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**manhcdt4k48** · 08-12-2007, 19:46

giao tiep voi avr dung codevision avr thi phai lam như thế nào nếu nó nhận lệnh từ chương trình điều khiển trên máy tính gửi xuống . ví dụ em lập trình bằng vc giao diện điều khiển 3 động cơ bước thì trong avr ngoài thiết lập port, pin, thì phải thiết lập usart ...hãy xem bài dưới đây

**manhcdt4k48** · 08-12-2007, 19:56

giao tiep voi avr dung codevision avr thi phai lam như thế nào nếu nó nhận lệnh từ chương trình điều khiển trên máy tính gửi xuống . ví dụ em lập trình bằng vc giao diện điều khiển 3 động cơ bước thì trong avr ngoài thiết lập port, pin, thì phải thiết lập usart ...hãy xem bài dưới đây
/************************************************** ***
This program was produced by the
CodeWizardAVR V1.24.6 Standard
Automatic Program Generator
© Copyright 1998-2005 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com
e-mail:office@hpinfotech.com

Project :
Version :
Date : 4/17/2007
Author : F4CG
Company : F4CG
Comments:

Chip type : ATmega88
Program type : Application
Clock frequency : 8.000000 MHz
Memory model : Small
External SRAM size : 0
Data Stack size : 256
************************************************** ***/

#include <mega88.h>
#include <delay.h>
#include <string.h>
// === Dinh nghia cac bien ======================================
bit rs_bCmd=0;
bit rs_bReset=1;
unsigned char rs_ID='1',rs_nCmd;
unsigned char RS232_data,rs_index=0,rs_i;
//unsigned int RS_i;
char rs_Cmd[12];
// ----------- dinh nghia giao tiep RAM ngoai ----
#define Pin_Step PIND.2
#define Pin_Dir PIND.3

#define Limit_A PIND.2
#define Limit_Z PIND.3

#define Mode_1 PIND.4
#define Mode_2 PIND.5
//---------Dinh nghia Status---------------
#define Status_1 PINB.5
#define Status_2 PINB.4
#define Status_3 PINB.3
#define Status_4 PINB.2
//--------- dinh nghia cac dau vao Input---------
#define Direct_1 PINB.1
#define Direct_2 PINB.0
#define Direct_3 PIND.7
#define Direct_4 PIND.6
#define Direct_5 PIND.5
//----------Dinh gnhia dau ra Ouput--------------
#define Step_1 PORTC.2
#define Step_2 PORTC.3
#define Step_3 PORTC.4
#define Step_4 PORTC.5
//---
#define DC1_EN PORTC.0
#define DC1_DIR PORTC.1
//--
#define DC2_EN PORTD.2
#define DC2_DIR PORTD.3
//--------------------the End------------------

//====== Dinh nghia cac bit ===
bit m_bPWM,m_bDir=1,m_bReset ;
//====== Dinh nghia cac bien dung chung ======
unsigned char m_Mode,m_Status,m_Index=1,m_i,m_j,m_n,i;
unsigned char V_H,V_L;
unsigned int m_Step,tempNum;
long int m_CurPos;
unsigned long int m_cal=125000;
//====== Dinh nghia bang du lieu ===========
flash unsigned char step[] = {0xFF,0xEF,0xDF,0xBF,0x7F};
flash char cmd_w[]= {">PWM set"};
//flash char cmd_v[] = {">V set"};
//flash char cmd_p[] = {">Dich buoc"};
flash char cmd_m[] = {">Di chuyen"};
flash char cmd_d[] = {">Dao chieu"};
//flash char v[] = {"Van toc : "};
//flash char pos[] = {"Vi tri : "};
flash char info[] = {"STEP DRIVER V1.0"};
// --- eeprom data - luu gia tri ---
//eeprom unsigned char e_count=0;

#define RXB8 1
#define TXB8 0
#define UPE 2
#define OVR 3
#define FE 4
#define UDRE 5
#define RXC 7

#define FRAMING_ERROR (1<<FE)
#define PARITY_ERROR (1<<UPE)
#define DATA_OVERRUN (1<<OVR)
#define DATA_REGISTER_EMPTY (1<<UDRE)
#define RX_COMPLETE (1<<RXC)

// USART Receiver buffer
#define RX_BUFFER_SIZE0 30
char rx_buffer0[RX_BUFFER_SIZE0];

#if RX_BUFFER_SIZE0<256
unsigned char rx_wr_index0,rx_rd_index0,rx_counter0;
#else
unsigned int rx_wr_index0,rx_rd_index0,rx_counter0;
#endif

// This flag is set on USART Receiver buffer overflow
bit rx_buffer_overflow0;

