0 +1,22 @@
+#include "gpio.h"
+
+void setupGPIO() {
+    DDRC &= ~(1 << PINC0) & ~(1 << PINC1) & ~(1 << PINC2) & ~(1 << PINC3) & ~(1 << PINC4) & ~(1 << PINC5);
+    PORTC |= (1 << PINC0) | (1 << PINC1) | (1 << PINC2) | (1 << PINC3) | (1 << PINC4) | (1 << PINC5);
+}
+
+void setPinOutput(uint8_t pin) {
+    DDRB |= (1 << pin);
+}
+
+void setPinInput(uint8_t pin) {
+    DDRB &= ~(1 << pin);
+}
+
+void setPinHigh(uint8_t pin) {
+    PORTB |= (1 << pin);
+}
+
+void setPinLow(uint8_t pin) {
+    PORTB &= ~(1 << pin);
+}

gpio.h

@@ -0,0 +1,12 @@
+#ifndef GPIO_H
+#define GPIO_H
+
+#include <avr/io.h>
+
+void setupGPIO();
+void setPinOutput(uint8_t pin);
+void setPinInput(uint8_t pin);
+void setPinHigh(uint8_t pin);
+void setPinLow(uint8_t pin);
+
+#endif

i2c.c

@@ -0,0 +1,33 @@
+#include "i2c.h"
+
+void i2c_init() {
+    TWBR = I2C_BITRATE;
+}
+
+void i2c_start() {
+    TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN);
+    while (!(TWCR & (1 << TWINT)));
+}
+
+void i2c_stop() {
+    TWCR = (1 << TWINT) | (1 << TWSTO) | (1 << TWEN);
+    while (TWCR & (1 << TWSTO));
+}
+
+void i2c_write(uint8_t data) {
+    TWDR = data;
+    TWCR = (1 << TWINT) | (1 << TWEN);
+    while (!(TWCR & (1 << TWINT)));
+}
+
+uint8_t i2c_read_ack() {
+    TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA);
+    while (!(TWCR & (1 << TWINT)));
+    return TWDR;
+}
+
+uint8_t i2c_read_nack() {
+    TWCR = (1 << TWINT) | (1 << TWEN);
+    while (!(TWCR & (1 << TWINT)));
+    return TWDR;
+}

i2c.h

@@ -1,111 +1,18 @@
-//
-// Created by FSB-PC on 22.05.2023.
-//
+#ifndef I2C_H
+#define I2C_H
 
-#ifndef INC_8_PMW_I2C_H
-#define INC_8_PMW_I2C_H
+#include <avr/io.h>
 
-typedef struct {
-    uint8_t address; // адрес устройства на шине I2C
-    uint8_t data[32]; // буфер для передачи и приема данных
-    uint8_t length; // длина передаваемых данных
-};
+#define F_CPU 16000000UL
+#define I2C_FREQ 100000UL
+#define I2C_PRESCALER 1
+#define I2C_BITRATE ((F_CPU / I2C_FREQ) - 16) / (2 * I2C_PRESCALER)
 
-void i2c_begin(i2c_device_t *i2c){
-    TWBR = ((F_CPU / i2c->speed) - 16) / 2;
-    TWAR = (i2c->address << 1);
-}
+void i2c_init();
+void i2c_start();
+void i2c_stop();
+void i2c_write(uint8_t data);
+uint8_t i2c_read_ack();
+uint8_t i2c_read_nack();
 
