ATMEGA 128单片机定时器应用大全

#include

#include

#include"delay.h"

#include"usart.h"

unsigned char Count1 = 0;

unsigned char Count2 = 0;

unsigned char count = 0;

void port_init(void)

{

PORTA = 0x00;

DDRA = 0xFF;

PORTB = 0x00;

DDRB = 0xFF;

PORTC = 0x00; //m103 output only

DDRC = 0xFF;

PORTD = 0x00;

DDRD = 0x00;

PORTE = 0x00;

DDRE = 0xFF;

PORTF = 0x00;

DDRF = 0x00;

PORTG = 0x00;

DDRG = 0x00;

}

//call this routine to initialize all peripherals

void init_devices(void)

{

//stop errant interrupts until set up

CLI(); //disable all interrupts

XDIV = 0x00; //xtal divider

XMCRA = 0x00; //external memory

port_init();

//uart0_init();

MCUCR = 0x00;

EICRA = 0x00; //extended ext ints

EICRB = 0x00; //extended ext ints

EIMSK = 0x00;

TIMSK = 0x00; //timer interrupt sources ETIMSK = 0x00; //extended timer interrupt sources SEI(); //re-enable interrupts

//all peripherals are now initialized

}

//

void PWM10(void)

/*在10位相位修正PWM模式下，产生PWM波*/

//TCCR1A = 0X83;

TCCR1A = (1<

TCCR1B = (1<

OCR1AH = 0X0F;

OCR1AL = 0X01;

OCR1BH = 0X1F;

OCR1BL = 0X01;

OCR1CH = 0X2A;

OCR1CL = 0X01;

}

void PWM20MS_Servo(void)

{

//舵机常用

//top值为ICRn时产生PWM

TCCR1A = (1<

TCCR1B = (1<

ICR1 = 18432;//周期为20MS

//ICR1H = 0X48;//周期为20MS

//ICR1L = 0X00;

OCR1A = 360;

//OCR1AH = 0X01;//脉宽0.5十进制360

//OCR1AL = 0XCC;//

OCR1B = 2300;

//OCR1BH = 0X08;//脉宽2.5十进制2300

//OCR1BL = 0XFC;

OCR1CH = 0X1A;

OCR1CL = 0X01;

}

void PWM_T1_0XFF(void)

{

//两路PWM波

TCCR1A =(1<

TCCR1B = (1<

OCR1A = 200;

OCR1B = 22;

OCR1C = 100;

}

void PWM_T3_0XFF(void)

{

//两路PWM波

TCCR3A =(1<

TCCR3B = (1<

OCR3A = 200;

OCR3B = 22;

OCR3C = 100;

void InPut_Init(void)

{

DDRD &= ~(1<<4);

PORTD |= (1<<4);

SREG = 0X80;

TCNT1 = 0;

TCCR1B = (1<

TIMSK = (1<

}

//对16位的寄存器写值

void Write_r16Register(unsigned int k)

{

TCNT1H = (unsigned char)(k>>8);

TCNT1L = (unsigned char)k;

}

//对16位的寄存器读值

unsigned int Read_r16Register(void)

{

unsigned int k;

k = TCNT1L;

k += (unsigned int)(TCNT1H<<8);

return k;

}

//CTC模式，外部计数

void CTC_Init_T1(void)

{

DDRD &= ~(1<<6);

PORTD |= (1<<6);

TCCR1A = 0X00;

TCCR1B = (1<

TCNT1H = 0;

TCNT1L = 0;

OCR1AH = 0XFF;

OCR1AL = 0XFF;

//0X0005;

// TIMSK = (1<

//SREG = 0X80;

}

//CTC模式，T2，外部计数

void CTC_Init_T2(void)

{

DDRD &= ~(1<<7);

PORTD |= (1<<7);

TCCR2 = (1 << WGM21)|(1 << CS22)|(1 << CS21);

TCNT2 = 0X00;

OCR2 = 0XFF;

}

void T3_Over_init(void)

{

//TCNT3H=(65536-50000)/256;//50ms溢出中断

//TCNT3L=(65536-50000)%256;

TCNT3H = 0X1E;

TCNT3L = 0XFF;//0XEA;

//TCNT3L=0;//X8C;

TCCR3B=0X04;//(1<

SREG=0x80;

}

//定时器0，溢出中断，初始化

void T0_Over_Init(void)

{

TCNT0 = 0x0F;

TCCR0 = 0X07;

TIMSK = (1 << TOIE0);

SREG=0x80;

}

//使用外部中断，下降沿触发，中断0，1

void External_Interrupt_Init(void)

{

DDRD &= ~(1<<0);

PORTD |= (1<<0);

DDRD &= ~(1<<1);

PORTD |= (1<<1);

EICRA = (1<

EIMSK = (1<

SREG=0x80;

}

//计算电机编码器的值，通过定时器0，读取T1做时钟，TCNT1的值

void main(void)

{

init_devices();

//External_Interrupt_Init();

T0_Over_Init();

//T3_Over_init();

//CTC_Init_T1();

//CTC_Init_T2();

PWM_T1_0XFF();

PWM_T3_0XFF();

//uart0_init();

while(1)

//uart0_init();

//PORTA = PORTA^0X01;

// DelayMs(5);

}

}

//外部中断函数0

#pragma interrupt_handler INT0_Interrupt:02 void INT0_Interrupt(void)

{

Count1++;

PORTA = PORTA^0X01;

}

#pragma interrupt_handler INT1_Interrupt:03 void INT1_Interrupt(void)

{

Count2++;

PORTA = PORTA^0X01;

}

//T0溢出中断函数#pragma

#pragma interrupt_handler T0_Over_Interrupt:17 void T0_Over_Interrupt(void)

{

TCNT0 = 0x0F;

count++;

if(count==60)

{

count = 0;

PORTA = PORTA^0X01;

}

// USART0_Transmit(TCNT1H);

// USART0_Transmit(TCNT1L);

// TCNT1H = 0;

// TCNT1L = 0;

}

//T3溢出中断函数

#pragma interrupt_handler T3_Over_Interrupt:30 void T3_Over_Interrupt(void)

{

TCNT3H = 0X1E;

TCNT3L = 0XFF;

//DelayMs(30);

USART0_Transmit(Count1);

USART0_Transmit(Count2);

Count1 = 0;

Count2 = 0;

//TCNT1H = 0;

//TCNT1L = 0;

//USART0_Transmit(TCNT2);

//TCNT2 = 0;

//PORTA = PORTA^0X01;

}

//CTC

#pragma interrupt_handler T1:13 void T1(void)

{

USART0_Transmit(TCNT1L);

PORTA = 0X0F;

//PORTA^0X01;

}

//捕捉中断，向量编号12

#pragma interrupt_handler input1:12 void input1(void)

{

//ICNT1H =

// count = TCNT1;

// USART0_Transmit(TCNT1H);

//count++;

USART0_Transmit(ICR1H);

USART0_Transmit(ICR1L);

Delay_1us(100);

/*if(count == 200)

{

//TCNT1 = 0;

PORTA = 0X0F;

}

if(count == 400)

{

count = 0;

// TCNT1 = 0;

PORTA = 0X00;

}*/

}