control_test.zip_Atmega128 pwm_舵机

#include <avr/io.h> #include <avr/interrupt.h> #include <util/delay.h> #include <string.h> void io_init(void); void timer1_init(void); unsigned int i1,i2,i3,i4; void main() { io_init(); timer1_init(); EIMSK|=(1<<INT4); //使用外部中断0和1 EICRB = 0x03; //外部中断0和1为上升沿中断 sei();//开总中断 while(1) { // i=0; } } void io_init(void) { DDRB=0Xff; PORTB = 0xff; DDRC = 0x00; PORTC =0xff; } void timer1_init(void) { TCCR1A = 0xa8; //两路PWM相位频率可调，计数上限ICR1 //COM1A1 COM1A0 COM1B1 COM1B0 ：1010 TCCR1B = 0x12; //预分频8 TCNT0=0; ICR1=10000; } SIGNAL(SIG_INTERRUPT4) { cli(); while(PINC&0x01) {i1++;} OCR1A=(i1>>1)-300; //OCR1A=(i1>>1)-300; i1=0; EIMSK=0x00; EICRB = 0x30; EIMSK=0x40; sei(); } SIGNAL(SIG_INTERRUPT5) { cli(); while(PINC&0x02) {i2++;} OCR1B=(i2>>1)-300; i2=0; EIMSK=0x00; EICRB = 0x03; EIMSK=0x10; sei(); } SIGNAL(SIG_INTERRUPT6) { cli(); while(PINC&0x04) {i3++;} OCR1C=(i3>>1)-300; i3=0; EIMSK=0x00; EICRB = 0x0C; EIMSK=0x20; sei(); }