/******************************************
創建時間?2005-5-13
芯片型號?:?M8
采用內部RC:?8.0000Mhz
******************************************/

#include?
#include?
#include?“me.h“?????????????????????//自定義的通用io簡化位操作

void?timer0_init（void）;
void?port_init（void）;
void?init（void）;
void?UART_init（void）;????????????????//串口初始化程序
void?UART_rx（void）;??????????????????//串口接收中斷函數
void?send_text（unsigned?char?*s）;????//字符串發送函數
void?sendchar（unsigned?char?c）;??????//字符發送函數
void?dog_init（void）;?????????????????//初始化看門狗

unsigned?char?RX_data[4]={0};????????//串口接收的數據
unsigned?char?RX_counter=0;??????????//串口接收到的字節數計數器

unsigned?char?pwm1pwm2pwm3pwm4pwm5pwm6pwm7pwm8pwm9pwm10pwm11pwm12pwm13pwm14pwm15pwm16pwm17pwm18pwm19pwm20;?//分別為20個pwm的值
unsigned?char?count;?????????????????//pwm定位變量
void?main（void）
{
//OSCCAL=0xAA;?????????????????????????//系統時鐘校準，不同的芯片和不同的頻率
init（）;


???while（1）
???{
????WDR（）;???????????????????????????//拼命喂狗
???????if（RX_counter==4）?			?//收到一個完整的命令信息
	???{
	???????RX_counter=0;?			?//清除串口接收到的字節數計數器

	?????	if（（RX_data[0]==‘S‘）&&（RX_data[3]==‘E‘））//判斷頭尾是不是符合?
		????{??
			???
			???CLI（）;??				?//關閉中斷，開始判斷數據
			???switch（RX_data[1]）
			???{
			??????case?0x01:
				??pwm1=RX_data[2];
				??break;
				??case?0x02:
				??pwm2=RX_data[2];
				??break;
				??case?0x03:
				??pwm3=RX_data[2];
				??break;
				??case?0x04:
				??pwm4=RX_data[2];
				??break;
				??case?0x05:
				??pwm5=RX_data[2];
				??break;
				??case?0x06:
				??pwm6=RX_data[2];
				??break;
				??case?0x07:
				??pwm7=RX_data[2];
				??break;
				??case?0x08:
				??pwm8=RX_data[2];
				??break;
				??case?0x09:
				??pwm9=RX_data[2];				??
				??break;
				??case?0x0a:
				??pwm10=RX_data[2];
				??break;
				??case?0x0b:
				??pwm11=RX_data[2];
				??break;
				??case?0x0c:
				??pwm12=RX_data[2];
				??break;
				??case?0x0d:
				??pwm13=RX_data[2];
				??break;
				??case?0x0e:
				??pwm14=RX_data[2];
				??break;
				??case?0x0f:
				??pwm15=RX_data[2];
				??break;
				??case?0x10:
				??pwm16=RX_data[2];
				??break;
				??case?0x11:
				??pwm17=RX_data[2];
				??break;
				??case?0x12:
				??pwm18=RX_data[2];
				??break;
				??case?0x13:
				??pwm19=RX_data[2];
				??break;
				??case?0x14:
				??pwm20=RX_data[2];
				??break;
				??default:
				??SEI（）;??		???????//錯誤時打開中斷，以便發送錯誤信息
				??send_text（“ER“）;?	???//范圍超出20個pwm，就發出大寫字母“ER“
				??break;
				
				
			???}???
			???SEI（）;??????			???//恢復中斷允許
			???send_text（“OK“）;?	???//判斷處理完畢返回ok;
			}
	???}
???}
}


void?init（void）
{
?CLI（）;?//disable?all?interrupts
?port_init（）;
?timer0_init（）;
?TIMSK?=?0x01;?//定時器中斷源
?UART_init（）;?
?SEI（）;?//re-enable?interrupts
}


void?port_init（void）
{
?PORTB?=?0x00;
?DDRB??=?0xFF;
?PORTC?=?0x00;?
?DDRC??=?0x7F;
?PORTD?=?0x00;
?DDRD??=?0xFF;
}


void?send_char（unsigned?char?c）??????//發送單字符函數
??{
?????while?（!（UCSRA&（1?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????5506??2007-04-09?01:24??舵機\code\A.cof

?????文件???????5274??2007-04-09?01:24??舵機\code\A.dbg

?????文件???????2843??2007-04-09?01:24??舵機\code\A.hex

?????文件?????????11??2007-04-09?01:24??舵機\code\A.lk

?????文件??????23141??2007-04-09?01:24??舵機\code\A.lst

?????文件????????499??2007-04-09?01:24??舵機\code\A.mak

?????文件???????3199??2007-04-09?01:24??舵機\code\A.mp

?????文件???????1264??2007-04-09?01:24??舵機\code\a.prj

?????文件?????????49??2007-04-09?01:26??舵機\code\A.SRC

?????文件???????7016??2005-05-13?23:59??舵機\code\BACKUP\m8_pwm.c.050513235956

?????文件???????7037??2007-04-09?00:49??舵機\code\BACKUP\m8_pwm.c.070409004916

?????文件???????7037??2007-04-09?00:50??舵機\code\BACKUP\m8_pwm.c.070409005054

?????文件???????7057??2007-04-09?00:53??舵機\code\BACKUP\m8_pwm.c.070409005314

?????文件???????7059??2007-04-09?01:06??舵機\code\BACKUP\m8_pwm._c

?????文件???????1751??2007-04-09?10:36??舵機\code\DC.PWI

?????文件??????86943??2007-04-09?01:15??舵機\code\Last?Loaded?DC.DBK

?????文件???????7020??2007-04-09?01:08??舵機\code\m8_pwm.c

?????文件????????167??2007-04-08?22:42??舵機\code\m8_pwm.c_cbf

?????文件??????50690??2007-04-09?01:24??舵機\code\m8_pwm.lis

?????文件??????13219??2007-04-09?01:24??舵機\code\m8_pwm.o

?????文件???????4059??2005-04-22?01:15??舵機\code\me.h

?????文件??????16364??2011-04-08?17:37??舵機\schemetic.pdf

?????文件??????15044??2011-04-08?17:38??舵機\上位機.rar

?????文件?????150743??2007-04-09?10:36??舵機\未命名.JPG

?????文件??????85999??2007-04-09?10:33??舵機\舵機.DSN

?????目錄??????????0??2011-04-09?14:25??舵機\code\BACKUP

?????目錄??????????0??2011-04-09?14:25??舵機\code

?????目錄??????????0??2011-04-09?14:25??舵機

-----------?---------??----------?-----??----

???????????????508991????????????????????28

............此處省略1個文件信息