;/*====================================================================================== ;Project : DC모터드라이버 확장보드를 이용한 DC모터 제어하기 ;Version : ;Date : 2011-07-28 ;Author : Kyung Nam Lee ;Company : LKEMBEDDED ;Compiler: CodevisionAVR + AVRStudio ;Comment: DC모터가 정회전 역회전 하는 프로그램이다. ; ;※※주의사항※※ ;10p 플랫 케이블을 아래와 같이 연결해주세요! ;ATmega2560 확장형 개발보드 PORTC <------------->DC모터드라이버 확장보드 - 10핀 박스헤더 커넥터 (PORT1) ;======================================================================================*/ ;#include ;PCODE: $00000000 VOL: 0 #ifndef __SLEEP_DEFINED__ ;PCODE: $00000001 VOL: 0 #define __SLEEP_DEFINED__ ;PCODE: $00000002 VOL: 0 .EQU __se_bit=0x01 ;PCODE: $00000003 VOL: 0 .EQU __sm_mask=0x0E ;PCODE: $00000004 VOL: 0 .EQU __sm_powerdown=0x04 ;PCODE: $00000005 VOL: 0 .EQU __sm_powersave=0x06 ;PCODE: $00000006 VOL: 0 .EQU __sm_standby=0x0C ;PCODE: $00000007 VOL: 0 .EQU __sm_ext_standby=0x0E ;PCODE: $00000008 VOL: 0 .EQU __sm_adc_noise_red=0x02 ;PCODE: $00000009 VOL: 0 .SET power_ctrl_reg=smcr ;PCODE: $0000000A VOL: 0 #endif ;PCODE: $0000000B VOL: 0 ;PCODE: $0000000C VOL: 0 ;#define CW1 PORTC.0 ;#define CWC1 PORTC.1 ;#define CW2 PORTC.2 ;#define CCW2 PORTC.3 ;#define EN1 PORTC.4 ;#define EN2 PORTC.5 ;unsigned int duty=0; ;unsigned int MotorDir=0; ;// Timer 0 overflow interrupt service routine ;interrupt [TIM0_OVF] void timer0_ovf_isr(void) ; 0000 0019 { .CSEG ;PCODE: $0000000D VOL: 0 ;PCODE: $0000000E VOL: 0 ; 0000 001A static unsigned int cnt,cnt2=0; ; 0000 001B cnt++;cnt2++; ;PCODE: $0000000F VOL: 0 ;PCODE: $00000010 VOL: 0 ;PCODE: $00000011 VOL: 0 ;PCODE: $00000012 VOL: 0 ;PCODE: $00000013 VOL: 0 ;PCODE: $00000014 VOL: 0 ;PCODE: $00000015 VOL: 0 ;PCODE: $00000016 VOL: 0 ; 0000 001C if(cnt==duty) ;PCODE: $00000017 VOL: 0 ;PCODE: $00000018 VOL: 0 ;PCODE: $00000019 VOL: 0 ; 0000 001D { ; 0000 001E EN1=EN2=0; ;PCODE: $0000001A VOL: 0 ;PCODE: $0000001B VOL: 0 ;PCODE: $0000001C VOL: 0 ;PCODE: $0000001D VOL: 0 ; 0000 001F } ; 0000 0020 if(cnt==50) ;PCODE: $0000001E VOL: 0 ;PCODE: $0000001F VOL: 0 ;PCODE: $00000020 VOL: 0 ;PCODE: $00000021 VOL: 0 ; 0000 0021 { ; 0000 0022 EN1=EN2=1; ;PCODE: $00000022 VOL: 0 ;PCODE: $00000023 VOL: 0 ;PCODE: $00000024 VOL: 0 ;PCODE: $00000025 VOL: 0 ; 0000 0023 cnt=0; ;PCODE: $00000026 VOL: 0 ;PCODE: $00000027 VOL: 0 ; 0000 0024 } ; 0000 0025 if(cnt2==500) ;PCODE: $00000028 VOL: 0 ;PCODE: $00000029 VOL: 0 ;PCODE: $0000002A VOL: 0 ;PCODE: $0000002B VOL: 0 ; 0000 0026 { ; 0000 0027 duty++; ;PCODE: $0000002C VOL: 0 ;PCODE: $0000002D VOL: 0 ;PCODE: $0000002E VOL: 0 ; 0000 0028 if(duty>50) ;PCODE: $0000002F VOL: 0 ;PCODE: $00000030 VOL: 0 ;PCODE: $00000031 VOL: 0 ; 0000 0029 { ; 0000 002A duty=0; ;PCODE: $00000032 VOL: 0 ; 0000 002B