;/*======================================================================================= ;Project : 서보모터 제어하기 ;Version : LK-SVM 01 ;Date : 2012-01-18 ;Author : Kyung Nam Lee ;Company : LKEMBEDDED ;Comment : 2초마다 서보모터가 180도 회전 하는 프로그램 예제소스이다. ;Compiler: WINAVR + AVRStuio ;Connection: ATmega2560확장형 개발보드 10Pin박스커넥터(PORTB) <--------------> LK-SVM V01 10Pin박스커넥터(PORT) ;=======================================================================================*/ ; ;#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 max ((1.5+0.8)*10) ;#define min ((1.5-0.9)*10) ;#define mideum (1.5*10) //서보모터의 90도 위치의 On-Time dury 1.5ms ;#define duty 200 ;bit direction_flag; ;char Pulse=0; ;// Timer 0 overflow interrupt service routine ;interrupt [TIM0_OVF] void timer0_ovf_isr(void) //100uS Tick Time ; 0000 0015 { .CSEG ;PCODE: $0000000D VOL: 0 ;PCODE: $0000000E VOL: 0 ; 0000 0016 ; 0000 0017 static unsigned int cnt,cnt2=0; ; 0000 0018 cnt2++; ;PCODE: $0000000F VOL: 0 ;PCODE: $00000010 VOL: 0 ;PCODE: $00000011 VOL: 0 ;PCODE: $00000012 VOL: 0 ; 0000 0019 cnt++; ;PCODE: $00000013 VOL: 0 ;PCODE: $00000014 VOL: 0 ;PCODE: $00000015 VOL: 0 ;PCODE: $00000016 VOL: 0 ; 0000 001A if(cnt2==20000)// 2초 ? ;PCODE: $00000017 VOL: 0 ;PCODE: $00000018 VOL: 0 ;PCODE: $00000019 VOL: 0 ; 0000 001B { ; 0000 001C Pulse=min; ;PCODE: $0000001A VOL: 0 ;PCODE: $0000001B VOL: 0 ; 0000 001D } ; 0000 001E if(cnt2==40000)// 4초 ? ;PCODE: $0000001C VOL: 0 ;PCODE: $0000001D VOL: 0 ;PCODE: $0000001E VOL: 0 ;PCODE: $0000001F VOL: 0 ; 0000 001F { ; 0000 0020 Pulse=max; ;PCODE: $00000020 VOL: 0 ;PCODE: $00000021 VOL: 0 ; 0000 0021 cnt2=0; ;PCODE: $00000022 VOL: 0 ;PCODE: $00000023 VOL: 0 ; 0000 0022 } ; 0000 0023 if(cnt==Pulse) ;PCODE: $00000024 VOL: 0 ;PCODE: $00000025 VOL: 0 ;PCODE: $00000026 VOL: 0 ;PCODE: $00000027 VOL: 0 ;PCODE: $00000028 VOL: 0 ;PCODE: $00000029 VOL: 0 ; 0000 0024 { ; 0000 0025 PORTB.0=0; ;PCODE: $0000002A VOL: 0 ;PCODE: $0000002B VOL: 0 ; 0000 0026 PORTB.1=0; ;PCODE: $0000002C VOL: 0 ;PCODE: $0000002D VOL: 0 ; 0000 0027 PORTB.2=0; ;PCODE: $0000002E VOL: 0 ;PCODE: $0000002F VOL: 0 ; 0000 0028 PORTB.3=0; ;PCODE: $00000030 VOL: 0 ;PCODE: $00000031 VOL: 0 ; 0000 0029 } ; 0000 002A if(cnt==duty) ;PCODE: $00000032 VOL: 0 ;PCODE: $00000033 VOL: 0 ;PCODE: $00000034 VOL: 0 ;PCODE: $00000035 VOL: 0 ; 0000 002B { ; 0000 002C PORTB.0=1; ;PCODE: $00000036 VOL: 0 ;PCODE: $00000037 VOL: 0 ; 0000 002D PORTB.1=1; ;PCODE: $00000038 VOL: 0 ;PCODE: $00000039 VOL: 0 ; 0000 002E PORTB.2=1; ;PCODE: $0000003A VOL: 0 ;PCODE: $0000003B VOL: 0 ; 0000 002F PORTB.3=1; ;PCODE: $0000003C VOL: 0 ;PCODE: $0000003D VOL: 0 ; 0000 0030 cnt=0; ;PCODE: $0000003E VOL: 0 ;PCODE: $0000003F VOL: 0 ; 0000 0031 } ; 0000 0032 ; 0000 0033 TCNT0+=0xe7;//100uS Tick Time ;PCODE: $00000040 VOL: 0 ;PCODE: $00000041 VOL: 0 ;PCODE: $00000042 VOL: 0 ;PCODE: $00000043 VOL: 0 ; 0000 0034 } ;PCODE: $00000044 VOL: 0 ;PCODE: $00000045 VOL: 0 ;PCODE: $00000046 VOL: 0 ;void main(void) ; 0000 0036 { ;PCODE: $00000047 VOL: 0 ; 0000 0037 ; 0000 0038 // Input/Output Ports initialization ; 0000 0039 // Port A initialization ; 0000 003A PORTB=0x00; ;PCODE: $00000048 VOL: 0 ;PCODE: $00000049 VOL: 0 ; 0000 003B DDRB=0xff; ;PCODE: $0000004A VOL: 0 ;PCODE: $0000004B VOL: 0 ; 0000 003C ; 0000 003D // Timer/Counter 0 initialization ; 0000 003E TCCR0A=0x00;//Normal Mode Operation(Overflow Interrupt Enable) ;PCODE: $0000004C VOL: 0 ;PCODE: $0000004D VOL: 0 ; 0000 003F TCCR0B=0x03;//64Prescale Select ;PCODE: $0000004E VOL: 0 ;PCODE: $0000004F VOL: 0 ; 0000 0040 TCNT0=0xe7;// Timer/Count Register initialization 100uS Tick Time ;PCODE: $00000050 VOL: 0 ;PCODE: $00000051 VOL: 0 ; 0000 0041 ; 0000 0042 TIMSK0=0x01;// Timer(s)/Counter(s) Interrupt(s) initialization ;PCODE: $00000052 VOL: 0 ;PCODE: $00000053 VOL: 0 ; 0000 0043 #asm("sei")// Global enable interrupts ;PCODE: $00000054 VOL: 0 sei ;PCODE: $00000055 VOL: 0 ; 0000 0044 ; 0000 0045 while (1) ;PCODE: $00000056 VOL: 0 ; 0000 0046 { ; 0000 0047 ; 0000 0048 } ;PCODE: $00000057 VOL: 0 ;PCODE: $00000058 VOL: 0 ; 0000 0049 } ;PCODE: $00000059 VOL: 0 ;PCODE: $0000005A VOL: 0 ;PCODE: $0000005B VOL: 0