ROV.rar_Atmega128 pwm_MEGA64 6 pwm_atmega128_rov

#include "includes.h" /******************************************************************* *timer初始化 *初始化Timer1和Timer3 ，共输出6路PWM *对应PWM输出引脚为pb.5,pb.6,pb.7 pe3,pe4,pe5 *******************************************************************/ void PWMinit(void) { DDRB|=(1<<PB5)|(1<<PB6)|(1<<PB7); DDRE|=(1<<PE3)|(1<<PE4)|(1<<PE5);//设置pwm引脚方向 TCCR1A=0XA9; TCCR1B=0X09; TCCR3A=0XA9; TCCR3B=0X09; //匹配清零, 8位pwm setPWMduty(ALLPWMCHANNEL,0); //初始输出低电平 TIMSK=0X00; //t1溢出中断未使能 TIFR=0X00; ETIMSK=0X00; ETIFR=0X00; } /******************************************************************* *PWM频率设置 *参数:PWM的记数最大值 *设置TCNTn寄存器，写入Timer的计数值 *******************************************************************/ void setPWMcycle(UINT16 PWMcycle) { UINT8 cSREG; cSREG=SREG; asm("cli"); TCNT1=PWMcycle; TCNT3=PWMcycle; asm("sei"); SREG=cSREG; } /******************************************************************* *PWM占空比设置 *参数:PWM的比较值数组指针 *设置OCRnx寄存器，写入Timer的比较值 *******************************************************************/ void setPWMduty(UINT8 PWMchannel,UINT16 PWMduty) { UINT8 cSREG; cSREG=SREG; asm("cli"); switch(PWMchannel) { case 1: OCR1A=PWMduty;break; case 2: OCR1B=PWMduty;break; case 3: OCR1C=PWMduty;break; case 4: OCR3A=PWMduty;break; case 5: OCR3B=PWMduty;break; case 6: OCR3C=PWMduty;break; case ALLPWMCHANNEL: OCR1A=PWMduty; OCR1B=PWMduty; OCR1C=PWMduty; OCR3A=PWMduty; OCR3B=PWMduty; OCR3C=PWMduty; break; default:break; } asm("sei"); SREG=cSREG; } /******************************************************************* *timer1中断产生PWM中断 *******************************************************************/ #pragma interrupt_handler Timer1ISR:15 void Timer1ISR(void) { unsigned char cSREG; cSREG=SREG; TIMSK=0X00; asm("sei"); //允许中断嵌套 setPWMcycle(50); setPWMduty(1,PWMdutyArry[1]); delay(100); asm("cli"); SREG=cSREG; TIMSK=0X04; } /******************************************************************* *timer3中断产生PWM中断 *******************************************************************/ #pragma interrupt_handler Timer3ISR:30 void Timer3ISR(void) { unsigned char cSREG; cSREG=SREG; ETIMSK=0X00; asm("sei"); //允许中断嵌套 setPWMcycle(100); setPWMduty(5,90); setPWMduty(6,10); delay(100); asm("cli"); SREG=cSREG; ETIMSK=0X00; } /******************************************************************* *延时函数 *******************************************************************/ void delay(long i) { long j=260; for (;i>0;i--) { for(;j>0;j--) {} j=260; } }