-void i2c_beginTransmission(i2c_device_t *i2c, uint8_t address){
-    TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN);
-    while (!(TWCR & (1 << TWINT)));
-
-    TWDR = (address << 1);
-    TWCR = (1 << TWINT) | (1 << TWEN);
-    while (!(TWCR & (1 << TWINT)));
-    i2c->address = address;
-}
-
-void i2c_write(i2c_device_t *i2c, uint8_t data){
-    TWDR = data;
-    TWCR = (1 << TWINT) | (1 << TWEN);
-    while (!(TWCR & (1 << TWINT)));
-}
-
-void i2c_read(i2c_device_t *i2c, uint8_t *data, uint8_t ack){
-    if (ack){
-        TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA);
-    } else {
-        TWCR = (1 << TWINT) | (1 << TWEN);
-    }
-    while (!(TWCR & (1 << TWINT)));
-    *data = TWDR;
-}
-
-void i2c_endTransmission(i2c_device_t *i2c){
-    TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);
-}
-
-void i2c_sendByte(i2c_device_t *i2c, uint8_t address, uint8_t data){
-    i2c_beginTransmission(i2c, address);
-    i2c_write(i2c, data);
-    i2c_endTransmission(i2c);
-}
-
-
-
-#endif //INC_8_PMW_I2C_H
-
-//void i2c_begin(I2C *i2c) {
-//    TWBR = ((F_CPU / i2c->speed) - 16) / 2;
-//    TWAR = (i2c->address << 1);
-//}
-//
-//void i2c_beginTransmission(I2C *i2c, uint8_t address) {
-//    TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN);
-//    while (!(TWCR & (1 << TWINT)));
-//
-//    TWDR = (address << 1);
-//    TWCR = (1 << TWINT) | (1 << TWEN);
-//    while (!(TWCR & (1 << TWINT)));
-//    i2c->address = address;
-//}
-//
-//void i2c_write(I2C *i2c, uint8_t data) {
-//    TWDR = data;
-//    TWCR = (1 << TWINT) | (1 << TWEN);
-//    while (!(TWCR & (1 << TWINT)));
-//}
-//
-//void i2c_read(I2C *i2c, uint8_t *data, uint8_t ack) {
-//    if (ack) {
-//        TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA);
-//    } else {
-//        TWCR = (1 << TWINT) | (1 << TWEN);
-//    }
-//    while (!(TWCR & (1 << TWINT)));
-//    *data = TWDR;
-//}
-//
-//void i2c_endTransmission(I2C *i2c) {
-//    TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);
-//}
-//
-//void sendByte(uint8_t data) {
-//    sendByteRaw(data);
-//    _writes++;
-//    if (_writes >= 16) {
-//        endTransm();
-//        beginData();
-//    }
-//}
-//
-//void sendByteRaw(uint8_t data) {
-//    i2c_write(data);
-//}
-//
-//void sendCommand(uint8_t cmd1) {
-//    beginOneCommand();
-//    sendByteRaw(cmd1);
-//    i2c_endTransmission();
-//}
+#endif

main.c

@@ -1,5 +1,120 @@
-#define I2C_FREQ 100000UL
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <util/delay.h>
+#include "pwm.h"
 #include "i2c.h"
-#include "pmw.h"
+#include "gpio.h"
+
+const uint8_t PWM_SLAVE_ADDR = 9;
+
+void setup() {
+    i2c_init();
+    setupGPIO();
+    Serial.begin(9600);
+    Serial.println("PWM Controller started!");
+    sendCommand(0x01, 0.0);
+}
 
