// defining parameters and general definition
#define F_CPU 8000000 // CPU frequency
#define debounce_time 50 // delay time before accepting any input key push
// Pins definition
#define buzzer_on PORTD |= (1<<PORTD4)
#define buzzer_off PORTD &= ~(1<<PORTD4)
#define lamp_on PORTC |= (1<<PORTC2)
#define lamp_off PORTC &= ~(1<<PORTC2)
#define motor_on PORTC |= (1<<PORTC3)
#define motor_off PORTC &= ~(1<<PORTC3)
#define motor_right PORTC &= ~(1<<PORTC4)
#define motor_left PORTC |= (1<<PORTC4)
#define dir_switch ( PIND&(1<<PORTD0) )
#define klight_on PORTB |= (1<<PORTB4)
#define klight_off PORTB &= ~(1<<PORTB4)
#define detector ( PINC&(1<<PORTC0) )
#define power ( PINB&(1<<PORTB3) )
#define pause ( PINB&(1<<PORTB2) )
#define left_arrow ( PINB&(1<<PORTB1) )
#define right_arrow ( PINB&(1<<PORTB0) )
// Header files
#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>
// interrupt Sub routine
ISR( TIMER0_OVF_vect){
TCNT0 = 164; // Pre value to reach 5.33Khz >> first I reach to value 162 but I modifyed it
PORTC = ~( PINC & (1<<PORTC5) ); // this line make toggle signal
}
// interrupt sub routine >> use for generating unit pulse for timer
ISR(TIMER2_OVF_vect){
TCNT2 = 8;
// PORTD = ~( PIND &(1<<PORTD1) ); // this line make toggle signal // test line
}
unsigned char key_scan(void);
int main(void)
{
SFIOR &= ~(1<<PUD);
// setting timer0, target frequency: 5.3Khz
TCCR0 |= (1<<CS01); // set Pre scaler for 1/8
TIMSK |= (1<<TOIE0); // Enable overflow interrupt
// setting timer2, target period : 1mS >> this timer use for unit timer
TCCR2 |= (1<<CS21)|(1<<CS20); // set pre scaler for 1/32
TIMSK |= (1<<TOIE2); // Enable overflow interrupt
// Port C
DDRC &= ~(1<<PORTC0); // set as input for detector
DDRC |= (1<<PORTC2); // set as output for Lamp
DDRC |= (1<<PORTC3); // set as output for motor
DDRC |= (1<<PORTC4); // set as output for motor direction
DDRC |= (1<<PORTC5); // set as output for Pulse Generator
// Port D
DDRD &= ~(1<<PORTD0); // set as input for Direction switch
DDRD |= (1<<PORTC4); // set as output for buzzer
// Port B
DDRB &= ~( (1<<PORTB3)|(1<<PORTB2)|(1<<PORTB1)|(1<<PORTB0) ); // set as input for four keyboard pins
DDRB |= (1<<PORTB4); // set as output for keyboard's light
sei(); // Enable general interrupt
// loop while
while(1){
/*
if(arrow==0){ // first key scan
// Key Scan
switch( key_scan() ){
case 3: // check power condition
power_func();
break;
case 2: // check pause condition
pause_func();
break;
case 1: // call left arrow
left_func();
break;
case 0: // call right arrow
right_func();
break;
}; // End switch
}; // End if [first key]
*/
// test
if (key_scan()==3)
{
motor_on;
klight_on;
lamp_on;
buzzer_on;
motor_right;
_delay_ms(1000);
}
else
{
motor_off;
klight_off;
lamp_off;
buzzer_off;
motor_left;
}// end test
/*
// test
_delay_ms(3000);
PORTC &= ~(1<<PORTC3);
_delay_ms(3000);
PORTC |= (1<<PORTC3);*/
} // End loop while
} // End Mian
PORTC ^= (1 << PINC3)
دیدگاه