avr-servo-motor-control-mega168

ATMega168でサーボモータとDCモータの制御を試す回路とプログラムの例。

開発中なので、不具合があるかもしれない。

回路図

//

//  servo-control-atmega168.c

//

//

//  Created by kaimunantai on 2015/09/06.

//

//

// Target : AT mega 168 (CLOCK 20MHz)

//

// I/O PORTS

//  PD0 (PIN 2)         : Servo motor control

//  PD2, PD3 (PIN 4, 5) : DC Motor control

//

#include <avr/io.h>

#include <avr/interrupt.h>

#define SERVO_PORT      PORTD

#define SERVO_PORT_DDR  DDRD

#define SERVO_PORT_NO   PD0

#define DCMOTOR_PORT        PORTD

#define DCMOTOR_PORT_DDR    DDRD

#define DCMOTOR_PORT_NO_0 PD2

#define DCMOTOR_PORT_NO_1 PD3

#define TPWM 200 // Period of Servo-motor control PWM signal

void wait(volatile long i)

// delay loop

    while( i-- > 0 );

void initTimer0(void)

// Initialize TIMER0

    // CTC mode , TOP is OCR0A

    TCCR0A = (1 << WGM01) | (0 << WGM00) ;

    // I/O clock prescaler N = 8

    TCCR0B = (0 << WGM02) | (0 << CS02) | (1 << CS01) | (0 << CS00);

    // Timer0 on OCR0A compare match interrupt enable

    TIMSK0 |= ( 1<< OCIE0A );

    // set TOP value . Interrupt every 0.1 ms

    OCR0A = 250; // OCR0A = interrupt period [s] * f_clkio [Hz] / I/O clock prescaler N

    sei(); // Enable Interrupt

void initPorts(void)

//  Initialize I/O Ports

    SERVO_PORT = 0x00; // Servo port Pull-up Resistor Disable

     // Servo Port : OUTPUT MODE

    SERVO_PORT_DDR |= (1<<SERVO_PORT_NO);

     // DC-MOTOR Ports : OUTPUT MODE

    DCMOTOR_PORT_DDR |= (1<<DCMOTOR_PORT_NO_0) | (1<<DCMOTOR_PORT_NO_1);

volatile unsigned int T0count; // Timer0 interrupt counter

volatile int ServoSignalHigh = 15; // count while servo control signal HIGH level

// value of ServoSignalHigh -> angle

// 15 -> 0 degree, 6 -> -90 deg., 24 -> +90 deg.

ISR(TIMER0_COMPA_vect)

// Timer0 Timer counter Compair match Interrupt

    if (T0count > TPWM) {

        T0count = 0;

    } else {

        T0count++;

        if (T0count >= ServoSignalHigh) {

            SERVO_PORT &= ~( 1 << SERVO_PORT_NO ); // set Servo signal LOW level

        } else {

            SERVO_PORT |=  ( 1 << SERVO_PORT_NO ); // set Servo signal HIGH level

void moveServo(int angle)

// set Servo Motor angle

// arguments:

//  angle : -90 to 90 , angle of servo horn , unit: degree

    if (angle >= -90 && angle <= 90) {

        ServoSignalHigh = 15 + angle / 10;

    } else {

        ServoSignalHigh = 15;

    T0count = 0;

void moveMotor(int sig0, int sig1)

// DC Motor control

    DCMOTOR_PORT &= ~((1 << DCMOTOR_PORT_NO_0) | (1 << DCMOTOR_PORT_NO_1) );

    DCMOTOR_PORT |= (sig0 << DCMOTOR_PORT_NO_0) | (sig1 << DCMOTOR_PORT_NO_1);

int main(void)

    int angle = 0; // servo motor angle

    initPorts(); //  Initialize I/O Ports

    initTimer0(); // Initialize TIMER0

    while(1) {

        moveMotor(0, 0); // Stop Motor

        angle = 60; moveServo(angle); // Control Command for Servo motor

        wait(1000000L);

        moveMotor(0, 1); // rotate Motor

        angle = 0; moveServo(angle); // Control Command for Servo motor

        wait(1000000L);

//

//  servo-control-atmega168.c

//

//

//  Created by kaimunantai on 2015/09/13.

//

//

// Target : AT mega 168 (CLOCK 20MHz)

//

// I/O PORTS

//  PD0 (PIN 2)         : 1st-Servo motor control

//  PD1 (PIN 3)         : 2nd-Servo motor control

//  PD2, PD3 (PIN 4, 5) : DC Motor control

//

#include <avr/io.h>

#include <avr/interrupt.h>

#define SERVO_PORT_0      PORTD

#define SERVO_PORT_0_DDR  DDRD

#define SERVO_PORT_0_NO   PD0

#define SERVO_PORT_1      PORTD

#define SERVO_PORT_1_DDR  DDRD

#define SERVO_PORT_1_NO   PD1

#define DCMOTOR_PORT        PORTD

#define DCMOTOR_PORT_DDR    DDRD

#define DCMOTOR_PORT_NO_0 PD2

#define DCMOTOR_PORT_NO_1 PD3

#define TPWM 200 // Period of Servo-motor control PWM signal

void wait(volatile long i)

