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#include "kernel.h" //交流QQ：568434017. unsigned int PWM_Buf[6];//6路PWM频率 unsigned long timer0_ticks; unsigned long timer0_tickssec; unsigned long timer1_ticks; unsigned long timer1_ticksmin; unsigned long timer2_ticks; unsigned long timer2_tickssec; unsigned long timer3_ticks; unsigned long timer3_ticksmin; unsigned long timer4_ticks; unsigned long timer4_ticksmin; unsigned long timer5_ticks; unsigned long timer5_ticksmin; void Timer0_Init(void) { timer0_ticks = 0; timer0_tickssec = 0; TCCR0A = 0x00; TCCR0B = 0x00; TCNT0 = 0x00; OCR0A = F_CPU/(1024-1)/20;//频率F_PWM OCR0B = OCR0A/2;//占空比50% //TCCR0A = 0xA3; //COM0A1 COM0A0 COM0B1 COM0B0 – – WGM01 WGM00 TCCR0B = 0xCD; //FOC0A FOC0B – – WGM02 CS02 CS01 CS00 /* TCCR0A = 0x00; TCCR0B = 0x00;//stop TCNT0 = 0xE7;//25us OCR0A = 0x18; OCR0B = 0x18; TCCR0A = 0x03; TCCR0B = 0x02;//start,clkT0S/8 TIMSK0|= 0x01;//enable 0verflow interrupt*/ } void TC0_Set_PWM(unsigned int curF) {//20~80为clkT0S/1024，80~300为clkT0S/256，300~2000为clkT0S/64 if(curF==0) { OCR0A = 0; OCR0B = 0; TCCR0A = 0; } else if((curF>=20)&&(curF<80)) { OCR0A = F_CPU/(1024-1)/curF; OCR0B = OCR0A/2; TCCR0A = 0xA3; TCCR0B = 0xCD; } else if((curF>=80)&&(curF<300)) { OCR0A = F_CPU/(256-1)/curF; OCR0B = OCR0A/2; TCCR0A = 0xA3; TCCR0B = 0xCC; } else if((curF>=300)&&(curF<=2000)) { OCR0A = F_CPU/(64-1)/curF; OCR0B = OCR0A/2; TCCR0A = 0xA3; TCCR0B = 0xCB; } } void Timer1_Init(void) { unsigned int temp; timer1_ticks = 0; timer1_ticksmin = 0; TCCR1A = 0x00; TCCR1B = 0x00; TCCR1C = 0x00; TCNT1H = 0x00; TCNT1L = 0x00; temp = F_CPU/16/20; OCR1A=temp; //temp = temp/2; //OCR1B=temp; //OCR1C=temp; //TCCR1A=(0<<COM1A1)|(1<<COM1A0)|/*(1<<COM1B1)|(0<<COM1B0)|(1<<COM1C1)|(0<<COM1C0)|*/(1<<WGM11)|(1<<WGM10); TCCR1B=(1<<WGM13)|(1<<WGM12)|(0<<CS12)|(1<<CS11)/*|(1<<CS10)*/; /* TCCR1A = 0x00;//COM1A1 COM1A0 COM1B1 COM1B0 COM1C1 COM1C0 WGM11 WGM10 TCCR1B = 0x00;//stop,ICNC1 ICES1 – WGM13 WGM12 CS12 CS11 CS10 TCCR1C = 0x00;//FOC1A FOC1B FOC1C – – – – – TCNT1H = 0xE3; TCNT1L = 0xE0; OCR1AH = 0x1C; OCR1AL = 0x1F; OCR1BH = 0x1C; OCR1BL = 0x1F; OCR1CH = 0x1C; OCR1CL = 0x1F; ICR1H = 0x00; ICR1L = 0x00; TCCR1B = 0x05; // TIMSK |= 0x04;//enable 0verflow interrupt*/ } void TC1_Set_PWM(unsigned int curF) { unsigned int temp; if(curF==0) { //OCR1A = 0; //OCR1B = 0; TCCR1A=0; } else if((curF>=20)&&(curF<=2000)) { temp = F_CPU/16/curF; OCR1A=temp; TCCR1A=(0<<COM1A1)|(1<<COM1A0)|/*(1<<COM1B1)|(0<<COM1B0)|(1<<COM1C1)|(0<<COM1C0)|*/(1<<WGM11)|(1<<WGM10); } } void