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글쓴이 :
조민준
작성일 : 18-03-25 22:27
조회 : 8,854
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인터럽트 방식으로 코드를 해봤는데 작동이 되지 않아서 수정방안에 조언을 부탁드립니다.
문제가 없다면 AVR AS계획도 있습니다.
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <stdio.h>
volatile unsigned int motor_speed = 0; // 모터속도
volatile unsigned char dir = 0;
volatile int count = 0;
#define MOTOR_PORT PORTC
#define PWM1_ON (MOTOR_PORT|=0x01)
#define PWM1_OFF (MOTOR_PORT&=0xFE)
#define DIR1_ON (MOTOR_PORT|=0x02)
#define DIR1_OFF (MOTOR_PORT&=0xFD)
#define ENABLE1_OFF (MOTOR_PORT|=0x04)
#define ENABLE1_ON (MOTOR_PORT&=0xFB)
#define BREAK1_ON (MOTOR_PORT|=0x08)
#define BREAK1_OFF (MOTOR_PORT&=0xF7)
#define PWM2_ON (MOTOR_PORT|=0x10)
#define PWM2_OFF (MOTOR_PORT&=~0x10)
#define DIR2_ON (MOTOR_PORT|=0x20)
#define DIR2_OFF (MOTOR_PORT&=~0x20)
#define ENABLE2_OFF (MOTOR_PORT|=0x40)
#define ENABLE2_ON (MOTOR_PORT&=~0x40)
#define BREAK2_ON (MOTOR_PORT|=0x80)
#define BREAK2_OFF (MOTOR_PORT&=~0x80)
void port_init(void)
{
PORTA = 0x00;
DDRA = 0x00;
PORTB = 0x00;
DDRB = 0x00;
PORTC = 0x00; //m103 output only
DDRC = 0xff;
PORTD = 0x00;
DDRD = 0x00;
PORTE = 0x00;
DDRE = 0x00;
PORTF = 0x00;
DDRF = 0x00;
PORTG = 0x00;
DDRG = 0xff;
}
void tx0Char(char message)
{
while(((UCSR0A>>UDRE0)&0x01)==0);
UDR0 = message;
}
int Putchar(char c)
{
tx0Char(c);
return c;
}
int Getchar()
{
while((UCSR0A&0x80)==0);
return UDR0;
}
void uart0_init()
{
UCSR0A = 0x00;
UCSR0B = 0x00;
UCSR0C = 0x06; //전송할 길이를 8비트로 설정
UBRR0L = 0x67; //보레이트를 결정 9600
UBRR0H = 0x00;
UCSR0B = 0x18; // 송신부와 수신부가 동작하도록 설정
}
ISR(TIMER0_OVF_vect)
{
TCNT0 = 0xfb;
count++;
if(count>2)count=0;
//TCNT0 = motor_speed; //reload counter value
}
void timer0_init(void)
{
TCCR0 = 0x00; //stop
TCNT0 = 0xFB; //set count 5
OCR0 = 0x00; //
TCCR0 = 0x02; //start timer 0.0000005초
}
void init_devices()
{
port_init();
timer0_init();
uart0_init();
TIMSK = 0x01; //overflow 인터럽트 사용
sei();
XDIV = 0x00; //XTAL 분주 제어 레지스터
XMCRA = 0x00;
port_init();
}
void delay(int delaytime){ //함수선언
int i,j;
for(i=0;i<1000;i++){
for(j=0;j<delaytime;j++){
}
}
}
void main() //시리얼통신
{
int a;
ENABLE1_ON;
PWM1_ON;
BREAK1_OFF;
ENABLE2_ON;
PWM2_ON;
BREAK2_OFF;
init_devices();
fdevopen(Putchar,Getchar);
while(1)
{
scanf("%d",&a);
printf("%d",a);
switch(a)
{
case '5':
DIR1_ON;
DIR2_ON;
PORTG = 0x01;
delay(500);//시계
case '4':
DIR1_ON;
DIR2_ON;
PORTG = 0x01;
delay(250);//시계
case '3':
ENABLE1_OFF; // 정지
case '2':
DIR1_ON;
DIR2_ON;
PORTG = 0x02;
delay(250);//반시계
case '1':
DIR1_ON;
DIR2_ON;
PORTG = 0x02;
delay(500);//반시계
default:
ENABLE1_OFF; //정지
}
}
}
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