 
+void loop() {
+    checkButton(0, "Turn on PWM!", enablePWM);
+    checkButton(1, "Turn off PWM!", disablePWM);
+    checkButton(2, "Increase frequency by 25%!", increaseFrequency);
+    checkButton(3, "Decrease frequency by 20%!", decreaseFrequency);
+    checkButton(4, "Increase duty cycle by 10%!", increaseDutyCycle);
+    checkButton(5, "Decrease duty cycle by 10%!", decreaseDutyCycle);
+}
+
+void checkButton(uint8_t pin, const char* message, void (*command)()) {
+    if (bit_is_clear(PINC, pin)) {
+        Serial.println(message);
+        delay(200);
+        command();
+    }
+
+    if (pwm_changed) {
+        pwm_changed = 0;
+        pwm_check_state();
+        if (pwm_enabled) {
+            pwm_set_frequency(pwm_frequency);
+            pwm_set_duty_cycle(pwm_duty_cycle);
+        }
+    }
+}
+
+void sendCommand(uint8_t cmd, float value) {
+    uint16_t cmd_value;
+
+    switch (cmd) {
+        case 0x01:
+        case 0x02:
+            sendCommandOneByte(cmd);
+            break;
+
+        case 0x03:
+        case 0x04:
+            sendCommandThreeBytes(cmd, value);
+            break;
+
+        case 0x05:
+        case 0x06:
+            sendCommandTwoBytes(cmd, value);
+            break;
+
+        default:
+            Serial.println("Unknown command");
+            break;
+    }
+}
+
+void sendCommandOneByte(uint8_t cmd) {
+    i2c_start();
+    i2c_write(PWM_SLAVE_ADDR << 1);
+    i2c_write(cmd);
+    i2c_stop();
+
+    Serial.print("Sent command: 0x");
+    Serial.println(cmd, HEX);
+}
+
+void sendCommandTwoBytes(uint8_t cmd, float value) {
+    uint16_t cmd_value = round(value);
+
+    i2c_start();
+    i2c_write(PWM_SLAVE_ADDR << 1);
+    i2c_write(cmd);
+    i2c_write(cmd_value & 0xFF);
+    i2c_stop();
+
+    Serial.print("Sent command: 0x");
+    Serial.print(cmd, HEX);
+    Serial.print(", value: ");
+    Serial.print(value);
+    Serial.print(", cmd value: ");
+    Serial.print(cmd_value);
+    Serial.print(", data bytes: 0x");
+    Serial.println(cmd_value & 0xFF, HEX);
+}
+
+void sendCommandThreeBytes(uint8_t cmd, float value) {
+    uint16_t cmd_value = round(value * 16); // приводим к 12 бит и 4 бита дробной части
+    uint8_t data_bytes[2] = {(cmd_value >> 8) & 0xFF, cmd_value & 0xFF};
+
+    i2c_start();
+    i2c_write(PWM_SLAVE_ADDR << 1);
+    i2c_write(cmd);
+    i2c_write(data_bytes[0]);
+    i2c_write(data_bytes[1]);
+    i2c_stop();
+
+    Serial.print("Sent command: 0x");
+    Serial.print(cmd, HEX);
+    Serial.print(", value: ");
+    Serial.print(value);
+    Serial.print(", cmd value: ");
+    Serial.print(cmd_value);
+    Serial.print(", data bytes: 0x");
+    Serial.print(data_bytes[0], HEX);
+    Serial.print(" ");
+    Serial.println(data_bytes[1], HEX);
+}

pwm.c

@@ -0,0 +1,58 @@
+#include "pwm.h"
+
+float pwm_frequency = 1.0;
+uint8_t pwm_duty_cycle = 50;
+
+volatile uint8_t pwm_enabled = 0;
+volatile uint8_t pwm_changed = 0;
+
+void pwm_enable() {
+    pwm_enabled = 1;
+    pwm_changed = 1;
+}
+
+void pwm_disable() {
+    pwm_enabled = 0;
+    pwm_changed = 1;
+}
+
+void setPWMFrequency(float frequency) {
+    if (frequency < 0 || frequency > 50000.0) {
+        return; // Недопустимая частота
+    }
+    pwm_frequency = frequency;
+    pwm_changed = 1;
+}
+
+void setPWMDutyCycle(float duty_cycle) {
+    if (duty_cycle < 1 || duty_cycle > 100) {
+        return; // Недопустимый коэффициент заполнения
+    }
+    pwm_duty_cycle = duty_cycle;
+    pwm_changed = 1;
+}
+
+void pwm_check_state() {
+    if (pwm_enabled) {
+        // Включаем пин ШИМ - реализация зависит от аппаратной платформы
+        Serial.print("PWM enabled. Frequency: ");
+        Serial.print(pwm_frequency);
+        Serial.print(" Hz, duty cycle: ");
+        Serial.println(pwm_duty_cycle);
+    } else {
+        // Выключаем пин ШИМ - реализация зависит от аппаратной платформы
+        Serial.println("PWM disabled");
+    }
+}
+
+void pwm_set_frequency(float frequency) {
+    // Устанавливаем частоту ШИМ - реализация зависит от аппаратной платформы
+    Serial.print("Setting PWM frequency to: ");
+    Serial.println(frequency);
+}
+
+void pwm_set_duty_cycle(float duty_cycle) {
+    // Устанавливаем коэффициент заполнения ШИМ - реализация зависит от аппаратной платформы
+    Serial.print("Setting PWM duty cycle to: ");
+    Serial.println(duty_cycle);
+}

