마이크로프로세서 HOTDC모터 정회전/역회전/정지 를 시키고싶습니다!!

제가 이번에 컨베이어벨트를 만들게 됐습니다!!

그래서 지금 ATmega128 키트와 AVRstudio를 써서 구동시키는 공부를 하고있습니다.

우선 그림에서 보듯이, AVR에 PORTC를 모터드라이버 L298과 연결시켰고

모터는 5V 기어모터를 사용하고 있습니다.

제가 프로그래밍 지식이 하나도 없는데...

#include <avr/io.h>

#include <avr/interrupt.h>

#include <stdio.h>

// DC MOTOR Control

#define MOTOR_PORT PORTC

#define PWM_PORT 0x00

#define PWM1_ON (MOTOR_PORT|=0x01)

#define PWM1_OFF (MOTOR_PORT&=0xFE)

#define DIR1_ON (MOTOR_PORT|=0x02)

#define DIR1_OFF (MOTOR_PORT&=0xFD)

#define ENABLE1_OFF (MOTOR_PORT|=0x04)

#define ENABLE1_ON (MOTOR_PORT&=0xFB)

#define BREAK1_ON (MOTOR_PORT|=0x08)

#define BREAK1_OFF (MOTOR_PORT&=0xF7)

#define PWM2_ON (MOTOR_PORT|=0x10)

#define PWM2_OFF (MOTOR_PORT&=0xEF)

#define DIR2_ON (MOTOR_PORT|=0x20)

#define DIR2_OFF (MOTOR_PORT&=0xDF)

#define ENABLE2_OFF (MOTOR_PORT|=0x40)

#define ENABLE2_ON (MOTOR_PORT&=0xBF)

#define BREAK2_ON (MOTOR_PORT|=0x80)

#define BREAK2_OFF (MOTOR_PORT&=0x7F)

#define LEFT 1

#define RIGHT 2

#define STOP 3

// SPEED Control

#define MIN_SPEED 1

#define MAX_SPEED 1700

#define SPEED_UP  1

// SWITCH Control

#define SW_PORT     PINA

#define SW_PORT_DDR DDRA

#define PRESSED 2

#define OPEN 0

volatile unsigned char num=PWM_PORT;

volatile unsigned char motor_state=LEFT, motor2_state=LEFT;

volatile unsigned char T20ms=0, T2_20ms=0;

volatile unsigned int DCMOTOR[8], sw_state[8]={0,0,0,0,0,0,0,0};

volatile unsigned int Tcount=0,T2_count=0;

volatile unsigned int motor_speed,motor2_speed;

void port_init(void)

{

 PORTA = 0x00;

 DDRA  = 0x00;

 PORTB = 0x00;

 DDRB  = 0x00;

 PORTC = 0x00; //m103 output only

 DDRC  = 0xff;

 PORTD = 0x00;

 DDRD  = 0x00;

 PORTE = 0x00;

 DDRE  = 0x00;

 PORTF = 0x00;

 DDRF  = 0x00;

 PORTG = 0x00;

 DDRG  = 0x00;

}

//TIMER0 initialize - prescale:64

// WGM: Normal

// desired value: 1mSec

// actual value:  1.000mSec (0.0%)

void timer0_init(void)

{

 TCCR0 = 0x00; //stop

 ASSR  = 0x00; //set async mode

 TCNT0 = 0x06; //set count

 OCR0  = 0xFA;

 TCCR0 = 0x04; //start timer

}

ISR(TIMER0_OVF_vect)

{

 TCNT0 = 0x06; //reload counter value

 T20ms++;

 if(T20ms >= 20)

 {

T20ms = 0;

Tcount = 0;

 }

 

 T2_20ms++;

 if(T2_20ms >= 20)

 {

T2_20ms = 0;

T2_count = 0;

 }

}

//TIMER2 initialize - prescale:64

// WGM: Normal

// desired value: 100uSec

// actual value: 100.000uSec (0.0%)

void timer2_init(void)

{

 TCCR2 = 0x00; //stop

 TCNT2 = 0xEC; //setup

 OCR2  = 0x14;

 TCCR2 = 0x02; //start

}

ISR(TIMER2_OVF_vect)

