sivo3.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>
//中断头文件
#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 ,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=1000;
    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
	OCR1A=510;  		    //全速启动
}
void uart_init(void)
{
    UCSRB|=(1<<RXEN)|(1<<TXEN)|(1<<RXCIE);      //允许发送和接收
    //UBRRL=0X19;                                   //[fosc/16(BAUD+1)]%256
    UBRRH=0X00;                                   //[fosc/16(BAUD+1)]/256
    UCSRC|=(1<<URSEL)|(1<<UCSZ1)|(1<<UCSZ0);    //8位数据+1位停止位
   // UCR=6<<TXCIE;           //开发送中断
   UBRRL=0X38;
}
int uart_putchar(char c)
{
    //if(c=='\n') uart_putchar('\end');
    UDR=c;
    loop_until_bit_is_set(UCSRA,UDRE);
    sbi(UCSRA,UDRE);
    return 0;
}
SIGNAL(SIG_INPUT_CAPTURE1)        //T1捕获中断
	{    
		TIMSK=00;                 //close capture interrupt
        //howlong++;
        //if(howlong==stop){howlong=0;PORTB=0XFF;delay(65000);delay(65000);PORTB=0X7F;}
        PORTB=0X00;         //PB灯闪亮
        delay(3);
        PORTB=0X7f;
        if(run<=840) OCR1A=300;        //2圈内中速启动,
        //else if(run>560)&(run<1400) OCR1A=300;                //超过2圈全速启动
        if((speed_low<run)&(OCR1A<508))OCR1A+=2;         //加速
        if(run<=speed_low)         //9 bit PMW,speed_low=280(1圈) 减速值
	   		{  
                if(OCR1A<40)OCR1A-=1;  		    //限制最低转速
                if(run>1)run--;                  //每次中断减一
                 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);
                    }
            }
     	TIMSK=0X20;          //open capture interrupt
	}
//==============================================	
int main (void)
{
	init();
    uart_init();
//    while(1);
	while(1)
	{
   /*    // if(OCR1A<508) OCR1A+=2;        //加速
		if(run<=speed_low)         //a 9 bit PMW
	   		{  
		   	 		while(run>=60)
		   				{
		         		run-=5;
		         		delay(3000);
			    		OCR1A=run;  		//定义占空比
		    			}      
                    run=0;
                    OCR1A=0;
                    PORTB=0XFF;
                    delay(10000);
                    while(run==0);
                    //TIMSK=0X20;
   		  	}
		delay(5000);*/
       // if((b%200)==0)uart_putchar(0xff);     //发送测试数据
	}   
}