m16pwm-led._c

电动车控制器

////////////////////////////////////////////////////////////////////////////////
//ICC-AVR application builder : 2006-8-1 上午 08:05:37
// Target : M16
// Crystal: 16.0000Mhz
// ADc2采集转把信号
////////////////////////////////////////////////////////////////////////////////
#include <iom16v.h>
#include <macros.h>

#define fre 125
#define uchar     unsigned char
#define uint      unsigned int
unsigned char  kk;
int k;
uchar temp_data,hour_data,minut_data,second_data,second_flag;
uchar AdResult=0;
uchar SpeedMode=0;//SpeedMode=0 手动模式；SpeedMode=0x55 巡航模式
uchar SpeedVal=0;//保存当前速度参数，用于巡航模式
uchar M8Mode=0x0;//M8控制字=Rev,Rev,Rev,RevMode,Rev,Rev,LEFT_LED,RIGHT_LED
uchar LedTab[16]={0xEB,0x41,0xB3,0xBA,0x78,0xDA,0xDB,0xA8,0xFB,0xFA,
                             0xF9,0xFB,0xC3,0xEB,0xD3,0xD1};
uchar LedBuf[2]={0,0};	
uchar LedDp=0;
uchar UartBuf[10],UartBufCount=0;
uchar LRledReg=0;						 


////////////////////////////////////////////////////////////////////////////////
//function declare
void port_init(void);
void uart0_init(void);
void uart0_rx_isr(void);
void uart0_tx(uchar tdata);
void tx_pack(void);
void timer1_init(void);
void timer1_comp_isr(void);
void led_display(uchar delay);
void HexToDec(uchar hex,uchar dec);
void ms_delay(uint delay);
void init_devices(void);
void adc_init(void);   
////////////////////////////////////////////////////////////////////////////////
void port_init(void)
{
 PORTA = 0xFF;
 DDRA  = 0xFB; //PA2=ADC2,输入
 PORTB = 0xFF;
 DDRB  = 0x1F; //数码管片选信号，低有效，常态为高,PB4=LED-dp
 PORTC = 0xFF; //m103 output only
 DDRC  = 0x00; //PC0,1=RL_in
 PORTD = 0x9F;
 DDRD  = 0x78;
}


//TIMER1 initialisation - prescale:1
// WGM: 0) Normal, TOP=0xFFFF
// desired value: 1Sec
// actual value:  1.000Sec (0.0%)
void timer1_init(void)
{
 TCCR1B = 0x00; //stop
 TCNT1H = 0xC2; //setup
 TCNT1L = 0xF7;
 OCR1AH = 0x3D;
 OCR1AL = 0x09;
 OCR1BH = 0x3D;
 OCR1BL = 0x09;
 //OCR1CH = $OCR1CH$;
 //OCR1CL = $OCR1CL$;
 ICR1H  = 0x3D;
 ICR1L  = 0x09;
 TCCR1A = 0x00;
 TCCR1B = 0x05; //start Timer
}
/*************************************************************************** 
                                                  
****************************************************************************/ 
//UART0 initialize
// desired baud rate: 9600
// actual: baud rate:9615 (0.2%)
// char size: 8 bit
// parity: Disabled
void uart0_init(void)
{
 UCSRB = 0x00; //disable while setting baud rate
 UCSRA = 0x00;
 UCSRC = BIT(URSEL) | 0x06;
 UBRRL = 0x67; //set baud rate lo
 UBRRH = 0x00; //set baud rate hi
 UCSRB = 0x98;
}
/*************************************************************************** 
                                                 
****************************************************************************/ 
#pragma interrupt_handler uart0_rx_isr:12
void uart0_rx_isr(void)
{
  uchar voldata;
 //uart has received a character in UDR
    UartBuf[UartBufCount++]= UDR;
	if(UartBuf[0]==0xaa)//包头
	{
	//UartBuf[3]=Rev,Rev,Rev,Rev,Rev,Rev,LEFT_LED,RIGHT_LED	
	     if(UartBufCount>4)
		 {
		    if( ((UartBuf[1]+UartBuf[2])==0xff)&&
				((UartBuf[3]+UartBuf[4])==0xff) ) 
			{				
				LedBuf[0]=UartBuf[1];//SpeedVal
				voldata=UartBuf[3];
				if(voldata<105)voldata=105; //电压范围21~29.5，每个码表示0.2V
				// result=100*((tmpvol/5)-21)/(29.5-21)
				LedBuf[1]=40*(voldata-105)/17;//+24V
				  				   					
		    }
		    UartBufCount=0;			
	     }	    
	}
	else UartBufCount=0;   
}
/*************************************************************************** 
                                                    
