initial.c

充电车的控制板程序

#include "initial.h"
#include <uart3.h>

extern void power_add_init (void);

void port_init(void)
{
 PORTA = 0xFF;
 DDRA  = 0xFF;
 PORTB = 0xC1;
 DDRB  = 0xFD;
 PORTC = 0xA3; //m103 output only
 DDRC  = 0xA3;
 
 PORTD = 0x1C;
// DDRD  = 0x10;
 DDRD  = 0x30;
 
 //PORTD |= 0x1C;  //PD4=1 
 //DDRD  |= 0x10;  //PD4 OUTPUT 1-RX 0-TX
 
 PORTE = 0x00;
 DDRE  = 0x0C;
 PORTF = 0x0F;
 DDRF  = 0x00;
 PORTG = 0x03;
 DDRG  = 0x03;
}

//Watchdog initialize
// prescale: 2048K
void watchdog_init(void)
{
 WDR(); //this prevents a timout on enabling
 WDTCR = 0x1F;
 WDTCR = 0x0F; //WATCHDOG ENABLED - dont forget to issue WDRs
}

//TIMER0 initialize - prescale:1024
// WGM: Normal
// desired value: 10mSec
// actual value:  9.984mSec (0.2%)
void timer0_init(void)
{
 TCCR0 = 0x00; //stop
 ASSR  = 0x00; //set async mode
 TCNT0 = 0xB2; //set count//  计数0XFF-0XB2=0X4D= 77
// OCR0  = 0x4E;
 OCR0 = 0x18;
 TCCR0 = 0x07; //start timer
}

//UART1 initialize
// desired baud rate:9600
// actual baud rate:9615 (0.2%)
// char size: 8 bit
// parity: Disabled
void uart1_init(void)
{
 UCSR1B = 0x00; //disable while setting baud rate
 UCSR1A = 0x00;
 UCSR1C = 0x06;
 //UBRR1L = 0x33; //set baud rate lo
 //UBRR1H = 0x00; //set baud rate hi
 UBRR1L = 0x0C; //
 UBRR1H = 0x00; //38400
 UCSR1B = 0x98;
}

//TWI initialize
// bit rate:1
void twi_init(void)
{
 TWCR= 0X00; //disable twi
 TWBR= 0x01; //set bit rate
 TWSR= 0x01; //set prescale
 //TWAR= 0x00; //set slave address
 TWCR= 0x44; //enable twi
}

//call this routine to initialize all peripherals
void init_devices(void)
{
 //stop errant interrupts until set up
 CLI(); //disable all interrupts
 XDIV  = 0x00; //xtal divider
 XMCRA = 0x00; //external memory
 port_init();
 uart3_init();
 watchdog_init();
 timer0_init();
 twi_init();
 uart1_init();
 lcd_init();
 power_add_init ();

 MCUCR = 0x00;
 EICRA = 0x00; //extended ext ints
 EICRB = 0x00; //extended ext ints
 EIMSK = 0x00;
 TIMSK = 0x01; //timer interrupt sources
 ETIMSK = 0x00; //extended timer interrupt sources
 SEI(); //re-enable interrupts
 //all peripherals are now initialized
}

void pca9554init(void)
{
	//sla_w=0x40;//uic
	//command=3;
	//DATA=0x08;
	write_9554(0x40,3,0x08);
	//pca9554writeoutreg(0x40,1,0x08);
	/*sla_w=0x42;
	command=1;
	DATA=0x00;
	pca9554writeoutreg();
	sla_w=0x42;//uic1
	command=3;
	DATA=0x00;
	pca9554writeoutreg();
	sla_w=0x40;
	sla_r=0x41;
	command=0;
	pca9554writeoutreg();
	select=DATA;*/
}