interrupt.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>
#include <avr/interrupt.h>
#define a 0xf4              //a=0.95
#define b 0x0d              //b=1-a=0.05

#define stopnum 1000
#define delay_time 10000
#define stop_speed 450
//	(0~~255)
#define runspeed 100
//unsigned int c,d=0;
unsigned int howlong=0 ;
unsigned char  num;
unsigned char x0,y0=0;    //x0,ADCH的值;
unsigned char read_adc(unsigned char ad_chanel)     //单通道AD值读取函数
{
    ADMUX=1<<ADLAR|ad_chanel|1<<REFS1|1<<REFS0; //内参2.56V
    ADCSRA=1<<ADEN|1<<ADSC|6<<ADPS0;    //16分频做AD转换时钟
    loop_until_bit_is_set(ADCSRA,ADIF);  //等待ADCSRA中的ADIF位置位
        ADCSRA=1<<ADIF;
    return ADCH;
    
}
SIGNAL(SIG_OUTPUT_COMPARE0)             //interrupt
{
    x0=read_adc(0);         
    y0=(char)(((int)a*y0+(int)b*x0)>>8);
    if(y0<5)              {PORTB=0XFF;OCR1A=0;}
    if(0<y0<1)             {PORTB=0X7f;OCR1A=180;}
    if((30<y0)&(y0<60))  {PORTB=0X3f;OCR1A=220;}
    if((60<y0)&(y0<90))  {PORTB=0X1f;OCR1A=260;}
    if((90<y0)&(y0<120)) {PORTB=0X0f;OCR1A=420;}
    if((120<y0)&(y0<150)){PORTB=0X07;OCR1A=600;}
    if((150<y0)&(y0<180)){PORTB=0X03;OCR1A=750;}
    if((180<y0)&(y0<210)){PORTB=0X01;OCR1A=900;}
    if((210<y0)&(y0<240)){PORTB=0X00;OCR1A=1020;}   
    }

void delay(unsigned int t)
{
	for(;t;t--);
}
SIGNAL(SIG_INPUT_CAPTURE1)
	{    
		 TIMSK=00;                 //close capture interrupt
		 num=ICR1;					//捕获计数器低8位的值
		 if(howlong>=100)			//拿此值与runspeed比较,控制转速恒定
		 {							//可通过改变runspeed的值来使电机转速稳定到目标速度
			if(num-runspeed>15)OCR1A+=5;		//定速
			if(runspeed-num>15)OCR1A-=5;
		 }
		 if(OCR1A>500)OCR1A=500;
		 if(OCR1A<200)OCR1A=200;
		 howlong++;
		/* if(howlong==stopnum)
					{	PORTB=0X01;
						howlong=0;
						OCR1A=0;
						delay(65000);
						PORTB&=0XFE;
						OCR1A=500;
						}*/
		//if(TIFR&0X04)
		 ICR1=0;
		 TCNT1=0;
	}
 void main (void)
{    
	DDRB=0Xff;                //PORTB is setting on out and PB4 input
	DDRC=0XFF;
	PORTC=0X00;
	DDRD=0Xa0;         		 //设置OC1A为输出
	PORTB=0X7f;
	TCCR1A=0x82;       		 //OC1A(PD5) is "0",9 BITS PWM   C3,10 bit PWM;c1,8 bit PWM
							//0XC~ 初始电平为1;0X8~ 初始电平为0
	TCCR1B=0X41;       		 //上升捕获   ck/1
	TCNT1=0;               	 //初值
	TIMSK=0X24;          	 //open the capture interrupt捕捉中断开,T1溢出开
	OCR1A=450;		 		//占空比=OCR1A/1023
	SREG=0X80;           	 //enable  total interrupt
//	d=stop_speed;
//当PB4为高时,电机先刹车再短路停止,直到PB4为低;
//当PB4为低时,电机先加速后以最大速度匀速运动,直到PB4再次为高刹车停;
	while(1)
	{ 	
		
		   	
	}
	
}