MicroCamp2.0

Transcription

MicroCamp2.0

MicroCamp : ATmega8 Activity Kit Manual l 1
MicroCamp2.0
ATmega8
-
2008
2 l MicroCamp : ATmega8
1
MicroCamp...........................................................................................3
2
MicroCamp................................................15
3
AVR Studio
WinAVR C-compiler.....................................................................23
4
C.................................................33
5
WinAVR C-compiler............................................................43
6
MicroCamp........................53
7
1
2
MicroCamp...............................................63
.......................................................68
........................................71
3
4
5
..................................................75
SLCD16x2...........................................80
SLCD16x2.................................84
SLCD16x2...........................................85
6
7
8
............................89
................91
.........................................94
...........................................96
9
10
11
........................99
GP2D120..............102
GP2D120...........................104
........106
12
13
14
..................................................................109
38kHz......................................111
ER-4..............................................113
ER-4...............................115
8
9
10
11
MicroCamp : ATmega8 l 3
1
MicroCamp
MicroCamp
.
.
(
MicroCamp”),
“
,
,
.
. 1-1
MicroCamp.
"
(6
"
.)
ATmega8
(ISP)
/
P0 = PC0/ADC0
P1 = PC1/ADC1
P2 = PC2/ADC2
P3 = PC3/ADC3
P4 = PC4/ADC4
GND +5V
S/DATA
S/DATA
(PD4)
LED1 (PC5)
GND
+5V
RESET
SW2 (PD3)
GND +5V
SW1 (PD2)
RxD
TxD
LED2 (PD1)
1-1
MicroCamp
1.1
MicroCamp
1.1.1
MicroCamp
l
8-
AVR
Atmel; ATmega8.
: 10-
(ADC),
8KB (10,000
(RAM) 512
),
512
.
l
16MHz,
l 5-
.
(
3-
).
,
.
(
"
"
+5 ),
.
38kHz.
(RxD) ,
l
.
l
.
l2
.
l
"
".
l2
l
,
.
:
.
6 , 600
;
4.5
.
l
+4.8
+6
(4
AA).
.
l
+5
.
1.1.2
PX-400
AVR
.
AVR
.
:
l
RS-232.
USB,
USB/Serial
.
UCON-232S.
l
ISP-
:
,
,
.
.
1-2
PX-400.
l
l
+5 ,
AVR Studio
.
AVR Prog.
tools.
:
AT90S1200, AT90S2313, AT90S2323, AT90S2343, AT90S4433 , AT90S8515 , AT90S8535 ,
ATmega128 , ATmega16 , ATmega161 , ATmega162 , ATmega163 , ATmega164P ,
ATmega165 , ATmega168 , ATmega32 , ATmega64 , ATmega8 , ATmega8515 ,
ATmega8535, ATtiny12 , ATtiny13 , ATtiny15L , ATtiny2313, ATtiny26
,
Avr-OSP II
AT90CAN128, AT90CAN32, AT90CAN64, AT90PWM2, AT90PWM3, AT90S1200,
AT90S2313, AT90S2323, AT90S2343, AT90S4414, AT90S4433, AT90S4434, AT90S8515,
