M48产生16路PPM信号控制16路舵机程序

skyxjh · 发表于 2013-9-15 12:33:12

原创M48产生16路PPM信号控制16路舵机程序

//ICC-AVR application builder : 2013/9/15 7:09:24
// Target : m48
// Crystal: 8.0000Mhz
#include <iom48v.h>
#include <macros.h>
void port_init(void)
{
PORTB = 0x00;
DDRB = 0xFF;
PORTC = 0x7F; //m103 output only
DDRC = 0x00;
PORTD = 0x00;
DDRD = 0xFF;
}
//TIMER1 initialize - prescale:1
// WGM: 14) fast PWM, TOP=ICRn
// desired value: 2.5mSec
// actual value: 2.500mSec (0.0%)
void timer1_init(void)
{
TCCR1B = 0x00; //stop
TCNT1 = 2500*8; //setup
OCR1A = 2500*8;
OCR1B = 2500*8;
ICR1 = 2500*8;
TCCR1A = 0x02;
TCCR1B = 0x19; //start Timer
}
unsigned char n = 7;
unsigned int htla[8]={1100*8,1200*8,1300*8,1400*8,1500*8,1600*8,1700*8,1800*8};
unsigned int htlb[8]={1800*8,1700*8,1600*8,1500*8,1400*8,1300*8,1200*8,1100*8};
#pragma interrupt_handler timer1_compa_isr:iv_TIM1_COMPA
void timer1_compa_isr(void)
{
//compare occured TCNT1=OCR1A
PORTB = 0;
}
#pragma interrupt_handler timer1_compb_isr:iv_TIM1_COMPB
void timer1_compb_isr(void)
{
//compare occured TCNT1=OCR1B
PORTD = 0;
}
#pragma interrupt_handler timer1_ovf_isr:iv_TIM1_OVF
void timer1_ovf_isr(void)
{
//TIMER1 has overflowed
PORTB = PORTD = BIT(n);
n = n ? n-1 : 7;
OCR1A = htla[n];
OCR1B = htlb[n];
}
//call this routine to initialize all peripherals
void init_devices(void)
{
//stop errant interrupts until set up
CLI(); //disable all interrupts
port_init();
timer1_init();
MCUCR = 0x00;
EICRA = 0x00; //extended ext ints
EIMSK = 0x00;
TIMSK0 = 0x00; //timer 0 interrupt sources
TIMSK1 = 0x07; //timer 1 interrupt sources
TIMSK2 = 0x00; //timer 2 interrupt sources
PCMSK0 = 0x00; //pin change mask 0
PCMSK1 = 0x00; //pin change mask 1
PCMSK2 = 0x00; //pin change mask 2
PCICR = 0x00; //pin change enable
PRR = 0xE7; //power controller
SEI(); //re-enable interrupts
//all peripherals are now initialized
}
//
void main(void)
{
init_devices();
//insert your functional code here...
}

复制代码

skyxjh · 发表于 2013-9-15 12:37:15

用M48的PORTB和PORTD两个端口输出16路周期为20毫秒的PPM信号，可以添加I2C接口程序，修改16路PPM输出的高电平时长，用来精确控制16路舵机或电调。

skyxjh · 发表于 2013-9-15 12:41:26

输出波形
attach://139265.jpg

superplaim · 发表于 2013-9-25 09:19:10

这么好的帖子居然没有人顶，我顶啊希望楼主能科普下ppm的定义越详细越好
最好有图有讲解

donglaile · 发表于 2013-11-4 00:08:25

mark，学习学习

ztxtr · 发表于 2013-11-18 22:40:34

mark,学习.

starsun · 发表于 2014-1-5 22:39:54

做个记号，学习了

sync765 · 发表于 2014-1-5 23:12:54

好贴
进来学习

AE007 · 发表于 2014-1-7 18:51:55

mark

M48产生16路PPM信号控制16路舵机程序

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