sivo4.c

avr常用功能程序中包含了pwm、adc、中断、定时、i2c等各程序可供开发者直接使用

#include <avr/io.h>
#include <avr/signal.h>
#define uchar unsigned char
#define uint unsigned int
//规定开始减速时的剩余点数
#define speed_low 560
//最高速度,9位PWM
#define speed_hi  510
//how much moto running
int run,speed_add=0;           //run是电机要走过的点数
uint a;
unsigned int howlong=0;       //run how much
void delay(unsigned int t)
{
    for(;t>0;t--);
}
void init()
{
    run=280;                //旋转的总点数
    DDRB=0XFF;               //PORTB is setting on out
	DDRD=0X20;         		 //设置OC1A为输出
	PORTB=0X7F;           	 //PORTB is "1"
	TCCR1A=0x82;       		 //OC1A is "0",9 BITS PWM   C3,1;;;83,0
	TCCR1B=0X42;       		 //噪声消除,上升捕获   bu neng yong ping bi
	TCNT1=0;               	 //initial volue
    SREG=0X80;               //总中断开
	TIMSK=0X20;          	 //open the capture interrupt
    if(run<=840) OCR1A=300;        //3圈内中速启动,
    else  OCR1A=510;  		    //全速启动
}
//==================================================
SIGNAL(SIG_INPUT_CAPTURE1)          //T1捕获中断
	{    
		TIMSK=00;                   //close capture interrupt
        PORTB=0X00;                 //PB灯闪亮
        delay(3);
        PORTB=0X7f;
        if(run>=1)run--;                     //每次中断剩余旋转点数减1
                 else if(run==0)            //规定的点数走完停,等待给run送新值
                    {   //run=0;
                        OCR1A=0;
                        PORTB=0XFF;
                        //delay(10000);
                        while(run==0);
                    }
        if(run<=speed_low)         //当到达减速值时开始减速
	   		{  
                if(OCR1A>57)OCR1A-=1;  		     //限制最低转速
            }
     	TIMSK=0X20;          //open capture interrupt
	}
//==============================================	
int main (void)
{
	init();
//    while(1);
	while(1)
	{
         // if((b%200)==0)uart_putchar(0xff);     //发送测试数据
	}   
}