AT90S8515comp, AT90S8535, AT90S8535comp, ATmega103, ATmega103comp,
ATmega128, ATmega1280, ATmega1281, ATmega16, ATmega161,
ATmega161comp, ATmega162, ATmega163, ATmega165, ATmega168, ATmega169,
ATmega2560, ATmega2561, ATmega32, ATmega323, ATmega325, ATmega3250,
ATmega329, ATmega3290, ATmega406, ATmega48 , ATmega64, ATmega640,
ATmega644, ATmega645, ATmega6450, ATmega649 , ATmega6490, ATmega8,
ATmega8515, ATmega8535, ATmega88, ATtiny11, ATtiny12, ATtiny13, ATtiny15,
ATtiny22, ATtiny2313,ATtiny24, ATtiny25, ATtiny26, ATtiny261, ATtiny28, ATtiny44,
ATtiny45, ATtiny461, ATtiny84, ATtiny85, ATtiny861
+Vm
SW1
POWER
K1
+
DC input
L1
R1
0.47R
6
50 µH
D1
1N4001
+5V
8
R3
30k
3
-
IC1
TL499A
+4.8~6Vdc
4
C1
220/16V
R2
150
C2
0.01/50V
5
R5
1k
2
C3
1000/6.3V
R4
10k
7
C4
1000/6.3V
LED1
ON
+5V
+Vm
C5
0.1/50V
R6
47R
MOSI
7
VCC
AVCC
1 PC6/RESET
S2
RESET
+5V
SCK
MISO
PB1/ 15
OC1A
C6
0.1/50V
R7
150R
RESET
17
R8
150R
PB3/MOSI
18 PB4/MISO
R9
150R
19
P0
23
R11
150R
P1
25 PC2/ADC2
R13
150R
P3
R14
150R
P4
GND
+5V
RESET
R16
150R
R17
150R
RxD
TxD
1 1E
R20
150R
PD2 4
PC4/ADC4
PB6 9
PC5/ADC5
PB7
2
3
PD1/TxD
PD4
6
15
R27
4.7k
R26
150R
R28
4.7k
SW1
SW2
CR1
16MHz
GND
22
MicroCamp
R31
1k
C14
0.1/50V
2B
C12
10/16V
SP1
PIEZO
4Y
GND
5 12 13
K2
MOTOR-B
LED2
10 2A
R24
150R
21 AREF
GND
8
3Y
+
11
9 2E
R23
150R
IC2
ATMega8
LED4
IND1
2Y 6
7 1B
R22
150R
R29
47R
R30
1k
C13
0.1/50V
10
PD0/RxD
1Y 3
2 1A
R21
150R
R25
150R
8
VM
IC3
L293D
4
27
C11
0.1/50V
1-3
schematic
R19
150R
+5V
PD3 5
R18
1k
LED5
IND2
11
26 PC3/ADC3
28
R15
1k
PC0/ADC0
PD5
16
VCC
C8
0.1/50V
24 PC1/ADC1
R12
150R
P2
C10
0.1/50V
PD7 13
PB0 14
R10
150R
C9
0.1/50V
PD6 12
PB2/ 16
OC1B
PB5/SCK
+5V
IRM
C7
0.1/50V
20
14
LED3
+
K3
MOTOR-A
1.2
MicroCamp
ATmega8.
16MHz,
PB6
,
PB7.
PC0 - PC4
P0 - P4.
.
/
.
,
ATmega8.
PB3, PB4
10-
PB5
ISP,
.
.
.
"
PC6/RESET
"
.
PD0/RxD
.
IRM
5-
.
PD1/TxD
.
IND2)
.
LED5 (
TxD
5-
LED4 (IND1)
PC5
.
.
PD3
PD2
4.7k
.
10
PD4
.
.
L293D.
:
A
B
.
E
.
-
,
(PWM)
.
.
,
L293D
.
.
.
TL499A.
+5 .
1.3
MicroCamp
,
MicroCamp
,
,
ISP-
.
,
PCB3AA-8
.
1.3.1 ISP10-
10-
.
IDC.
ISP-
.
Atmel.
.
+5V
GND
GND
GND
GND
1.3.2
JST3AA-8
INEX,
JST.
MicroCamp
2GND
MOSI
N/A
RST
SCK
MISO
2
20
.
.
.
.
2
GND
S
+5V
S/Data
+5V
1.3.3
CX-4
-
DB-9,
RS-232.
RJ-11 6P4C.
.
DB-9
1.5
.
PX-400
.
RJ11-6P4C
5
4
5
3
3
2
RxD
!
TxD
" DTR
# GND
4
2
1.4
ATmega8
,
CMOS, 8-
ATmega8
AVR
, ATmega8
,
RISC.
,
1 MIPS
.
MicroCamp
ATmega8
28-
DIP
. 1-4.
.
1.4.1
ATmega8
8-
l
AVR RISC.
8K
l
, 512
), 1K
10,000
(100,000
32
.
/
23
,
3
B (PB0 - PB7) :
1.
.
(PB6
PB7)
PB2 - PB5
.
2.
PB0
C (PC0 - PC6 : 7
. PC6
.
D (PD0 - PD7 : 8
3.
PC0 - PC5
)
)
.
