/***************************************************** This program was produced by the CodeWizardAVR V1.25.3 Evaluation Automatic Program Generator © Copyright 1998-2007 Pavel Haiduc, HP InfoTech s.r.l. http://www.hpinfotech.com Project : Programme de test d'un servo-moteur Version : Timer 1 8 bits PWM Phase Correct Date : 20/02/2011 Author : Thierry LEQUEU Company : IUT GEII de Tours Comments: Chip type : ATmega8535 Program type : Application Clock frequency : 16,000000 MHz Memory model : Small External SRAM size : 0 Data Stack size : 128 *****************************************************/ #include #include #include // Alphanumeric LCD Module functions #asm .equ __lcd_port=0x15 ;PORTC #endasm #include // Declare your global variables here unsigned char a; unsigned char tampon[20]; void main(void) { // Declare your local variables here // Input/Output Ports initialization // Port A initialization // Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out // State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0 PORTA=0x00; DDRA=0xFF; // Port B initialization // Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTB=0x00; DDRB=0x00; // Port C initialization // Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTC=0x00; DDRC=0x00; // Port D initialization // Func7=In Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=0 State4=0 State3=T State2=T State1=T State0=T PORTD=0x00; DDRD=0xF0; // Timer/Counter 0 initialization // Clock source: System Clock // Clock value: Timer 0 Stopped // Mode: Normal top=FFh // OC0 output: Disconnected TCCR0=0x00; TCNT0=0x00; OCR0=0x00; // Timer/Counter 1 initialization // Clock source: System Clock // Clock value: 15,625 kHz // Mode: Ph. correct PWM top=00FFh // OC1A output: Non-Inv. // OC1B output: Non-Inv. // Noise Canceler: Off // Input Capture on Falling Edge // Timer 1 Overflow Interrupt: Off // Input Capture Interrupt: Off // Compare A Match Interrupt: Off // Compare B Match Interrupt: Off TCCR1A=0xA1; TCCR1B=0x05; TCNT1H=0x00; TCNT1L=0x00; ICR1H=0x00; ICR1L=0x00; OCR1AH=0x00; OCR1AL=0x80; OCR1BH=0x00; OCR1BL=0x00; // Timer/Counter 2 initialization // Clock source: System Clock // Clock value: Timer 2 Stopped // Mode: Normal top=FFh // OC2 output: Disconnected ASSR=0x00; TCCR2=0x00; TCNT2=0x00; OCR2=0x00; // External Interrupt(s) initialization // INT0: Off // INT1: Off // INT2: Off MCUCR=0x00; MCUCSR=0x00; // Timer(s)/Counter(s) Interrupt(s) initialization TIMSK=0x00; // Analog Comparator initialization // Analog Comparator: Off // Analog Comparator Input Capture by Timer/Counter 1: Off ACSR=0x80; SFIOR=0x00; // LCD module initialization lcd_init(16); lcd_gotoxy(0,0); lcd_putsf("Projet 81 SERVO"); lcd_gotoxy(0,1); lcd_putsf("Test servomoteur"); while (1) { // Place your code here if (PIND.1 == 0) { a++; }; if (PIND.2 == 0) { a--; }; // Timer PWM 8bits 15 625 Hz : F = 30,6 Hz // Nmin = 13 pour 5,2% // Nmax = 19 pour 7,6% servo RS-2 CONRAD 1/4 de tour (90°) // Nmax = 25 pour 9,8% en théorie. if (a <= 13) { a=13; }; if (a >= 19) { a=19; }; OCR1AL=a; PORTA=a; sprintf(tampon,"PORTA =%3d",a); lcd_gotoxy(0,2); lcd_puts(tampon); //on affiche la valeur de a. sprintf(tampon,"OCR1AL=0x%x",a); lcd_gotoxy(0,3); lcd_puts(tampon); //on affiche la valeur de a. delay_ms(100); }; }