pwm.h

@@ -1,70 +1,33 @@
-//
-// Created by FSB-PC on 22.05.2023.
-//
+#ifndef PWM_H
+#define PWM_H
 
-#ifndef INC_8_PMW_PMW_H
-#define INC_8_PMW_PMW_H
+#include <avr/io.h>
+#include "i2c.h"
 
+extern float pwm_frequency;
+extern uint8_t pwm_duty_cycle;
 
-struct PWM {
-    uint8_t pin; // номер пина
-    uint16_t frequency; // частота ШИМ сигнала
-    uint8_t duty_cycle; // коэффициент заполнения
-};
+extern volatile uint8_t pwm_enabled;
+extern volatile uint8_t pwm_changed;
 
-void pwm_begin(struct PWM *pwm) {
-    TCCR0A = (1 << COM0A1) | (1 << WGM00) | (1 << WGM01);
-    TCCR0B = (1 << CS00) | (1 << CS01);
-    OCR0A = 0;
-    pwm->duty_cycle = 0;
-}
+void pwm_enable();
+void pwm_disable();
+void setPWMFrequency(float frequency);
+void setPWMDutyCycle(float duty_cycle);
+void pwm_check_state();
+void pwm_set_frequency(float frequency);
+void pwm_set_duty_cycle(float duty_cycle);
 
-void pwm_set_duty_cycle(struct PWM *pwm, uint8_t duty_cycle) {
-    pwm->duty_cycle = duty_cycle;
-    OCR0A = (duty_cycle * 255) / 100;
-}
+void enablePWM();
+void disablePWM();
+void increaseFrequency();
+void decreaseFrequency();
+void increaseDutyCycle();
+void decreaseDutyCycle();
+void checkButton(uint8_t pin, const char* message, void (*command)());
+void sendCommand(uint8_t cmd, float value);
+void sendCommandOneByte(uint8_t cmd);
+void sendCommandTwoBytes(uint8_t cmd, float value);
+void sendCommandThreeBytes(uint8_t cmd, float value);
 
-void pwm_increase_speed(struct PWM *pwm) {
-    pwm->duty_cycle += 25;
-    TCCR0B = (1 << CS00) | (1 << CS01);
-}
-
-void pwm_decrease_speed(struct PWM *pwm) {
-    pwm->duty_cycle -= 20;
-    TCCR0B = (1 << CS00) | (1 << CS01);
-}
-
-void pwm_end(struct PWM *pwm) {
-    TCCR0B = 0;
-}
-
-
-
-//void pmw_begin(PMW *pmw) {
-//    TCCR0A = (1 << COM0A1) | (1 << WGM00) | (1 << WGM01);
-//    TCCR0B = (1 << CS00) | (1 << CS01);
-//    OCR0A = 0;
-//    pmw->speed = 0;
-//    pmw->duty_cycle = 0;
-//}
-//
-//void pmw_set_duty_cycle(PMW *pmw, uint8_t duty_cycle) {
-//    pmw->duty_cycle = duty_cycle;
-//    OCR0A = (duty_cycle * 255) / 100;
-//}
-//
-//void pmw_increase_speed(PMW *pmw) {
-//    pmw->speed += 25;
-//    TCCR0B = (1 << CS00) | (1 << CS01);
-//}
-//
-//void pmw_decrease_speed(PMW *pmw) {
-//    pmw->speed -= 20;
-//    TCCR0B = (1 << CS00) | (1 << CS01);
-//}
-//
-//void pmw_end(PMW *pmw) {
-//    TCCR0B = 0;
-//}
-
-#endif //INC_8_PMW_PMW_H
+#endif