28 PC5/ADC5/SCL
PC6/RESET 1
PD0/RxD 2
PD1/TxD 3
PD2/INT0 4
PD3/INT1 5
6
PD4/T0/XCK 28
7
Vcc 28
8
GND 28
PB6/TOSC1/XTAL1
PB7/TOSC2/XTAL2 10
9
1-4
27 PC4/ADC4/SDA
26 PC3/ADC3
ATmega8-16PI
l
25 PC2/ADC2
24 PC1/ADC1
28 PC0/ADC0
23
28 GND
22
28 AREF
21
20 AVcc
19 PB5/SCK
PD5/T1 11
PD6/AIN0 12
18 PB4/MISO
PD7/AIN1 13
PB0/ICP1 14
16 PB2/SS/OC1B
17 PB3/MOSI/OC2
15 PB1/OC1A
ATmega8
PB1.
8-
l
l
/
16-
,
/
,
,
l
l
10-
l6
l
USART
l
SPI
l
Master/Slave
l
l
l
,
l
RC-
l
5
save, Power-down, Standby
: Idle, ADC Noise Reduction, Power-
l
4.5 - 5.5
l
0 - 16
l
1.4.2
ATmega8
RISC
: 8K
1K
/
/
, 23
. 1-5.
ATmega8
32
, 32
AVR
.
ATmega8
, 512
,
,
USART,
10,
,
, 6-
SPI, 5
,
.
,
1.4.3
/
,
,
Idle
SPI,
,
.
ATmega8
1-1
ATmega8.
XTAL2
RESET
XTAL1
C (PC6-PC0)
B (PB7-PB0)
cc
/
/
C
2AGND
AREF
/
Flash Program
Memory
X
Y
Z
AVR CPU
-
SPI
USART
D
/
D (PD7-PD0)
1-5
ATmega8
Vcc
7
-
GND
8,22
-
AVcc
20
-
AREF
21
-
+4.5
+5.5
+5
B
PB0
14
/
15
/
-
PB0
-
ICP1
1
-
PB1
-
/
-
PB2
OC1B
-
/
SS
-
PB1
OC1A
PB2
PB3
16
17
/
/
OC2
/
MOSI
Slave
18
MISO
PB5
19
SCK
-
PB3
-
/
-
9
Master
SPI
ISP
/
-
Master
SPI
ISP
-
Slave
SPI
ISP
Slave
SPI
ISP
/
-
/
-
PB4
PB5
/
Master
XTAL1
-
,
TOSC1
/
-
XTAL2
-
TOSC2
-
1-1
ISP
-
PB6
10
SPI
/
-
PB7
2
Slave
PB6
1B
SPI
PB4
1A
SPI
ISP
PB7
ATmega8 (
)
C
23
PC0
/
-
PC0
-
ADC0
24
PC1
/
-
0
PC1
-
ADC1
25
PC2
/
ADC2
26
PC3
/
ADC3
27
PC4
/
ADC4
SDA
28
PC5
1
-
PC2
-
PC3
-
PC4
/
-
/
-
2
3
4
2-
PC5
ADC5
-
SCL
-
2-
-
PC6
1
PC6
/
5
-
RESET
D
2
PD0
/
RxD
3
PD1
/
4
PD2
/
PD3
USART
-
PD1
-
5
/
6
/
USART
PD2
-
/
-
-
0
PD3
-
INT1
PD4
XCK
T0
11
/
T1
12
/
1
PD4
USART
-
Timer 0
-
PD5
-
Timer 1
-
PD6
-
AIN0
PD7
-
-
INT0
PD6
PD0
-
TxD
PD5
-
13
/
-
0
PD7
-
AIN1
1-1
1
ATmega8 (
)
2
MicroCamp
MicriCamp
C.
:
1. AVR Studio :
Atmel Corporation.
AVR Studio
AVR. AVR Studio
.
,
AVR Studio
C,
Atmel Corporation’s AVR Assembler
Compiler. AVR Studio
WinAVR C
Microsoft Windows95
Microsoft Windows NT.
Windows XP SP2.
www.atmel.com.
2. WinAVR : WinAVR
(
avrdude (
programmers notepad (
Windows.
projects/winavr/.
C,
avrgcc), avr-as (
JTAG ICE), avr-gdb (
avrgcc
),
),
Microsoft
http://sourceforge.net/
), avr-libc (
), avarice (
)
.
