1 | int main()
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2 | {
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3 | // Motor-Port auf OUT
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4 | DDR_MOT |= (1 << PAD_MOT_U);
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5 | DDR_MOT |= (1 << PAD_MOT_V);
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6 | DDR_MOT |= (1 << PAD_MOT_W);
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7 |
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8 | // Timer1 initialisieren
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9 | timer1_init();
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10 |
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11 | // Interrupts aktivieren
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12 | sei();
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13 |
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14 | // ADC initialisieren
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15 | ADC_Init();
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16 |
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17 | // Port für Signal-LED initialisieren
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18 | DDR_LED |= (1 << PAD_LED);
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19 |
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20 | // Endlosschleife
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21 | while (1)
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22 | {
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23 | // Schrittkette für Motorsequenz
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24 | switch (count)
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25 | {
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26 | // case 0 bis 3 für vollschrittbetrieb U, V, W
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27 | case 0: PORT_MOT &= ~(1 << PAD_MOT_W);
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28 | PORT_MOT &= ~(1 << PAD_MOT_V);
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29 | PORT_MOT |= (1 << PAD_MOT_U);
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30 | break;
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31 | case 1: PORT_MOT &= ~(1 << PAD_MOT_W);
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32 | PORT_MOT &= ~(1 << PAD_MOT_U);
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33 | PORT_MOT |= (1 << PAD_MOT_V);
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34 | break;
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35 | case 2: PORT_MOT &= ~(1 << PAD_MOT_V);
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36 | PORT_MOT &= ~(1 << PAD_MOT_U);
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37 | PORT_MOT |= (1 << PAD_MOT_W);
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38 | break;
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39 | case 3: ;
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40 |
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41 | // case 4 bis 10 für halbschrittbetrieb U, UV, V, VW, W, WU
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42 | case 4: PORT_MOT &= ~(1 << PAD_MOT_W);
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43 | PORT_MOT &= ~(1 << PAD_MOT_V);
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44 | PORT_MOT |= (1 << PAD_MOT_U);
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45 | break;
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46 | case 5: PORT_MOT &= ~(1 << PAD_MOT_W);
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47 | PORT_MOT |= (1 << PAD_MOT_U);
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48 | PORT_MOT |= (1 << PAD_MOT_V);
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49 | break;
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50 | case 6: PORT_MOT &= ~(1 << PAD_MOT_W);
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51 | PORT_MOT &= ~(1 << PAD_MOT_U);
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52 | PORT_MOT |= (1 << PAD_MOT_V);
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53 | break;
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54 | case 7: PORT_MOT &= ~(1 << PAD_MOT_U);
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55 | PORT_MOT |= (1 << PAD_MOT_V);
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56 | PORT_MOT |= (1 << PAD_MOT_W);
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57 | break;
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58 | case 8: PORT_MOT &= ~(1 << PAD_MOT_V);
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59 | PORT_MOT &= ~(1 << PAD_MOT_U);
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60 | PORT_MOT |= (1 << PAD_MOT_W);
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61 | break;
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62 | case 9: PORT_MOT &= ~(1 << PAD_MOT_V);
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63 | PORT_MOT |= (1 << PAD_MOT_W);
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64 | PORT_MOT |= (1 << PAD_MOT_U);
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65 | break;
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66 | case 10: ;
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67 | }
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68 |
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69 | // Schrittzähler "count" zur steuerung der Schrittkette
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70 | count++;
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71 |
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72 | // Überlauf des Schrittkettenzählers
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73 | if (count == 3)
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74 | count = 0;
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75 |
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76 | if (count == 10)
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77 | count = 4;
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78 |
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79 | // Blinklicht zur visualisierung der While-Schleife
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80 | PORT_LED ^= (1 << PAD_LED);
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81 |
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82 | // Warten
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83 | wait_10ms (ADC_Read_Avg(0, 4));
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84 | }
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85 | }
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