time.c

利用avr c编程的综合程序

#include "time.h"
#include "motor_control.h"

volatile static unsigned char count_m = 0;

volatile static unsigned char second = 0;

void timeInit(void)
{
    TCCR0 = 0x05;
	TCNT0 = 0x82;
	TIMSK |= 0x01;
	sei();
}

unsigned char getTime(void)
{
	return second;
}

ISR(TIMER0_OVF_vect)
{
	TCNT0 = 0x82;
	count_m++;
	get_sensor();
	if(Left_backward_straight == 0 && Right_backward_straight == 0)
    {
	   PORTB |= 0xE0;
       _delay_ms(3); 
	   PORTB &= 0x1F;
	}
	if(count_m == 125)
	{
	count_m = 0;
	second ++;
	}
}