****************************************************************************/ 
void uart0_tx(uchar tdata)
{
   while(!(UCSRA & (1<<UDRE) ));
   UDR = tdata;
}
void tx_pack(void)
{
  
	uart0_tx(0xaa);
	if(SpeedMode)
	{   //巡航模式
	    uart0_tx(SpeedVal);
	    uart0_tx(0xff-SpeedVal);		
	}	
	else
	{   //手动模式
	    uart0_tx(AdResult);
	    uart0_tx(0xff-AdResult);	
	}
	uart0_tx(M8Mode);
	uart0_tx(0xff-M8Mode);
}
/*************************************************************************** 
          用于手动模式和巡航模式的选择                                    
****************************************************************************/ 
#pragma interrupt_handler int0_isr:2
void int0_isr(void)
{
 //external interupt on INT0
     if(SpeedMode)
	 {
	     SpeedMode=0;//手动模式
		 LedDp=0;
	 }	 
	 else
	 {
	     SpeedMode=0x55;//巡航模式
		 LedDp=0x01;
		 SpeedVal=AdResult;
	 }
}
/*************************************************************************** 
                                                    A/D初始化 
****************************************************************************/ 
void adc_init(void) 
{ 
 ADCSRA =0x0; //关闭AD 
 ADMUX = (1<<REFS0)|(1<<ADLAR)|(1<<MUX1); //选择外部参考电源 ADC2 左对齐 
 ACSR = (1<<ACD); //关闭模拟比较器 
 ADCSRA = (1<<ADEN)|(1<<ADIF)|(1<<ADIE)|(1<<ADPS2)|(1<<ADPS0);//中断允许 32分频 
} 
/*************************************************************************** 
                                                    A/D中断处理 
****************************************************************************/ 
#pragma interrupt_handler Adc_isr:15
void Adc_isr(void) 
{ 
   uint ad_tmp;
   ad_tmp=ADCH; //读取高位数据（左对齐）
   if(ad_tmp>0xd0)ad_tmp=0xd0;
   if(ad_tmp<0x30)ad_tmp=0x30;
   ad_tmp-=0x30;
   AdResult=(ad_tmp*0xff/0xa0)&0x00ff-1;   
   //LedBuf[0]=AdResult;
} 
#pragma interrupt_handler timer1_comp_isr:9
void timer1_comp_isr(void)
{
 //compare occured TCNT1=OCR1
 uchar tt;
    TCNT1 = 0xC2F7; //setup 
    //PORTD ^=0x60;		
    //LedDp[second_data%4]=1;
	//LedBuf[0]=second_data;
    if(++second_data>=60)
    {
	    second_data=0;
        if(++minut_data>=60)
	    {
	        minut_data=0;
		    if(++hour_data>=24)	 
	        {
	            hour_data=0;
	        }
    	}
     }		
 
}

//led display
void led_display(uchar delay)
{
  uchar tmp0,tmp1;
  tmp0=LedBuf[0];
  tmp1=LedBuf[1];
  if(tmp0>99)tmp0=99;
  if(tmp1>99)tmp1=99;  
  PORTB = ~0x08;  
  PORTA = LedTab[(tmp0%10)]; 
  if(LedDp&0x01)PORTB|=0x10;
  else PORTB&=0xEF;
  ms_delay(delay);
     
  PORTB = ~0x04;  
  PORTA = LedTab[((tmp0/10)&0x0f)];
  if(LedDp&0x02)PORTB|=0x10;
  else PORTB&=0xEF;
  ms_delay(delay);
    
  PORTB = ~0x02;  
  PORTA = LedTab[(tmp1%10)];
  if(LedDp&0x04)PORTB|=0x10;
  else PORTB&=0xEF;
  ms_delay(delay); 
   
  PORTB = ~0x01;  
  PORTA = LedTab[((tmp1/10)&0x0f)];
  if(LedDp&0x08)PORTB|=0x10;
  else PORTB&=0xEF;
  ms_delay(delay); 
    
  
}
void ms_delay(uint delay)
{
    int d1,d2;
	for(d1=0;d1<delay;d1++)
	{
	   for(d2=0;d2<1000;d2++);
	}
}
//call this routine to initialise all peripherals
void init_devices(void)
{
 //stop errant interrupts until set up
 CLI(); //disable all interrupts
 port_init();
 uart0_init();
 timer1_init();
 adc_init();
 MCUCR = 0x02;
 GICR  = 0x40;
 TIMSK = 0x04; //timer interrupt sources
 
 SEI(); //re-enable interrupts
 //all peripherals are now initialised
}

////////////////////////////////////////////////////////////////////////////////
void main()
{
  int i,adc=0,led=0,key=0;
  uchar ttmp,leddptt=0;
  init_devices();
  temp_data=0x13;
  while(1)
  {
     
   //display second flag
   
   
    
     if(++led>240)
     {     		
		PORTD ^= (LRledReg<<3);//LR-LED		
        led=0;
		M8Mode ^= (LRledReg&0x03);
     }
     if(++adc>100)
     {
         tx_pack();	
		 ADCSRA |=(1<<ADSC);  //启动AD转换 
         adc=0;		 
     }
	 if(++key>200)
	 {	     
		 ttmp = PINC&0x03; 
		 if(ttmp==0x03)
		 {
		     PORTD |=0x18;//关LR-LED
			 M8Mode=0;
		     LRledReg=0;
		 } 
         else LRledReg = (~(ttmp))&0x03;
		 LedDp=LedDp<<1;
		 if(LedDp>0x08)LedDp=0x01;
	 
	 }
     led_display(1);
	  		 	 
  } 

}
////////////////////////////////////////////////////////////////////////////////