{

 TCNT2 = 0xE7; //reload counter value

 Tcount++;

 T2_count++;

 

 if(DCMOTOR[0]>Tcount)

    MOTOR_PORT |= (0x01<<num);

 else

  MOTOR_PORT &= (~(0x01<<num));

 if(DCMOTOR[4]>Tcount)

    MOTOR_PORT |= (0x01<<4);

 else

  MOTOR_PORT &= (~(0x01<<4));

}

//call this routine to initialize all peripherals

void init_devices(void)

{

 //stop errant interrupts until set up

 cli(); //disable all interrupts

 XMCRA = 0x00; //external memory

 XMCRB = 0x00; //external memory

 port_init();

 timer0_init();

 timer2_init();

  MCUCR = 0x00;

 EICRA = 0x00; //extended ext ints

 EICRB = 0x00; //extended ext ints

 EIMSK = 0x00;

 TIMSK = 0x41; //timer interrupt sources

 ETIMSK = 0x00; //extended timer interrupt sources

 sei(); //re-enable interrupts

 //all peripherals are now initialized

}

void delay(int cnt)

{

unsigned int i, j;

for(i=0;i<cnt;i++){

for(j=0;j<1000;j++)

{

}

}

}

void motor_init(void){

ENABLE1_ON;

  PWM1_ON;

  BREAK1_OFF; 

DIR1_ON;

   

ENABLE2_ON;

  PWM2_ON;

  BREAK2_OFF; 

DIR2_ON;

}

//

int main(void)

{

 

 init_devices();

 //insert your functional code here...

 motor_init();

 SW_PORT_DDR = 0x00;

 DCMOTOR[0] =  motor_speed = 800;

 DCMOTOR[4] = motor2_speed = 100;   

 

 while(1){

switch(SW_PORT&0xff){

case 0x01 :  motor_speed+=SPEED_UP;

  break;

case 0x02 :  motor_speed-=SPEED_UP;

  break;

case 0x04 :  sw_state[2] = PRESSED;    

  break; 

case 0x08 :  sw_state[3] = PRESSED;  

  break;

case 0x10 :  motor2_speed+=SPEED_UP;

  break;

case 0x20 :  motor2_speed-=SPEED_UP;

  break;

case 0x40 :  sw_state[4] = PRESSED;    

  break; 

case 0x80 :  sw_state[5] = PRESSED;  

  break;

 

case 0x00 : if(sw_state[2] == PRESSED){

  if(motor_state == STOP){

motor_state = LEFT;

}else{

  motor_state = STOP;

}

sw_state[2] = OPEN;

}

if(sw_state[3] == PRESSED){

  if(motor_state == STOP){

motor_state = RIGHT;

}else{

  motor_state = STOP;

}

sw_state[3] = OPEN;

}

if(sw_state[4] == PRESSED){

  if(motor2_state == STOP){

motor2_state = LEFT;

}else{

  motor2_state = STOP;

}

sw_state[4] = OPEN;

}

if(sw_state[5] == PRESSED){

  if(motor2_state == STOP){

motor2_state = RIGHT;

}else{

  motor2_state = STOP;

}

sw_state[5] = OPEN;

}

break;

default : break;

}

if(motor_speed >= MAX_SPEED){

motor_speed = MAX_SPEED;  

}

if(motor_speed <= MIN_SPEED){

motor_speed = MIN_SPEED;  

}

if(motor2_speed >= MAX_SPEED){

motor2_speed = MAX_SPEED;  

}

if(motor2_speed <= MIN_SPEED){

motor2_speed = MIN_SPEED;  

}

switch(motor_state){

case LEFT  : BREAK1_OFF;

  DIR1_ON;

  break; 

case RIGHT : BREAK1_OFF;

  DIR1_OFF;

  break;

case STOP  : BREAK1_ON;

  break;

default : break;

}

switch(motor2_state){

case LEFT  : BREAK2_OFF;

  DIR2_ON;

  break; 

case RIGHT : BREAK2_OFF;

  DIR2_OFF;

  break;

case STOP  : BREAK2_ON;

  break;

default : break;

}

DCMOTOR[0] = motor_speed;

DCMOTOR[4] = motor2_speed;

delay(5);

}

return 0;

}