AVR ATmega64 项目实例

//ICC-AVR application builder : 2009-6-4 13:38:39 // Target : M64 // Crystal: 8.0000Mhz #include <iom64v.h> #include <macros.h> //#include <math.h> #include "bmplib.h" #define uchar unsigned char #define uint unsigned int #define TEST 0 /* #define K_OK 0 #define K_LEFT 1 #define K_DOWN 2 #define K_LAMP 3 #define K_QUIT 4 */ #define K_OK 0x10 #define K_LEFT 0x08 #define K_DOWN 0x04 #define K_LAMP 0x02 #define K_QUIT 0x01 #define KL_OK (0x10|0x80) #define KL_LEFT (0x08|0x80) #define KL_DOWN (0x04|0x80) #define KL_LAMP (0x02|0x80) #define KL_QUIT (0x01|0x80) #define KEYSCAN ((((PINA>>4)|((PING<<2)&0x10))|0xE0)^0xFF) #define KEY_OK 0x10 #define KEY_LEFT 0x08 #define KEY_DOWN 0x04 #define KEY_LAMP 0x02 #define KEY_QUIT 0x01 #define KEYL_OK (0x10|0x80) #define KEYL_LEFT (0x08|0x80) #define KEYL_DOWN (0x04|0x80) #define KEYL_LAMP (0x02|0x80) #define KEYL_QUIT (0x01|0x80) //#define KEY_S 300 //#define KEY_L 200 #if TEST==1 #define KEY_S 30 #else #define KEY_S 300 #endif #if TEST==1 #define KEY_L 20 #else #define KEY_L 200 #endif #define GLASSLX 11 #define GLASSRX 70 #define GLASSW 47 #define GLASSH 32 #define GLASSFS 14 #define GLASSFW 5 #define GLASSFM 10 #define ZEROX -5050 #define ZEROY -500 #define LONG_UNIT_X 2991 //1W*(3.14159*D/2048) //D=19.5,LONG_UNIT_X=0.02761165*1W #define LONG_UNIT_Y 1994 //1W*(3.14159*D/2048) //D=18,LONG_UNIT #define E_H PORTE|=BIT(2) //PE2// #define E_L PORTE&=~BIT(2) #define RW_H PORTE|=BIT(3) //PE3 #define RW_L PORTE&=~BIT(3) #define RS_H PORTB|=BIT(2) //PB2 #define RS_L PORTB&=~BIT(2) #define CS3_H PORTA|=BIT(3) //PA3 #define CS3_L PORTA&=~BIT(3) #define CS2_H PORTA|=BIT(2) //PA2 #define CS2_L PORTA&=~BIT(2) #define CS1_H PORTA|=BIT(0) //PA0 #define CS1_L PORTA&=~BIT(0) #define RES_H PORTA|=BIT(1) //PA1 #define RES_L PORTA&=~BIT(1) #define DB PORTF//LCD DB #define LCD_LEFT CS1_L;CS2_H;CS3_H #define LCD_MID CS1_H;CS2_L;CS3_H #define LCD_RIGHT CS1_H;CS2_H;CS3_L //#define ADD_Y0 0x40 //#define ADD_X0 0xB8 //#define DISP_SL0 0xC0 //#define DISP_ON 0x3F //#define DISP_OFF 0x3E //#define MOTOPUE_H TIMSK|=0x01; //#define MOTOPUE_L TIMSK&=~0x01; #define XMOTOMF_H PORTC|=BIT(7) //PC7 #define XMOTOMF_L PORTC&=~BIT(7) #define XMOTOMF_T PORTC^=BIT(7) #define XMOTODR_H PORTC|=BIT(6) //PC6 #define XMOTODR_L PORTC&=~BIT(6) #define XMOTODR_T PORTC^=BIT(6) #define XMOTODR_R ((PINC>>6)&0x01) #define XMOTOPU_T PORTC^=BIT(5)//PC5 #define XSWITCHSTART ((PINE>>4)&0x01)//int4 #define XSWITCHSTOP ((PINE>>5)&0x01)//int5 #define XMAGNETC_H PORTC|=BIT(4) //PC4 #define XMAGNETC_L PORTC&=~BIT(4) #define YMAGNETC_H PORTC|=BIT(3) //PC3 #define YMAGNETC_L PORTC&=~BIT(3) #define YMOTOMF_H PORTC|=BIT(2) //PC2 #define YMOTOMF_L PORTC&=~BIT(2) #define YMOTOMF_T PORTC^=BIT(2) #define YMOTODR_H PORTC|=BIT(1) //PC1 #define YMOTODR_L PORTC&=~BIT(1) #define YMOTODR_T PORTC^=BIT(1) #define YMOTODR_R ((PINC>>1)&0x01) #define YMOTOPU_T PORTC^=0x01//BIT(0)//PC0 #define YSWITCHSTART ((PIND>>2)&0x01)//int2 #define YSWITCHSTOP ((PIND>>3)&0x01)//int3 #define LAMP_H PORTB|=BIT(5) //PB5 #define LAMP_L PORTB&=~BIT(5) #define LAMP_T PORTB^=BIT(5) #define BEEP_H PORTB|=BIT(6) //PB6 #define BEEP_L PORTB&=~BIT(6) #define BEEP_T PORTB^=BIT(6) #define DRILL_H PORTD|=BIT(4) //PD4 #define DRILL_L PORTD&=~BIT(4) #define DRILL_T PORTD^=BIT(4) #define DRILL_R ((PIND>>4)&0x01) #define T1_H TIMSK|=BIT(4) #define T1_L TIMSK&=~BIT(4) #define T1_T TIMSK^=BIT(4) #define T1_R test_bit(TIMSK,4) #define XB_INT ((PINE>>6)&0x01)//PINE6 #define XA_INT (PINE>>7)//PINE7 #define PINB_3 ((PINB>>3)&0x01)//PINB3 #define YB_INT (PIND&0x01)//PIND0 #define YA_INT ((PIND>>1)&0x01)//PIND1 //#define PING_4 ((PING>>4)&0x01)//PIND4 #define INTYB_H