// USART Receiver interrupt service routine

#ifndef _DEBUG_TERMINAL_IO_
// Get a character from the USART Receiver buffer
#define _ALTERNATE_GETCHAR_
#pragma used+
char getchar(void)
{
char data;
while (rx_counter0==0);
data=rx_buffer0[rx_rd_index0];
if (++rx_rd_index0 == RX_BUFFER_SIZE0) rx_rd_index0=0;
#asm("cli")
--rx_counter0;
#asm("sei")
return data;
}
#pragma used-
#endif

// USART Transmitter buffer
#define TX_BUFFER_SIZE0 30
char tx_buffer0[TX_BUFFER_SIZE0];

#if TX_BUFFER_SIZE0<256
unsigned char tx_wr_index0,tx_rd_index0,tx_counter0;
#else
unsigned int tx_wr_index0,tx_rd_index0,tx_counter0;
#endif

// USART Transmitter interrupt service routine
interrupt [USART_TXC] void usart_tx_isr(void)
{
if (tx_counter0)
{
--tx_counter0;
UDR0=tx_buffer0[tx_rd_index0];
if (++tx_rd_index0 == TX_BUFFER_SIZE0) tx_rd_index0=0;
};
}

#ifndef _DEBUG_TERMINAL_IO_
// Write a character to the USART Transmitter buffer
#define _ALTERNATE_PUTCHAR_
#pragma used+
void putchar(char c)
{
while (tx_counter0 == TX_BUFFER_SIZE0);
#asm("cli")
if (tx_counter0 || ((UCSR0A & DATA_REGISTER_EMPTY)==0))
{
tx_buffer0[tx_wr_index0]=c;
if (++tx_wr_index0 == TX_BUFFER_SIZE0) tx_wr_index0=0;
++tx_counter0;
}
else
UDR0=c;
#asm("sei")
}
#pragma used-
#endif

interrupt [USART_RXC] void usart_rx_isr(void)
{
/*
char status,data;
status=UCSR0A;
data=UDR0;
if ((status & (FRAMING_ERROR | PARITY_ERROR | DATA_OVERRUN))==0)
{
rx_buffer0[rx_wr_index0]=data;
if (++rx_wr_index0 == RX_BUFFER_SIZE0) rx_wr_index0=0;
if (++rx_counter0 == RX_BUFFER_SIZE0)
{
rx_counter0=0;
rx_buffer_overflow0=1;
};
};
*/
char status,data;
status=UCSR0A;
data=UDR0;
if ((status & (FRAMING_ERROR | PARITY_ERROR | DATA_OVERRUN))==0) {
if(rs_bReset){ // cho nhan byte >
if(data=='>'){ // dung byte khoi dau
rs_index = 0;
rx_buffer0[rs_index] = data; rs_index++;
rs_bReset = 0;
putchar(data);
}else rs_bReset = 1;
}else{
if(data == 0x0A){ // CR LR ?
if(rx_buffer0[rs_index-1]==0x0D){
rx_buffer0[rs_index] = data; ;// rs_index++;
if(rx_buffer0[1]==rs_ID){
for(rs_i=0; rs_i<rs_index; rs_i++) rs_Cmd[rs_i] = rx_buffer0[rs_i];
rs_bCmd = 1;
rs_nCmd = rs_index;
}
}//else putCmdNote(error);
rs_bReset = 1;
rs_index = 0;
}else{
rx_buffer0[rs_index] = data;
rs_index++;
putchar(data);
}
}
};
}

// Standard Input/Output functions
#include <stdio.h>

// Declare your global variables here
// =========== RS232 General function - putstr ====================
void putCmdNote(flash char *c)
{
unsigned char ps_i;
for(ps_i=0;ps_i<strlenf(c);ps_i++){
if(ps_i==1){ putchar(rs_ID);putchar(' ');}
putchar(c[ps_i]);
}
putchar(0x0D);
}
// =========== RS232 General function - putstr ====================

void putstrf(flash char *c)
{

unsigned char ps_i;
for(ps_i=0;ps_i<strlenf(c);ps_i++) putchar(c[ps_i]);
}

void ExtCmd(){
switch(rs_Cmd[3]){

case 'S': // lenh kiem tra -----------------------------------------------
putchar('>');
if(m_Step) putchar('1');
else{
if(!Limit_A) putchar('A');
else if(!Limit_Z) putchar('Z');
else {putchar(m_Status+'0'); putchar('0');}

