// DC Motor PWM Test

// PWM FREQ. = 250 Hz

// TIMER/Count1, Fast PWM Mode : 7

#include <avr/io.h>

#include <avr/interrupt.h>

#include "ATmega128_v20.H"

unsigned int sum, ad_result;

ISR(TIMER3_OVF_vect) {

OCR3A = ad_result; // Port: PE3

}

int ADConvertor(char ch)

{

 ADMUX = (ch & 0x1F) | 0x40; 

 ADCSRA = 0xC7; 

 while((ADCSRA & 0x10) != 0x10); 

 sum = ADCL+ADCH*256;

 return(ADC);

}

int main(void)

{

unsigned int ADC6=0, ADC7=0; 

 MCU_initialize();

 LCD_initialize();

 LCD_string(0x80,"DC Motor Test");

 LCD_string(0xC0," Tested By AACL ");

 /////////////////////////////////////////////////////////

 // Timer/Counter-3 Initialize for DC Motor PWM control //

 /////////////////////////////////////////////////////////

TCCR3A = 0x83; 

TCCR3B = 0x0B; 

TCCR3C = 0x00; 

TCNT3H = 0x00; 

TCNT3L = 0x00; 

ETIMSK = 0x04; 

sei();

Delay_ms(1000);

LCD_string(0x80,"AD6: % AD7: %");

LCD_string(0xC0," ");

while(1)

{

ad_result = ADConvertor(6);

ADC6 = (sum/102.3*10);

LCD_command(0xC0+4);

LCD_3d(ADC6);

};

}

이게 dc모터 정방향으로 회전됩니다.. 여기서 역방향과 정지는 어떻게 구현해야할지 감이 안오네요 ㅠㅠ  도와주시면 감사하겠습니다. ㅠㅠ