MicroCamp
WinAVR
AVR Studio,
V20050214.
Studio
WinAVR.
AVR
,
WINAVR.
AVR
Studio,
WinAVR.
HEX-
,
3.
.
,
:
,
C.
library
/
4.
:
AVR.
Atmel
PX-400.
Port control
,
,
.HEX-
AVRProg.
AVR Studio.
PX-400
AVR
Prog
MicroCamp.
. .
2.1
AVR Studio
AVR Studio
2.1.1
Windows XP:
aStudio4b460.exe
AVR Studio
MicroCamp.
2.1.2
.
2.1.3
ment
Next
.
: I accept the terms of the license agreeNext.
2.1.4
.
Change
2.1.5
.
Next.
Driver USB Upgrade.
Next
.
2.1.6
2.1.7
Install.
AVR Studio,
Finish.
2.1.8
Tools à AVR Studio 4.
AVR Studio.
à
AVR Studio.
à Atmel AVR
2.2
WinAVR
,
WinAVR
AVR Studio.
!
WinAVR
Windows XP:
2.2.1
WinAVR-20050214-install.exe
2.2.2
.
,
OK.
2.2.3
Next.
MicroCamp.
,
.
1 9 l MicroCamp : ATmega8
2.2.4
I agree.
2.2.5
.
Browse.
C:\WinAVR.
Next.
.
2.2.6
Install.
2.2.7
.
Finish.
2.3
(.H
MicroCamp_include
-
)
,
.
.
WinAVR,
MicroCamp
AVR Studio
MicroCamp_include.
.
3
MicroCamp
AVR Studio
WinAVR
3.1
C
,
,
.
,
(
C
).
:
(1)
(2)
C
(
(3)
HEX).
(4)
(5)
(2)
.
.
(3)
1
.
C
AVR Studio WINAVR,
MicroCamp.
MicroCamp_include
C
AVR Studio,
.
HEX-
,
MicroCamp
.
ATMEGA8.
:
test_segment.
test_segment.hex
3.2
AVR Studio V4.0
AVR
Studio.
,
C
:
,
,
.
3.2.1
File
:
New File
Open File
Close
Save
Save As...
Save All
Print
Print Preview
Print Setup
Exit
AVR Studio
.
HEX-
3.3.2
Project
:
Project Wizard
.
.
New Project
.
.
Open Project
,
APS
.
Save Project
Close Project
Recent Projects
Configuration Options
.
3.2.3
Build
:
Build
Rebuild All
Build and run
Compile
Clean
Export Makefile
3.2.4
Edit
:
Undo
(
)
Redo
Cut
Copy
Paste
Toggle Bookmark
/
Re-
move Bookmarks
Find
Find in Files
Next Error
Show whitespace
Font and color
.
.
3.2.5
View
:
/
Toolbars
.
/
Status Bar
(
)
/
Disassembler
3.2.6
Watch
/
Memory
/
Memory 2
/
2
Memory 3
/
3
Register
/
Tools
Studio
. AVR
MicroCamp$
PX-400.
.
AVRprog.
PX-400
3.2.7
COM-
AVRprog.
Debug
.
MicroCamp
3.3
.
C
3.3.1
AVR Studio.
Project à Close Project
3.3.2
AVR Studio
-
,
Project à New Project.
3.3.3
.
3.3.3.1
:
Project type
AVR GCC:
C.
3.3.3.2
Switch_LED (
.
Switch_LED.c.
3.3.3.3
\Code.
).
Location:
: G:\Work2006\AVR-ROBOT
Finish.
3.3.4
Switch_LED
.
Switch_LED
G:\Work2006\AVR-ROBOT
\Code.
Switch_LED.aps
Switch_LED.c.
3.3.5
,
.
Project à Configuration Options
3.3.5.1
Switch_LED Project Options.
5
:
l General
l Include Directories
l Libraries
l Memory Settings
l Custom Options
3.3.5.2
General
l Device : atmega8
l Frequency: 16000000 Hz
3.3.5.3
Include Directories
,
.
Add.
C:\AVR_ROBOT\include.
3.3.5.4
3.3.5.5
Add Library.