EICRA|=0x03//EICRA:11上升有效10下降有效EICRA|=0x03;//上升有效 #define INTYB_L EICRA|=0x02;EICRA&=~0x01//EICRA|=0x02;EICRA&=~0x01; //#define INTYB_T EICRA^=0x01 //INT0 YB 上升下降沿中断方式翻转10下降11上升 //#define INTYB_R (EICRA&0x01) signed int xz,yz; signed int linex[4],liney[4]; signed int hole_left1x,hole_left1y,hole_left2x,hole_left2y; signed int hole_targetx,hole_targety; signed int hole_target[4][4][2]; signed int xztemp; //uint t,t1; //test uchar keyvalue; uchar xmotopu,ymotopu; uchar step; uchar manmodel; uchar MMenuSel,SMMenuSel,SLMenuSel,SRMenuSel,SMenuSel; uchar SSubMenuSel[4][2];//左外，左内，右内，右外//Select And Max uchar SSubMenuHanzi[4][4][4]={ {{6,9,3,15},{6,9,10,11},{6,9,3,16},{6,9,3,17}}, {{6,8,3,15},{6,8,10,11},{6,8,3,16},{6,8,3,17}}, {{7,8,3,15},{7,8,10,11},{7,8,3,16},{7,8,3,17}}, {{7,9,3,15},{7,9,10,11},{7,9,3,16},{7,9,3,17}}}; uchar studyleft; uchar studyok[5]; uchar studynote[4][4]; uchar notchture; uchar autodis=1; uchar dispch[1]={0x00}; uchar StSubMenuMax[4]; //uchar hole1search[4];////////////////// uchar t0tcnt,t0set; uchar topline,bottomline; uchar flashchange,flashture; uchar drillok[4][4]; void xmotoctr(void); void xmotostart(void); void xmotostop(void); void xmotounlock(void); void xmotolock(void); void ymotoctr(void); void ymotostart(void); void ymotostop(void); void ymotounlock(void); void ymotolock(void); void timer0_init(void); void timer0_set(uchar us); ////intit////intit////intit////intit////intit////intit////intit////intit///intit////intit////intit////intit/// ////intit////intit////intit////intit////intit////intit////intit////intit///intit////intit////intit////intit/// ////intit////intit////intit////intit////intit////intit////intit////intit///intit////intit////intit////intit/// ////intit////intit////intit////intit////intit////intit////intit////intit///intit////intit////intit////intit/// ////intit////intit////intit////intit////intit////intit////intit////intit///intit////intit////intit////intit/// //TIMER0 initialize - prescale:8 // WGM: Normal // desired value: 30uSec // actual value: 29.000uSec (3.3%) void timer0_init(void) { TCCR0 = 0x00; //stop ASSR = 0x00; //set async mode TCNT0 = 0xE3; //set count OCR0 = 0x1D; TCCR0 = 0x02; //start timer } /* //TIMER1 initialize - prescale:64 // WGM: 0) Normal, TOP=0xFFFF // desired value: 600mSec // actual value: 599.984mSec (0.0%) void timer1_init(void) { TCCR1B = 0x00; //stop TCNT1H = 0x6D; //setup TCNT1L = 0x85; OCR1AH = 0x92; OCR1AL = 0x7B; OCR1BH = 0x92; OCR1BL = 0x7B; OCR1CH = 0x92; OCR1CL = 0x7B; ICR1H = 0x92; ICR1L = 0x7B; TCCR1A = 0x00; TCCR1B = 0x03; //start Timer } */ //TIMER1 initialize - prescale:64 // WGM: 0) Normal, TOP=0xFFFF // desired value: 100mSec // actual value: 100.000mSec (0.0%) void timer1_init(void) { TCCR1B = 0x00; //stop TCNT1H = 0xCF; //setup TCNT1L = 0x2C; OCR1AH = 0x30; OCR1AL = 0xD4; OCR1BH = 0x30; OCR1BL = 0xD4; OCR1CH = 0x30; OCR1CL = 0xD4; ICR1H = 0x30; ICR1L = 0xD4; TCCR1A = 0x00; TCCR1B = 0x03; //start Timer } /* //TIMER1 initialize - prescale:1 // WGM: 0) Normal, TOP=0xFFFF // desired value: 100uSec // actual value: 100.000uSec (0.0%) void timer1_init(void) { TCCR1B = 0x00; //stop TCNT1H = 0xFC; //setup TCNT1L = 0xE0; OCR1AH = 0x03; OCR1AL = 0x20; OCR1BH = 0x03; OCR1BL = 0x20; OCR1CH = 0x03; OCR1CL = 0x20; ICR1H = 0x03; ICR1L = 0x20; TCCR1A = 0x00; TCCR1B = 0x01; //start Timer } */ void port_init(void) { PORTA = 0xFF;///////// DDRA = 0x0F;//PINA4567设置为输入 PORTB = 0x08;//PINB3上拉 DDRB = 0xF7;//PB3设置为输入 PORTC = 0x00; //m103 output only DDRC = 0xFF; PORTD = 0x0F;//低四位上拉 DDRD = 0x10;//PD4输出 PORTE = 0xF0;//PORTE高四位上拉 DDRE = 0x0F;//PORTE高四位设置为输入 PORTF = 0x00; DDRF = 0xFF; PORTG = 0xFF; 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; /