slave/slave.c

@@ -0,0 +1,290 @@
+// #include <avr/io.h>
+// #include <avr/interrupt.h>
+
+// #define SLAVE_ADDRESS 9  // адрес устройства slave
+// #define COMMAND_1 0x01   //команда включения шим
+// #define COMMAND_2 0x02   //команда выключения шим
+// #define COMMAND_3 0x03   //команда изменения частоты шим
+// #define COMMAND_4 0x04   //команда изменения скважности шим
+// #define COMMAND_5 0x05   //команда изменения скважности шим
+
+
+// uint16_t frequency = 1 << 4;
+// uint8_t dutycycle = 50;
+// uint8_t buffer[32];     // буфер для полученных данных
+// uint8_t cnt = 0;        // счетчик байтов
+// bool tran_end = false;  //флаг окончания передачи
+
+// void i2c_init() {
+//   TWAR = SLAVE_ADDRESS << 1;                       // задаем адрес устройства
+//   TWSR = 0;                                        // частота шины 100 кГц (скорость передачи)
+//   TWCR = (1 << TWEN) | (1 << TWEA) | (1 << TWIE);  // включаем slave reciever
+// }
+
+// // обработчик прерывания TWI
+// ISR(TWI_vect) {
+//   switch (TWSR) {
+//     case 0x60:  // SLA+W received, ACK returned
+//       //cnt = 0; // сброс счетчика
+//       //tran_end = false;
+//       TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA) | (1 << TWIE);  // включаем прерывание и устанавливаем бит ACK
+//       break;
+//     case 0x80:               // data byte received, ACK returned
+//       buffer[cnt++] = TWDR;  // сохраняем принятые данные
+//       TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA) | (1 << TWIE);
+//       break;
+//     case 0x88:               // last data byte received, NACK returned
+//       buffer[cnt++] = TWDR;  // сохраняем последний байт данных
+//       TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA) | (1 << TWIE);
+//       break;
+//     case 0xA0:  // STOP or repeated START received
+//       tran_end = true;
+//       TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA) | (1 << TWIE);
+//       break;
+//     default:
+//       TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA) | (1 << TWIE);
+//       break;
+//   }
+// }
+
+// void timer1_init() {
+//   PORTB = 0;
+//   DDRB |= (1 << PORTB1);  //OC1A
+//   DDRB |= (1 << PORTB2);  //OC1B
+//   TCCR1A = 0;             // обнуляем регистры управления
+//   TCCR1B = 0;
+//   TCNT1 = 0;  // и счетный регистр
+// }
+
+// //частота приходит в 16 раз больше
+// void timer1_on(uint16_t frequency, uint8_t dutycycle) {
+//   // Неинверсный режим работы
+//   TCCR1A |= (0 << COM1A1) | (0 << COM1A0) | (1 << COM1B1) | (0 << COM1B0);
+
+//   //Fast PWM (Быстрый ШИМ)
+//   TCCR1A |= (1 << WGM11) | (1 << WGM10);
+//   TCCR1B |= (1 << WGM13) | (1 << WGM12);
+
+//   //Предделитель - 1024
+//   TCCR1B |= (1 << CS12) | (0 << CS11) | (1 << CS10);
+
+//   //Частота
+//   OCR1A = F_CPU / 1024 * 16 / frequency;
+
+//   //Скважность
+//   OCR1B = (F_CPU / 1024 * 16 / frequency) * dutycycle / 100;
+// }
+
+// void timer1_off() {
+//   // TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0));
+//   //Fast PWM (Быстрый ШИМ)
+//   TCCR1A |= (0 << WGM11) | (0 << WGM10);
+//   TCCR1B |= (0 << WGM13) | (0 << WGM12);
+//   TCCR1A |= (0 << COM1A1) | (0 << COM1A0) | (0 << COM1B1) | (0 << COM1B0);  //шим отключен, нормальная работа порта
+//   TCCR1B = 0;
+
+//   // OCR1A = 0;
+//   // OCR1B = 0;
+// }
+
+// void setup(void) {
+//   i2c_init();  //инициализация i2c
+//   timer1_init();
+//   Serial.begin(9600);