Timer2_Init(void) { timer2_ticks = 0; timer2_tickssec = 0; TCCR2A = 0x00; TCCR2B = 0x00; TCNT2 = 0x00; OCR2A = F_CPU/(1024-1)/20;//频率F_PWM OCR2B = OCR2A/2;//占空比50% //TCCR2A = 0xA3; //COM2A1 COM2A0 COM2B1 COM2B0 – – WGM21 WGM20 TCCR2B = 0xCF; //FOC2A FOC2B – – WGM22 CS22 CS21 CS20 // TCCR2 = 0x00;//stop,FOC2 WGM20 COM21 COM20 WGM21 CS22 CS21 CS20 // TCNT2 = 0xB8;//set count 10ms // OCR2 = 0x47; // TCCR2 = 0x05;//start,clkT0S/1024 // TIMSK|= 0x40;//enable 0verflow interrupt } void TC2_Set_PWM(unsigned int curF) {//20~80为clkT0S/1024，80~300为clkT0S/256，300~2000为clkT0S/64 if(curF==0) { OCR2A = 0; OCR2B = 0; TCCR2A = 0; } else if((curF>=20)&&(curF<80)) { OCR2A = F_CPU/(1024-1)/curF; OCR2B = OCR2A/2; TCCR2A = 0xA3; TCCR2B = 0xCF; } else if((curF>=80)&&(curF<300)) { OCR2A = F_CPU/(256-1)/curF; OCR2B = OCR2A/2; TCCR2A = 0xA3; TCCR2B = 0xCE; } else if((curF>=300)&&(curF<=2000)) { OCR2A = F_CPU/(64-1)/curF; OCR2B = OCR2A/2; TCCR2A = 0xA3; TCCR2B = 0xCC; } } void Timer3_Init(void) { unsigned int temp; timer3_ticks = 0; timer3_ticksmin = 0; TCCR3A = 0x00; TCCR3B = 0x00; TCCR3C = 0x00; TCNT3H = 0x00; TCNT3L = 0x00; temp = F_CPU/16/20; OCR3A=temp; //temp = temp/2; //OCR3B=temp; //OCR3C=temp; //TCCR3A=(0<<COM3A1)|(1<<COM3A0)|/*(1<<COM3B1)|(0<<COM3B0)|(1<<COM3C1)|(0<<COM3C0)|*/(1<<WGM31)|(1<<WGM30); TCCR3B=(1<<WGM33)|(1<<WGM32)|(0<<CS32)|(1<<CS31)/*|(1<<CS30)*/; /* TCCR3A = 0x00;//COM3A1 COM3A0 COM3B1 COM3B0 COM3C1 COM3C0 WGM31 WGM30 TCCR3B = 0x00;//stop,ICNC3 ICES3 – WGM33 WGM32 CS32 CS31 CS30 TCCR3C = 0x00;//FOC3A FOC3B FOC3C – – – – – TCNT3H = 0xE3; TCNT3L = 0xE0;//set count 1s OCR3AH = 0x1C; OCR3AL = 0x1F; OCR3BH = 0x1C; OCR3BL = 0x1F; OCR3CH = 0x1C; OCR3CL = 0x1F; ICR3H = 0x00; ICR3L = 0x00; TCCR3B = 0x05;//start,clkT0S/1024 // ETIMSK|= 0x04;//enable 0verflow interrupt*/ } void TC3_Set_PWM(unsigned int curF) { unsigned int temp; if(curF==0) { //OCR3A = 0; //OCR3B = 0; TCCR3A=0; } else if((curF>=20)&&(curF<=2000)) { temp = F_CPU/16/curF; OCR3A=temp; TCCR3A=(0<<COM3A1)|(1<<COM3A0)|/*(1<<COM3B1)|(0<<COM3B0)|(1<<COM3C1)|(0<<COM3C0)|*/(1<<WGM31)|(1<<WGM30); } } void Timer4_Init(void) { unsigned int temp; timer4_ticks = 0; timer4_ticksmin = 0; TCCR4A = 0x00; TCCR4B = 0x00; TCCR4C = 0x00; TCNT4H = 0x00; TCNT4L = 0x00; temp = F_CPU/16/20; OCR4A=temp; //temp = temp/2; //OCR4B=temp; //OCR4C=temp; //TCCR4A=(0<<COM4A1)|(1<<COM4A0)|/*(1<<COM4B1)|(0<<COM4B0)|(1<<COM4C1)|(0<<COM4C0)|*/(1<<WGM41)|(1<<WGM40); TCCR4B=(1<<WGM43)|(1<<WGM42)|(0<<CS42)|(1<<CS41)/*|(1<<CS40)*/; } void