// delay loop

    while( i-- > 0 );

void initTimer0(void)

// Initialize TIMER0

    // CTC mode , TOP is OCR0A

    TCCR0A = (1 << WGM01) | (0 << WGM00) ;

    // I/O clock prescaler N = 8

    TCCR0B = (0 << WGM02) | (0 << CS02) | (1 << CS01) | (0 << CS00);

    // Timer0 on OCR0A compare match interrupt enable

    TIMSK0 |= ( 1<< OCIE0A );

    // set TOP value . Interrupt every 0.1 ms

    OCR0A = 250; // OCR0A = interrupt period [s] * f_clkio [Hz] / I/O clock prescaler N

    sei(); // Enable Interrupt

void initPorts(void)

//  Initialize I/O Ports

    SERVO_PORT_0 |= (1<<SERVO_PORT_0_NO); // Servo port Pull-up Resistor Disable

    SERVO_PORT_1 |= (1<<SERVO_PORT_1_NO); // Servo port Pull-up Resistor Disable

     // Servo Port : OUTPUT MODE

    SERVO_PORT_0_DDR |= (1<<SERVO_PORT_0_NO);

    SERVO_PORT_1_DDR |= (1<<SERVO_PORT_1_NO);

     // DC-MOTOR Ports : OUTPUT MODE

    DCMOTOR_PORT_DDR |= (1<<DCMOTOR_PORT_NO_0) | (1<<DCMOTOR_PORT_NO_1);

volatile unsigned int T0count[2]; // Timer0 interrupt counter for each servo motor

volatile int ServoSignalHigh[2] = { 15, 15 }; // count while servo #1,2 control signal HIGH level for each servo motor

// value of ServoSignalHigh -> angle

// 15 -> 0 degree, 6 -> -90 deg., 24 -> +90 deg.

ISR(TIMER0_COMPA_vect)

// Timer0 Timer counter Compair match Interrupt

    int i;

    for (i = 0; i < 2; i++) {

        if (T0count[i] > TPWM) {

            T0count[i] = 0;

        } else {

            T0count[i]++;

    if (T0count[0] >= ServoSignalHigh[0]) {

        SERVO_PORT_0 &= ~( 1 << SERVO_PORT_0_NO ); // set Servo signal LOW level

    } else {

        SERVO_PORT_0 |=  ( 1 << SERVO_PORT_0_NO ); // set Servo signal HIGH level

    if (T0count[1] >= ServoSignalHigh[1]) {

        SERVO_PORT_1 &= ~( 1 << SERVO_PORT_1_NO ); // set Servo signal LOW level

    } else {

        SERVO_PORT_1 |=  ( 1 << SERVO_PORT_1_NO ); // set Servo signal HIGH level

void moveServo(int no, int angle)

// set Servo Motor angle

// arguments:

//  no    : servo motor no ( 0 ~ )

//  angle : -90 to 90 , angle of servo horn , unit: degree

    if (angle >= -90 && angle <= 90) {

        ServoSignalHigh[no] = 15 + angle / 10;

    } else {

        ServoSignalHigh[no] = 15;

    T0count[no] = 0;

void moveMotor(int sig0, int sig1)

// DC Motor control

    DCMOTOR_PORT &= ~((1 << DCMOTOR_PORT_NO_0) | (1 << DCMOTOR_PORT_NO_1) );

    DCMOTOR_PORT |= (sig0 << DCMOTOR_PORT_NO_0) | (sig1 << DCMOTOR_PORT_NO_1);

int main(void)

    int angle = 0; // servo motor angle

    initPorts(); //  Initialize I/O Ports

    initTimer0(); // Initialize TIMER0

    while(1) {

        moveMotor(0, 0); // Stop Motor

        angle = 60; moveServo(0, angle); // Control Command for Servo motor

        angle =  0; moveServo(1, angle); // Control Command for Servo motor

        wait(1000000L);

        moveMotor(0, 1); // rotate Motor

        angle =  0; moveServo(0, angle); // Control Command for Servo motor

        wait(1000000L);

        angle = 60; moveServo(1, angle); // Control Command for Servo motor

        wait(1000000L);

# AVR-GCC Makefile

PROJECT=servo-control-atmega168

SOURCES=$(PROJECT).c

CC=avr-gcc

OBJCOPY=avr-objcopy

MMCU=atmega168

TARGETDEV=m168p

CFLAGS=-mmcu=$(MMCU) -Wall

$(PROJECT).hex: $(PROJECT).out

$(OBJCOPY) -j .text -O ihex $(PROJECT).out $(PROJECT).hex

$(PROJECT).out: $(SOURCES)

$(CC) $(CFLAGS) -I./ -o $(PROJECT).out $(SOURCES)

program: $(PROJECT).hex

sudo avrdude -p $(TARGETDEV) -P usb -c avrispmkII -e -U flash:w:$(PROJECT).hex

clean:

rm -f $(PROJECT).out

rm -f $(PROJECT).hex

※ヒューズビットは、外部クリスタル20MHzに設定するが、Makefileには書いてない。

Google Sites

Report abuse