}
// putchar(0x0d);
break;

case 'M': // lenh chay buoc voi van toc ----------------------------------------
tempNum = 0;
for(m_i=5; rs_Cmd[m_i] != ' '; m_i++) tempNum = 10*tempNum + rs_Cmd[m_i]-'0';
tempNum = 0xFFFF - m_cal/tempNum;
V_H = tempNum>>8;
V_L = tempNum;
tempNum = 0;
m_j = m_i+1;
for(m_i=m_j; rs_Cmd[m_i] !=0x0D; m_i++) tempNum = 10*tempNum + rs_Cmd[m_i]-'0';
// m_Step = tempNum; TIMSK = 0x82;
PORTB=0x00;

break;

case 'D': // lenh chieu quay cho Test --------------------------------------
if(rs_Cmd[5] == '0') m_bDir = 0;
else m_bDir = 1;
// putCmdNote(cmd_d);
break;

case 'H': //---- lenh reset ve goc toa do
//putchar('h');
m_bReset=1;
rs_bReset = 1;
break;
case 'Z': //---- Stop tuc thoi ---
//putchar('z');
// TIMSK = 0x00;
rs_bReset = 1;
break;
case 'E': //---- Enable dong co dao cat ---
//putchar('e');
// Role = 0xFA;
// PORTC = stepC[indexC] & Role;

rs_bReset = 1;
break;

default : //---- mac dinh thi reset
rs_bReset = 1;
break;

}
//--- xoa co co lenh moi -- doi lenh tiep theo ---
rs_bCmd = 0;
}
//================================================== =================
void Out_Step(){
PORTB = step[m_Index];
}
//---------------------------
void Check_Mode(){
delay_ms(10);
m_Mode = !Mode_1 | !Mode_2<<1; // read mode
m_Status = !Status_1 | !Status_2<<1 | !Status_3<<2 ; // Read Status
delay_ms(10);
// putCmdNote(info);
// putstrf("MODE -"); putchar(m_Mode+'0');
}

//--------------------------
void Init_RS232Mul(){
// Khoi tao chuong trinh chay o che do giao tiep nhan lenh ----
putstrf("- : RS232 Multi Mode"); putchar(0x0D);
putstrf("STATUS : "); putchar(m_Status+'0');putchar(0x0D); delay_ms(10);
rs_ID = m_Status+'0';
//------------------------
// TIMSK = 0x82;
V_H = 0x00;
V_L = 0x00;
//-----------
m_bDir = 1;
m_Step = 0;
m_bPWM = 0;
while(1) if(rs_bCmd) ExtCmd();
}

// Declare your global variables here

void RoboMove(void)
{
DC1_DIR=1;
while(Direct_1)
{
DC1_EN=0;
}
Step_1=0;
delay_ms(1000);
Step_2=0;
delay_ms(500);
Step_3=0;
delay_ms(200);
Step_1=1;
delay_ms(1000);
Step_3=1;
delay_ms(500);
Step_1=0;
delay_ms(1000);

}

void main(void)
{
// Declare your local variables here

// Crystal Oscillator division factor: 1
#pragma optsize-
CLKPR=0x80;
CLKPR=0x00;
#ifdef _OPTIMIZE_SIZE_
#pragma optsize+
#endif

// Input/Output Ports initialization
// 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=0xff;
DDRB=0xff;

// Port C initialization
// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// 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=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
PORTD=0x00;
DDRD=0x00;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=FFh
// OC0A output: Disconnected
// OC0B output: Disconnected
TCCR0A=0x00;
TCCR0B=0x00;
TCNT0=0x00;
OCR0A=0x00;
OCR0B=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer 1 Stopped
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// 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=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2A output: Disconnected
// OC2B output: Disconnected
ASSR=0x00;
TCCR2A=0x00;
TCCR2B=0x00;
TCNT2=0x00;
OCR2A=0x00;
OCR2B=0x00;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// Interrupt on any change on pins PCINT0-7: Off
// Interrupt on any change on pins PCINT8-14: Off
// Interrupt on any change on pins PCINT16-23: Off
EICRA=0x00;
EIMSK=0x00;
PCICR=0x00;

// Timer/Counter 0 Interrupt(s) initialization
TIMSK0=0x00;
// Timer/Counter 1 Interrupt(s) initialization
TIMSK1=0x00;
// Timer/Counter 2 Interrupt(s) initialization
TIMSK2=0x00;

// USART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: On
// USART Transmitter: On
// USART0 Mode: Asynchronous
// USART Baud rate: 9600
UCSR0A=0x00;
UCSR0B=0xD8;
UCSR0C=0x06;
UBRR0H=0x00;
UBRR0L=0x33;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
ADCSRB=0x00;

// Global enable interrupts
#asm("sei")
// putCmdNote(cmd_d);
// delay_ms(1000);
// Check_Mode();
//---------------------------------

// Init_RS232Mul();
/*
PORTB=0xaa;

while (1) {
unsigned char i;
putchar('f');

i=getchar();
PORTB=i;
// putchar(i);

};
*/
while(1)
{
RoboMove() ;
while(1)
{}

}

}

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