+//   Serial.println("PWM Slave started!");
+//   sei();  // включаем прерывания
+// }
+
+
+// void loop() {
+//   if (tran_end) {
+//     tran_end = false;
+//     for(int i = 0;i<100;i++){
+//     }
+//     if (buffer[0] == COMMAND_1) {
+//       Serial.print("cmd: 0x");
+//       Serial.println(buffer[0]);
+//       timer1_on(frequency, dutycycle);
+//        Serial.print(", data bytes: ");
+//       Serial.print(buffer[1], HEX);
+//       Serial.print(" ");
+//       Serial.println(buffer[2], HEX);  // Включение ШИМ
+//     } else if (buffer[0] == COMMAND_2) {
+//       Serial.print("cmd: 0x");
+//       Serial.println(buffer[0]);
+//       timer1_off();
+//        Serial.print(", data bytes: ");
+//       Serial.print(buffer[1], HEX);
+//       Serial.print(" ");
+//       Serial.println(buffer[2], HEX); // Выключение ШИМ
+//     } else if (buffer[0] == COMMAND_3) {
+//       Serial.print("cmd: 0x");
+//       Serial.println(buffer[0]);
+//       frequency = (buffer[1] << 8) + buffer[2];
+//       Serial.print("frequency value: ");
+//       Serial.print(frequency);
+//       Serial.print(", data bytes: ");
+//       Serial.print(buffer[1], HEX);
+//       Serial.print(" ");
+//       Serial.println(buffer[2], HEX);
+//     } else if (buffer[0] == COMMAND_4) {
+//       Serial.print("cmd: 0x");
+//       Serial.println(buffer[0]);
+//       frequency = (buffer[1] << 8) + buffer[2];
+//       Serial.print("frequency value: ");
+//       Serial.print(frequency);
+//       Serial.print(", data bytes: ");
+//       Serial.print(buffer[1], HEX);
+//       Serial.print(" ");
+//       Serial.println(buffer[2], HEX);
+//     } else if (buffer[0] == COMMAND_5) {
+//       Serial.print("cmd: 0x");
+//       Serial.println(buffer[0]);
+//       dutycycle = buffer[1];
+//       Serial.print("dytycycle value: ");
+//       Serial.println(dutycycle);
+//       Serial.print(", data bytes: ");
+//       Serial.print(buffer[1], HEX);
+//       Serial.print(" ");
+//       Serial.println(buffer[2], HEX);
+//     } else if (buffer[0] == COMMAND_5) {
+//       Serial.print("cmd: 0x");
+//       Serial.println(buffer[0]);
+//       dutycycle = buffer[1];
+//       Serial.print("dytycycle value: ");
+//       Serial.println(dutycycle);
+//       Serial.print(", data bytes: ");
+//       Serial.print(buffer[1], HEX);
+//       Serial.print(" ");
+//       Serial.println(buffer[2], HEX);
+//     }
+//     cnt = 0;
+//   }
+// }
+
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#define SLAVE_ADDRESS 9  // адрес устройства slave
+#define COMMAND_1 0x01   //команда включения шим
+#define COMMAND_2 0x02   //команда выключения шим
+#define COMMAND_3 0x03   //команда изменения частоты шим
+#define COMMAND_4 0x04   //команда изменения скважности шим
+#define COMMAND_5 0x05   //команда изменения скважности шим
+#define COMMAND_6 0x06   //команда изменения скважности шим
+
+
+
+uint16_t frequency = 1 << 4;
+uint8_t dutycycle = 50;
+uint8_t buffer[32];     // буфер для полученных данных
+uint8_t cnt = 0;        // счетчик байтов
+bool tran_end = false;  //флаг окончания передачи
+
+void i2c_init() {
+    TWAR = SLAVE_ADDRESS << 1;                       // задаем адрес устройства
+    TWSR = 0;                                        // частота шины 100 кГц (скорость передачи)
+    TWCR = (1 << TWEN) | (1 << TWEA) | (1 << TWIE);  // включаем slave reciever
+}
+