duty=1;// pwm pluse의 initialization value ;PCODE: $00000033 VOL: 0 ;PCODE: $00000034 VOL: 0 ; 0000 002C MotorDir^=1; //direction Select variable value ;PCODE: $00000035 VOL: 0 ;PCODE: $00000036 VOL: 0 ;PCODE: $00000037 VOL: 0 ; 0000 002D ; 0000 002E } ; 0000 002F cnt2=0; ;PCODE: $00000038 VOL: 0 ;PCODE: $00000039 VOL: 0 ;PCODE: $0000003A VOL: 0 ; 0000 0030 } ; 0000 0031 TCNT0+=0x06; ;PCODE: $0000003B VOL: 0 ;PCODE: $0000003C VOL: 0 ;PCODE: $0000003D VOL: 0 ;PCODE: $0000003E VOL: 0 ; 0000 0032 } ;PCODE: $0000003F VOL: 0 ;PCODE: $00000040 VOL: 0 ;PCODE: $00000041 VOL: 0 ; ;void main(void) ; 0000 0035 { ;PCODE: $00000042 VOL: 0 ; 0000 0036 // Port C initialization ; 0000 0037 PORTC=0x00; // Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In ;PCODE: $00000043 VOL: 0 ;PCODE: $00000044 VOL: 0 ; 0000 0038 DDRC=0xff; // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T ;PCODE: $00000045 VOL: 0 ;PCODE: $00000046 VOL: 0 ; 0000 0039 ; 0000 003A TCCR0A=0x00;//Normal Mode Operation(Overflow Interrupt Enable) ;PCODE: $00000047 VOL: 0 ;PCODE: $00000048 VOL: 0 ; 0000 003B TCCR0B=0x03;//64Prescale Select ;PCODE: $00000049 VOL: 0 ;PCODE: $0000004A VOL: 0 ; 0000 003C TCNT0=0x06;// Timer/Count Register initialization ;PCODE: $0000004B VOL: 0 ;PCODE: $0000004C VOL: 0 ; 0000 003D ; 0000 003E TIMSK0=0x01;// Timer(s)/Counter(s) Interrupt(s) initialization ;PCODE: $0000004D VOL: 0 ;PCODE: $0000004E VOL: 0 ; 0000 003F #asm("sei")// Global enable interrupts ;PCODE: $0000004F VOL: 0 sei ;PCODE: $00000050 VOL: 0 ; 0000 0040 duty=1;// pwm pluse의 initialization value ;PCODE: $00000051 VOL: 0 ;PCODE: $00000052 VOL: 0 ; 0000 0041 while (1) ;PCODE: $00000053 VOL: 0 ; 0000 0042 { ; 0000 0043 switch(MotorDir) ;PCODE: $00000054 VOL: 0 ; 0000 0044 { ; 0000 0045 case 0: CW1=1;CWC1=0;CW2=1;CCW2=0;break; //forward direction ;PCODE: $00000055 VOL: 0 ;PCODE: $00000056 VOL: 0 ;PCODE: $00000057 VOL: 0 ;PCODE: $00000058 VOL: 0 ;PCODE: $00000059 VOL: 0 ;PCODE: $0000005A VOL: 0 ;PCODE: $0000005B VOL: 0 ;PCODE: $0000005C VOL: 0 ;PCODE: $0000005D VOL: 0 ;PCODE: $0000005E VOL: 0 ;PCODE: $0000005F VOL: 0 ; 0000 0046 case 1: CW1=0;CWC1=1;CW2=0;CCW2=1;break; //reverse direction ;PCODE: $00000060 VOL: 0 ;PCODE: $00000061 VOL: 0 ;PCODE: $00000062 VOL: 0 ;PCODE: $00000063 VOL: 0 ;PCODE: $00000064 VOL: 0 ;PCODE: $00000065 VOL: 0 ;PCODE: $00000066 VOL: 0 ;PCODE: $00000067 VOL: 0 ;PCODE: $00000068 VOL: 0 ;PCODE: $00000069 VOL: 0 ;PCODE: $0000006A VOL: 0 ;PCODE: $0000006B VOL: 0 ; 0000 0047 } ;PCODE: $0000006C VOL: 0 ; 0000 0048 ; 0000 0049 ; 0000 004A }; ;PCODE: $0000006D VOL: 0 ;PCODE: $0000006E VOL: 0 ; 0000 004B } ;PCODE: $0000006F VOL: 0 ;PCODE: $00000070 VOL: 0 ;PCODE: $00000071 VOL: 0