CodeVisionAVR

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Getting Started with the CodeVisionAVR C Compiler

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Ovládání motoru

PŘÍLOHA 10 
/**************************
Chip type               : ATmega16
Program type            : Application
AVR Core Clock frequency: 18,423000 MHz
Memory model            : Small
External RAM size       : 0
Data Stack size         : 256
**************************/

#include <mega16.h>
#include <stdio.h>  
#include <stdlib.h>
#define F_CPU 18423000
#include <delay.h>

#define ADC_VREF_TYPE 0x60
int hrana;
bit por0;

//Deklarace globálních proměnných
unsigned int read_adc(unsigned char kanal)  {
ADMUX=kanal;  
   ADCSRA|=0x40;  
   while ((ADCSRA & 0x10)==0);  
   ADCSRA|= 0x10;  
return ADCW;
} 

void main(void)
{

// Input/Output Ports initialization
// Port A initialization
PORTA=0x00;
DDRA=0x00;

// Port B initialization
PORTB=0x00;
DDRB=0x00;

// Port C initialization
PORTC=0x00;
DDRC=0xC0;

// Port D initialization
PORTD=0x00;
DDRD=0b11111111;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=0xFF
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer1 Stopped
// Mode: Normal top=0xFFFF
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer2 Stopped
// Mode: Normal top=0xFF
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x00;

// USART initialization
// USART disabled
UCSRB=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;

// ADC initialization
// ADC Clock frequency: 575,719 kHz
// ADC Voltage Reference: AVCC pin
// ADC Auto Trigger Source: Free Running
// Only the 8 most significant bits of
// the AD conversion result are used
ADMUX=ADC_VREF_TYPE & 0xff;
ADCSRA=0xA5;
SFIOR&=0x1F;

// SPI initialization
// SPI disabled
SPCR=0x00;

// TWI initialization
// TWI disabled
TWCR=0x00;

DDRC=0b00000011;
DDRA=0b00000000;
PORTC=0b00000011;
delay_ms(200);
PORTC=0b00000001;
delay_ms(200);
PORTC=0b00000010;
delay_ms(2000);
hrana=(read_adc(0)+read_adc(1))/2;
PORTC=0b00000000;
      while(1){
      if ((read_adc(0)<hrana)*(read_adc(1)<hrana)*(read_adc(2)<hrana)*(read_adc(3)<hrana)){
      PORTD=0b00100111;
      };
      if ((read_adc(0)>hrana)*(read_adc(1)<hrana)*(read_adc(2)<hrana)*(read_adc(3)<hrana)){
      PORTD=0b01101011;
      };
      if ((read_adc(0)<hrana)*(read_adc(1)<hrana)*(read_adc(2)<hrana)*(read_adc(3)>hrana)){
      PORTD=0b01101011;
      }; 
      if ((read_adc(0)<hrana)*(read_adc(1)>hrana)*(read_adc(2)<hrana)*(read_adc(3)<hrana)){
      PORTD=0b01011011;
      }
      if ((read_adc(0)<hrana)*(read_adc(1)<hrana)*(read_adc(2)>hrana)*(read_adc(3)<hrana)){ PORTD=0b00100111;};
       if ((read_adc(0)<hrana)*(read_adc(1)<hrana)*(read_adc(2)>hrana)*(read_adc(3)<hrana)){
      PORTD=0b00100111;
      };
       if ((read_adc(0)>hrana)*(read_adc(1)>hrana)*(read_adc(2)>hrana)*(read_adc(3)> hrana)){
        if (por0){
           PORTD=0b01011011;
           delay_ms(100);
           PORTD=0b01101011;
           delay_ms(2000);
           por0=0;}else{       
          PORTD=0b00100111;
           delay_ms(200);
            por0=1;
            };
          };
       if ((read_adc(0)<hrana)*(read_adc(1)>hrana)*(read_adc(2)>hrana)*(read_adc(3)<hrana)){
      PORTD=0b01100011;
      };
      if ((read_adc(0)>hrana)*(read_adc(1)>hrana)*(read_adc(2)<hrana)*(read_adc(3)<hrana)){
      PORTD=0b01010001;
      };
      if ((read_adc(0)<hrana)*(read_adc(1)<hrana)*(read_adc(2)>hrana)*(read_adc(3)>hrana)){
      PORTD=0b00100110;
      };
      if ((read_adc(0)<hrana)*(read_adc(1)>hrana)*(read_adc(2)>hrana)*(read_adc(3)>hrana)){
      PORTD=0b00100110;
      };
      if ((read_adc(0)>hrana)*(read_adc(1)>hrana)*(read_adc(2)>hrana)*(read_adc(3)<hrana)){
      PORTD=0b00100101;
      };       
}
}