+// обработчик прерывания TWI
+ISR(TWI_vect) {
+        switch (TWSR) {
+            case 0x60:  // SLA+W received, ACK returned
+                //cnt = 0; // сброс счетчика
+                //tran_end = false;
+                TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA) | (1 << TWIE);  // включаем прерывание и устанавливаем бит ACK
+            break;
+            case 0x80:               // data byte received, ACK returned
+                buffer[cnt++] = TWDR;  // сохраняем принятые данные
+            TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA) | (1 << TWIE);
+            break;
+            case 0x88:               // last data byte received, NACK returned
+                buffer[cnt++] = TWDR;  // сохраняем последний байт данных
+            TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA) | (1 << TWIE);
+            break;
+            case 0xA0:  // STOP or repeated START received
+                tran_end = true;
+            TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA) | (1 << TWIE);
+            break;
+            default:
+                TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA) | (1 << TWIE);
+            break;
+        }
+}
+
+void timer1_init() {
+    PORTB = 0;
+    DDRB |= (1 << PORTB1);  //OC1A
+    DDRB |= (1 << PORTB2);  //OC1B
+    TCCR1A = 0;             // обнуляем регистры управления
+    TCCR1B = 0;
+    TCNT1 = 0;  // и счетный регистр
+}
+
+//частота приходит в 16 раз больше
+void timer1_on(uint16_t frequency, uint8_t dutycycle) {
+    // Неинверсный режим работы
+    TCCR1A |= (0 << COM1A1) | (0 << COM1A0) | (1 << COM1B1) | (0 << COM1B0);
+
+    //Fast PWM (Быстрый ШИМ)
+    TCCR1A |= (1 << WGM11) | (1 << WGM10);
+    TCCR1B |= (1 << WGM13) | (1 << WGM12);
+
+    //Предделитель - 1024
+    TCCR1B |= (1 << CS12) | (0 << CS11) | (1 << CS10);
+
+    //Частота
+    OCR1A = F_CPU / 1024 * 16 / frequency;
+
+    //Скважность
+    OCR1B = (F_CPU / 1024 * 16 / frequency) * dutycycle / 100;
+}
+
+void timer1_off() {
+    // TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0));
+    //Fast PWM (Быстрый ШИМ)
+    TCCR1A |= (0 << WGM11) | (0 << WGM10);
+    TCCR1B |= (0 << WGM13) | (0 << WGM12);
+    TCCR1A |= (0 << COM1A1) | (0 << COM1A0) | (0 << COM1B1) | (0 << COM1B0);  //шим отключен, нормальная работа порта
+    TCCR1B = 0;
+
+    // OCR1A = 0;
+    // OCR1B = 0;
+}
+
+void setup(void) {
+    i2c_init();  //инициализация i2c
+    timer1_init();
+    Serial.begin(9600);
+    Serial.println("PWM Slave started!");
+    sei();  // включаем прерывания
+}
+
+
+void loop() {
+    if (tran_end) {
+        tran_end = false;
+        Serial.println(" ");
+
+        for (int i = 0; i < cnt; i++) {
+            Serial.print(buffer[i], HEX); // вывод байтов в шестнадцатеричном формате
+            Serial.print(" ");
+        }
+        if (buffer[0] == COMMAND_1) {
+            timer1_on(frequency, dutycycle);
+        } else if (buffer[0] == COMMAND_2) {
+            timer1_off();
+        } else if (buffer[0] == COMMAND_3) {
+            frequency = (buffer[1] << 8) + buffer[2];
+        } else if (buffer[0] == COMMAND_4) {
+            frequency = (buffer[1] << 8) + buffer[2];
+        } else if (buffer[0] == COMMAND_5) {
+            dutycycle = buffer[1];
+        } else if (buffer[0] == COMMAND_6) {
+            dutycycle = buffer[1];
+        }
+        cnt = 0;
+    }
+}