Libraries
Available Link Objects:,
OK
.
.
libm.a
3.3.6
C
Switch_LED.c.
,
.
3-1.
#include <in_out.h>
#include <sleep.h>
void main()
{
while(1)
{
if (in_d(2)==0)
{
toggle_c(5);
}
if (in_d(3)==0)
{
toggle_d(1);
}
sleep(200);
}
}
3-1
C
Switch_LED.c
3.3.7
Switch_LED.hex
Build
Build à
F7
AVR Studio
.
,
,
,
Build Output.
.
Switch_LED.hex
.
:
Switch_LED.hex
\Work2006\AVRROBOT\Code\Switch_LED\ default.
G:
MicroCamp : ATmega8 l 2 9
3.4
Project à Open
.
Project
.
.aps
:
Project à
Switch_LED,
Open Project
Switch_LED.aps.
.
.
3.5
HEXSwitch_LED.hex.
.
:
(
3.5.1
POWER).
.
3.5.2
ISP-
MicroCamp.
PX-400
USB/Serial UCON-232/UCON-232S
RS-232,
USB/Serial.
USB
RS-232
MicroCamp
3-1
MicroCamp
PX-400
3.5.3
AVR Studio,
3.5.4
AVRprog.
3.5.5
Switch_LED.hex
AVRprog
Tool à AVR Prog...
Browse
hex-
,
.
.
.
.
3.5.6
Program
ATmega8
Switch_LED.hex
MicorCamp.
3.5.7
SW1
Flash.
,
MicroCamp.
SW2
LED.
LED
..
.
4
C
.
,
.
.
‘
,
’
.
C
,
.
C.
4.1
:
return_type function_name(parameter1, parameter2,
...) {
command_list 1;
....................
....................
command_list n;
}
function_name return_type return(value)
,
.
.
.
void
return_type.
-
.
,
,
.
void.
,
command_list 1...command_list n .
.
4.2
"
"
.
,
.
,
“
”
:
function_name(agument1, agument2,...)
function_name -
.
,
agument -
.
,
.
4-1
void tone(void)
{ sound(3000,100); //
;
3
//
sleep(1000);
//
sound(3000,100);
//
0.1
1
;
3
//
0.1
}
tone.
.
1
3
0.1
.
:
void main()
{
................
tone();
...............
}
//
//
//
:
tone
2
; sound.h
4-2
void tone(unsigned int delay)
{
sound(3000,100);
sleep(delay);
sound(3000,100);
//
//
//
;
;
}
Sleep.
"delay"
tone
.
sleep.h
4.3
,
.
,
.
C.
AVR Studio.
4.3.1
,
.
.h.
,
,
; led1.h.
:
(1)
File à New File.
(2)
Blink:
void sleep(unsigned int ms)
{
unsigned int i,j;
for(i=0;i<ms;i++)
for(j=0;j<795;j++);
}
void blink(unsigned int cnt)
{
unsigned int _cnt=0;
DDRC |= _BV(5);
//
while(_cnt < (cnt*2)) //
{
PORTC ^= _BV(5);
sleep(300);
_cnt++;
}
}
(3)
led1.h
PC5
//
//
File à Save As...
.
PC5
0.3
.h.
4.3.2
,
,
,
C.
#include
<library_filename>
#include
“library_filename”
#include
,
C
.
4-6
(1)
; test_lib
(2)
C
#include <in_out.h>
#include <led1.h>
void main()
{
blink(10);
}
test_lib.c
//
//
blink
LED 10
//
:
test_lib
.
led1
2
2
.
ATmega8 (in_out.h).
; blink sleep().
LED.
(3)
(5)
PC5
sleep()
.
"0".
blink
Project à Configuration Options.
led1.h
.
test_lib.hex.
test_lib.hex
(6)
blink
"1"
LED
(4)
led1.h
.
.
LED
PC5
ATmega8
10
.
4.4
C
WinAVR
char
8-
.
-128
unsigned char
8-
.
0
+255.
int
16-
.
-32,768
unsigned int
16-
.
long
32-
.
-2,147,483,648
unsigned long
+65535
+2,147,483,647
32-
.
0
+4294967295
long long
64-9223372036854775808
unsigned long long
640
float and double
0
+127.
.
