Moin,
Ich habe mir für meinen Bot ein Programm zusammen geschnitten. Es soll ADC7-4 auslesen, und demendsprechend die Motoren per L293D H-Brücke ansteuernl.
Jedoch wird immer nur ein ADC-Kanal ausgelesen. Ich habe echt keine Ahnung, woran das liegen kann.
Könnte mir mal bitte jmd. über das Programm schauen?
http://rafb.net/p/LbsHLK81.html
Code:#include <avr/io.h>
#include <stdlib.h>
#include <inttypes.h>
#include <avr/interrupt.h>
#include <util/delay.h>
volatile unsigned char servopos0;
#define SERVO_0_PIN 7
#define SERVOPORT PORTC
#define DDRSERVO DDRC
#ifndef F_CPU
#define F_CPU 8000000UL
#endif
void servo_init()
{
TIMSK|=(1<<OCIE2);
TCCR2 |= (1<<WGM21) | (1<<CS20);
OCR2 = F_CPU/100000;
DDRSERVO |= (1<<SERVO_0_PIN);
}
ISR(TIMER2_COMP_vect)
{
char cSREG;
cSREG = SREG;
static int scount;
if(scount>servopos0)SERVOPORT&=~(1<<SERVO_0_PIN);
else SERVOPORT|=(1<<SERVO_0_PIN);
if(scount<2000)scount++;
else scount=0;
SREG = cSREG;
}
uint16_t readADC(uint8_t channel) {
uint8_t i;
uint16_t result0 = 0;
uint16_t result1 = 0;
uint16_t result2 = 0;
uint16_t result3 = 0;
ADCSRA = (1<<ADEN) | (1<<ADPS2) | (1<<ADPS1);
ADMUX = channel;
ADMUX |= (1<<REFS1) | (1<<REFS0);
ADCSRA |= (1<<ADSC);
while(ADCSRA & (1<<ADSC));
for(i=0; i<3; i++) {
ADCSRA |= (1<<ADSC);
while(ADCSRA & (1<<ADSC));
result0+= ADCW;
result1+= ADCW;
result2+= ADCW;
result3+= ADCW;
}
ADCSRA &= ~(1<<ADEN);
result0/= 3;
result1/= 3;
result2/= 3;
result3/= 3;
return result0;
return result1;
return result2;
return result3;
}
/***************************Hauptprogramm***************************/
int main (void)
{
DDRD = 0xFF;
PORTA = 0b00001111;
uint16_t result0 = 0;
uint16_t result1 = 0;
uint16_t result2 = 0;
uint16_t result3 = 0;
servo_init();
sei();
while (1)
{
servopos0 = 100;
result0= readADC(4);
result1= readADC(5);
result2= readADC(6);
result3= readADC(7);
if(result0 >=300, result1 >= 300, result2 >= 300)
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}
}
}
Mfg JeyBee