test.c

@@ -1,75 +0,0 @@
-#include <avr/io.h>
-#include <util/delay.h>
-#include <stdio.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <math.h>
-
-#define F_CPU 8000000UL
-#define I2C_FREQ 100000UL
-
-#include "i2c.h"
-
-#define PWM_ADDRESS 0x50
-#define BUTTONS_ADDRESS 0x40
-
-#define PWM_ENABLE_CMD 0x0001
-#define PWM_DISABLE_CMD 0x0002
-#define PWM_INCREASE_FREQ_CMD 0x0011
-#define PWM_DECREASE_FREQ_CMD 0x0012
-#define PWM_INCREASE_DUTY_CYCLE_CMD 0x0021
-#define PWM_DECREASE_DUTY_CYCLE_CMD 0x0022
-
-struct PWM pwm;
-struct I2C buttons_i2c;
-
-void setup() {
-    i2c_begin(&buttons_i2c);
-    i2c_beginTransmission(&buttons_i2c, BUTTONS_ADDRESS);
-    i2c_write(&buttons_i2c, 0x00);
-    i2c_endTransmission(&buttons_i2c);
-
-    pwm.pin = PB3;
-    pwm.frequency = 1000;
-    pwm_begin(&pwm);
-}
-
-void loop() {
-    i2c_beginTransmission(&buttons_i2c, BUTTONS_ADDRESS);
-    i2c_read(&buttons_i2c, buttons_i2c.data, 1);
-    i2c_endTransmission(&buttons_i2c);
-
-    uint16_t command = ((uint16_t)(buttons_i2c.data[0]) << 8) | buttons_i2c.data[1];
-
-    if (command == PWM_ENABLE_CMD) {
-        pwm_increase_speed(&pwm);
-        i2c_sendByte(&buttons_i2c, PWM_ADDRESS, 1);
-    } else if (command == PWM_DISABLE_CMD) {
-        pwm_decrease_speed(&pwm);
-        i2c_sendByte(&buttons_i2c, PWM_ADDRESS, 0);
-    } else if (command == PWM_INCREASE_FREQ_CMD) {
-        pwm.frequency += round(pwm.frequency * 0.25);
-        pwm_set_frequency(&pwm, pwm.frequency);
-        i2c_sendByte(&buttons_i2c, PWM_ADDRESS, 1);
-    } else if (command == PWM_DECREASE_FREQ_CMD) {
-        pwm.frequency -= round(pwm.frequency * 0.2);
-        pwm_set_frequency(&pwm, pwm.frequency);
-        i2c_sendByte(&buttons_i2c, PWM_ADDRESS, 0);
-    } else if (command == PWM_INCREASE_DUTY_CYCLE_CMD) {
-        pwm_increase_duty_cycle(&pwm);
-        i2c_sendByte(&buttons_i2c, PWM_ADDRESS, 1);
-    } else if (command == PWM_DECREASE_DUTY_CYCLE_CMD) {
-        pwm_decrease_duty_cycle(&pwm);
-        i2c_sendByte(&buttons_i2c, PWM_ADDRESS, 0);
-    }
-
-    _delay_ms(100);
-}
-
-int main() {
-    setup();
-    while (true) {
-        loop();
-    }
-    return 0;
-}