+ 9223372036854775807
.
+18446744073709551616
32-
,
arrays
.
pointers
structures
.
.
32767
4.5
C
WinAVR
3
C.
1.
.
2.
0bBBBBBBBB.
.
3.
,B
0
0xHHHHHHHH.
1
,H
4-7
0...9, A...F.
0b10010010
146
7
6
5
4
3
2
1
0
: (1x2 ) + (0x2 ) + (0x2 ) + (1x2 ) + (0x2 ) + (0x2 ) + (1x2 ) + (0x2 )
= 14610
.
4-8
16-
; 0b1111010011101101
62701
.
(1x215) + (1x214) + (1x213) + (1x212) + (0x211) + (1x210) + (0x29)
:
+ (0x28) + (1x27) + (1x26) + (1x25) + (0x24) + (1x23) + (1x22)
+ (0x21) + (1x20) = 6270110
4-9
; 0xFF
255
: (15x161) + (15*160) = 25510
.
0xFF à 0b11111111
.
4-10
; 0x31
: (3x161) + (1x160) = 4910
49
0x31 à 0b00111111
4.6
C WinAVR
ANSI-C.
type variable_name;
type
variable_name
:
.
.
int a;
//
long result;
//
result
long
float start;
//
start
float
int x,y;
//
2-
float p,q,r;
//
3
; x
; p, q
r.
y.
float.
,
int x=100;
x.
//
int
//
int x=15,y=78;
100.
//
y.
p
q.
integer
//
// x=15 y=78.
//
//
long p=47L,q=31L;
x
p=47
long
q=31.
4.7
(type)variable
type
,
variable -
4-11
int x=100;
float y=43.67,z;
z = y+(float)x ;
x
//
//
integer
y
//
//
//
z = y + x.
x
//
z = 143.67.
z
100.
float
int.
float
y = 43.67.
(float)x.
4-12
int a=50;
//
//
a
integer
50.
long b=23L,c;
//
c = b*(long)a;
//
c = b * a.
//
//
a
b
// (long)a
//
c = 1150
c
b = 23.
long
int.
b
long
c.
4.8
WinAVR
4.8.1
4.8.1.1
: type name[size];
type name size -
(
)
:
name[index]
index ,
.
4-13
.
:
char arr[4];
,
arr
.
arr[0] :
:
0
arr[1] :
1
arr[2] :
2
3
arr[3] :
arr[0], arr[1], arr[2]
.
4
arr[3]
char.
arr
1
4
.
4-14
char dat[8] = {1,3,5,7,9,11,13,15} ;
dat[0]
dat[1]
dat[2]
dat[3]
dat[4]
dat[5]
11;
dat[6]
13;
dat[7]
=
=
=
=
=
=
,
8
dat.
:
1;
3;
5;
7;
9;
=
= 15;
char i , j ;
i = 3;
j = dat[i]; // j = dat[i] ==> j = dat[3] ==> j = 7
j = 7 */
/*
4-15
char dat[4] = “ abcd” ;
4
dat.
dat[0]
dat[1]
dat[2]
dat[3]
=
=
=
=
,
:
‘a’;
‘b’;
‘c’;
‘d’;
char i , j
; i = 3;
j = dat[i];
// j = dat[i] ==> j = dat[3] ==> j = ‘d’
is j = ‘d’ */
/*
.
.
4.8.1.2
:
type name[x][y];
:
type name xy:
int a[2][5];
10
“a”.
.
a[0][0],
a[0][1],
a[0][2],
a[0][3],
a[0][4] ,
a[1][0],
a[1][1],
a[1][2],
a[1][3],
a[1][4]
:
int menu[3][4] ={{1,3,4,9} , {2,8,0,5}};
:
menu[0][0] = 1
menu[0][1] = 3
menu[0][2] = 4
menu[0][3] = 9
menu[1][0] = 2
menu[1][1] = 8
menu[1][2] = 0
menu[1][3] = 5
menu[2][0] = 0
menu[2][1] = 0
menu[2][2] = 0
menu[2][3] = 0
5
WinAVR
Win AVR
:
,
.
5.1
:
+
*
/
%
++
1
- -
1
+=
-=
*=
/=
%=
5.1.1
(+)
(-)
5-1
int a = 12;
a = a + 3;
a = 15
:
a = 12.
a
3
a.
