四轴DIY小结

no1deganjue
2 ℃
2020-05-28

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DIY cnmusic@163.net 62 ☺ feng_matrix MOS 22121000KV30A GWS1091010109 I2C I2C2 PIDPID0.2 2I2CF22 PII2CIII2C 450450 KeepOutLayer + 450 450 1.2 2 228 900450150 3 Mega8M8IO88ARM7AT91SAM7S25655Mhz64KB256KBFlash2I2CCRC16 AD MicroSDAT91SAM7S256SPIEFSLEFSLSDSD SDM8I2CI2C BootLoaderSDBIN PPM/SDSDPPM/3/3GPSZigBee21.27 PPM/M816ICPPPM1.5ms8200Hz I2CICP81.5ms * 8 = 12ms(1.5+2)ms * 8 = 28ms63HzM8PPMI2CM8 PI2 AD10300Hz1033ms AD2 PI 90900 0ENC‐03 =94 = ‐696100Hz63.3V225 ‐111100%12ADP P PI PI PIDPPI=080%P IIP=0IP IIII 2IPP50505050 P 40I 10 50 1510100Hz300HzExcel 1PPM =219838&page=26#pid3319190 M //‐‐‐// // PP// Ve// cn// // //‐‐‐#inc#inc#inc#inc 32msM88MN0mai‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐PM /ersion 1.0 nmusic@163AVR Meg‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐lude avr/io.lude avr/intlude util/delude stdlib.hM8 1Mn0‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐ .net ga8,‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐h terrupt.h elay.h h AVR M 8M9ISP20 ‐‐‐‐‐‐‐ 8M‐‐‐‐‐‐‐ ega8M8....main1PRES PPM512MISPSETM8TIME0 #define FEED_DOG asm(wdr); #define NOP asm(nop); #define INT_ON sei(); #define INT_OFF cli(); typedef unsigned char BOOL; typedef unsigned char BYTE; typedef unsigned char CHAR; #define TRUE 1 #define FALSE 0 #define CHANNELCOUNT 1 #define TICK_COUNT_LEAD 70 // 0.5ms0640.5ms // typedef struct tagChannelData { BYTE nChannelOutValue; // BYTE nChannelOutStep; // }CHANNELDATA; volatile CHANNELDATA g_ChannelData[CHANNELCOUNT] = {{0}}; volatile BOOL g_bOutAllComplete = TRUE; volatile BYTE g_nOutIndex = 0; // TIME0 // 3 // 0.5ms2ms // TIME0 ISR(TIMER0_OVF_vect) { if (g_ChannelData[g_nOutIndex].nChannelOutStep == 0) { PORTD |= (1PD7); TCNT0 = 0xFF ‐ TICK_COUNT_LEAD; g_ChannelData[g_nOutIndex].nChannelOutStep = 1; } else if (g_ChannelData[g_nOutIndex].nChannelOutStep == 1) { TCNT0 = 0xFF ‐ g_ChannelData[g_nOutIndex].nChannelOutValue; g_ChannelData[g_nOutIndex].nChannelOutStep = 2; } else { PORTD &= ~(1PD7); g_nOutIndex++; if (g_nOutIndex = CHANNELCOUNT) { g_bOutAllComplete = TRUE; TCCR0 = 0; } else { TCNT0 = 0xFF ‐ 1; } } } int main() { BYTE nChannelValueFinal = 0; DDRD = (1DDD2) | (1DDD3) | (1DDD7); // PD2PD3PD7 PORTD &= ~((1PD6) | (1PD7)); PORTD |= (1PD3); // INT_ON; // // 0 TIMSK |= (1TOIE0); // while (1) { // // PD6 asm(nop); // TIME2 TCCR2 = (1CS22); // 64 // while (!(PIND & (1PIND6))) { //asm(nop); // while } // TCNT2 = 0; // 0.5ms while (PIND & (1PIND6)) { if (TCNT2 == TICK_COUNT_LEAD) // 0.5ms { TCNT2 = 0; break; } } // while (PIND & (1PIND6)) { //asm(nop); } // TCCR2 = 0; nChannelValueFinal = TCNT2 ‐ 2; // 16uS if ((abs((int)g_ChannelData[0].nChannelOutValue ‐ (int)nChannelValueFinal)) 1) { g_ChannelData[0].nChannelOutValue = nChannelValueFinal; // } g_ChannelData[0].nChannelOutStep = 0; // // 0 g_nOutIndex = 0; // 0 TCNT0 = 0xFF ‐ 1;