TC4_Set_PWM(unsigned int curF) { unsigned int temp; if(curF==0) { //OCR4A = 0; //OCR4B = 0; TCCR4A=0; } else if((curF>=20)&&(curF<=2000)) { temp = F_CPU/16/curF; OCR4A=temp; TCCR4A=(0<<COM4A1)|(1<<COM4A0)|/*(1<<COM4B1)|(0<<COM4B0)|(1<<COM4C1)|(0<<COM4C0)|*/(1<<WGM41)|(1<<WGM40); } } void Timer5_Init(void) { unsigned int temp; timer5_ticks = 0; timer5_ticksmin = 0; TCCR5A = 0x00; TCCR5B = 0x00; TCCR5C = 0x00; TCNT5H = 0x00; TCNT5L = 0x00; temp = F_CPU/16/20; OCR5A=temp; //temp = temp/2; //OCR5B=temp; //OCR5C=temp; //TCCR5A=(0<<COM5A1)|(1<<COM5A0)|/*(1<<COM5B1)|(0<<COM5B0)|(1<<COM5C1)|(0<<COM5C0)|*/(1<<WGM51)|(1<<WGM50); TCCR5B=(1<<WGM53)|(1<<WGM52)|(0<<CS52)|(1<<CS51)/*|(1<<CS50)*/; } void TC5_Set_PWM(unsigned int curF) { unsigned int temp; if(curF==0) { //OCR5A = 0; //OCR5B = 0; TCCR5A=0; } else if((curF>=20)&&(curF<=2000)) { temp = F_CPU/16/curF; OCR5A=temp; TCCR5A=(0<<COM5A1)|(1<<COM5A0)|/*(1<<COM5B1)|(0<<COM5B0)|(1<<COM5C1)|(0<<COM5C0)|*/(1<<WGM51)|(1<<WGM50); } } /******************************************************************************* * Function Name : TIMER0_OVF_vectFunc * Description : 定时器0溢出中断程序 * Input : None * Output : None * Return : None *******************************************************************************/ #pragma vector = TIMER0_OVF_vect __interrupt void TIMER0_OVF_vectFunc(void) { } /******************************************************************************* * Function Name : TIMER1_OVF_vectFunc * Description : 定时器1溢出中断程序 * Input : None * Output : None * Return : None *******************************************************************************/ #pragma vector = TIMER1_OVF_vect __interrupt void TIMER1_OVF_vectFunc(void) { } /******************************************************************************* * Function Name : TIMER2_OVF_vectFunc * Description : 定时器2溢出中断程序 * Input : None * Output : None * Return : None *******************************************************************************/ #pragma vector = TIMER2_OVF_vect __interrupt void TIMER2_OVF_vectFunc(void) { } /******************************************************************************* * Function Name : TIMER3_OVF_vectFunc * Description : 定时器3溢出中断程序 * Input : None * Output : None * Return : None *******************************************************************************/ #pragma vector = TIMER3_OVF_vect __interrupt void TIMER3_OVF_vectFunc(void) { } |
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