5-2
int a = 12;
a = a - 3;
a=9
:
a = 12.
a
3
a.
5.1.2
/
%
:
1. /
.
,
2. %
.
5-3
int x , y , z;
x = 10;
y = x/3;
z = x%3;
y=9
z=1
:
y = x/3; à y = 10/3 à y = 3 (
z = x%3; àz = 10%3à z = 1 (
5.1.3
++
)
)
-
--
5-4
int y = 5;
y++;
y=6
:
y = 5.
, y+1 = 6
y = y + 1.
5-5
int
y =
5;
y - -;
y=4
gives the result similar to y = y - 1; command
y.
,
y++;
5.1.4
+=
-=
:
y +=a;
y = y + a;
y-=a;
y = y - a;
5-6
int
x = 100;
x += 10;
x = 110
5.1.5
*= , /=
%=
:
y *=a;
y = y * a;
y /=a;
y = y/a;
y %=a;
y = y%a;
5-7
int
x, y, z;
x = y = z = 120;
x *= 4;
y /= 4;
z %= 4;
x = 480 , y = 30
z=0
5.2
“1”
.
“0”
:
==
!=
>
<
>=
<=
!
&&
||
5-8
a = 10, b = 4, c = 0xA0
a>b
true
1
a>c
false
0
a>=c
true
1 (
a!= b
true
1
a!= c
false
0
5.2.1
! , &&
!(
.
0xA0 = 10)
||
)
! false
true(1)
! true
false(0)
&&( )
false && false
false(0)
false && true
false(0)
true && false
false(0)
true && true
true(1)
false
.
||(
)
false || false
false(0)
false || true
true(1)
true || false
true(1)
true || true
true(1)
true
.
5-9
a = 10, b = 4
c = 0xA0
a>b
true.
1
a>b
true
1
a>c
false
0
a>=c
true
1(
a != b
true
1
a != c
false
0
!(a>b)
false
0
!(a>c)
true
1
!(a>=c)
false
0
!(a != b)
false
0
!(a != c)
true
1
!(a>b) && (a>=c)
false(0)
(a != b) && (a>=c)
true(1)
(a != b) && !(a != b)
false(0)
!(a>b) || (a>=c)
true(1)
(a != b) || (a>=c)
true(1)
(a != b) || !(a != b)
true(1)
!(a>=c) || !(a != b)
false(0)
0xA0 = 10)
5.3
~
&
|
^
<<
>>
<<=
>>=
&=
|=
.
^=
5.3.1
~
~0
1
~1
0
&
0&0
0 &1
1&0
0
0
0
1&1
1
|
0|0
0|1
1|0
0
1
1
1|1
1
^
0^0
0
0 ^1
1^0
1
1
1^1
0
5-10
:
int x,y,result1,result2,result3,result4;
x = 0x9C;
y = 0x46;
:
result1
result2
! result3
" result4
= x&y;
= x|y;
= x^y;
= ~x;
:
.
x = 0x9C à 0000000010011100 (
16-
y = 0x46 à 0000000001000110
(1) result1 = (0000000010011100) & (0000000001000110)
0000000010011100
AND
0000000001000110
0000000000000100
à 0x0004
0x04
(2) result2 = (0000000010011100) | (0000000001000110)
0000000010011100
OR
0000000001000110
0000000011011110
à 0x00DE
0xDE
(3) result3 = (0000000010011100) ^ (0000000001000110)
0000000010011100
XOR
0000000001000110
0000000011011010
à 0x00DA
(4) result4 = ~(0000000010011100)
1111111101100011
à 0xFF63
0xDA
)
5.3.2
:
dat = dat<<4;
,
4
dat
dat.
:
dat = dat>>1;
dat
dat.
5-11
int dat, x1, x2;
dat = 0x93;
x1 = dat<<1;
x2
= dat<<2;
:
dat = 0x93 à 0000000010010011
dat
0000000010010011
X1
0000000100100110
X2
0000001001001100
(1) x1
1
x1 = 0x0126
x2 = 0x024C
5-12
int a , b , c;
a = 0x7A;
b = 0x16;
c = 0xFD;
&= 0x3C;
|= 0x51;
^= 0xD0;
,
294
2
(2) x2
a
b
! c
dat.
.
dat.
588
,
.
MicroCamp : ATmega8 l 4 9
:
(1)
a &= 0x3C
a = a & 0x3C.
a.
: a = (0000000001111010) & (0000000000111100)
0000000001111010 AND 0000000000111100
0000000000111000
(2)
0x38
b |= 0x51
:
(3)
à 0x0038
b = b |= 0x51.
b.
b = (0000000000010110) |= (0000000001010001)
0000000000010110 OR
0000000001010001
0000000001010111
à 0x0057
0x16 OR 0x51
0x57
c ^= 0xD0
:
0x7A AND 0x3C
c = c ^= 0xD0.
0xFD XOR 0xD0
c.
c = (0000000011111101) ^= (0000000011010000)
0000000011111101 XOR
0000000000101101
0000000011010000
à 0x002D
0x2D
6
MicroCamp
MicroCamp
/
.
,
,
,
.
:
l in_out.h
.
l sleep.h
l analog.h
l led.h
P0...P4
LED
l motor.h
l sound.h
l timer.h
.
MicroCamp_include
-
.
6.1
in_out.h
6.1.1
B
in_b :
in_c :
C
in_d :
D
:
char
char
char
char
in_a(x)
in_b(x)
in_c(x)
in_d(x)
:
x-
.
0
7.
:
“0”
“1”
6-1
char x=0;
x = in_b(2);
//
//
x
PB2
x
//
//
x
PD4
x
6-2
char x=0;
x = in_d(4);
6-3
#include <avr/io.h>
//
#include <in_out.h>
//
#include <sound.h>
//
void main()
{
while(1)
{
if (in_d(2)==0)
{
sound(3000,100);
}
}
}
//
//
SW1
SW1
6.1.2
,
.
.
out_b :
B
out_c :
C
out_d :
D
:
out_b(char _bit,char _dat)
out_c(char _bit,char _dat)
out_d(char _bit,char _dat)
:
_bit
_dat
-
.
0
“0”
7.
“1”
6-4
out_c(5,0);
out_d(1,1);
" 0"
" 1"
//
//
PC5
PD1
6-5
#include <avr/io.h>
//
//
#include <sound.h>
//
void main()
{
while(1)
//
{
}
}
out_d(1,1);
//
sleep(300);
//
out_d(1,0);
//
sleep(300);
//
" 1"
PD1.
LED2
0.3
"0"
0.3
PD1.
LED2
6.1.4
toggle_b :
B
toggle_c :
C
toggle_d :
D
:
toggle_b(x)
togg le_c(x)
togg le_d(x)
:
x -
.
0
7.
6-6
toggle_c(5);
//
PC5
toggle_d(1);
//
PD1
6.2
sleep.h
sleep,
.
.
:
void sleep(unsigned int ms)
:
.
6-7
sleep(20);
//
20
sleep(1000);
//
1
0
65,535.
6.3
analog.h:
6.3.1
.
PC0...PC4.
ATmega8.
0
10-
.
1,023
0
5 .
:
unsigned int analog(unsigned char channel)
:
channel -
.
0
PC0...PC4
4.
:
,
0
1,023
.
6-8
//
int adc_val=0;
adc_val = analog(0); //
0 (PC0)
adc_val.
6.4
led.h
MicroCamp
2
PC5 (LED1)
,
“0”
PD1(LED2).
“1”
.
led.h.
LED1 (PC5)
led1_on() :
LED1 (PC5)
led1_off() :
LED2 (PD1)
led2_on() :
LED2 (PD1)
led2_off() :
6-9
void main()
{
led1_on();
//
}
LED1
6.5
motor.h
6.5.1
MicroCamp.
:
void motor(char _channel,int _power)
:
_channel
-
.
2
;1
2.
-
_power
MicroCamp
.
-100
100.
(1...100),
.
(-1...-100),
.
,
0,
.
6-10
1
motor(1,60);
//
................
motor(1,-60);
//
60%
1
60%
6-11
2
motor(2,100);
//
6.5.2
motor_stop
(100%)
.
:
void motor_stop(char _channel)
:
_channel
-
.
3
OUT1, 2
.1
OUT2, ALL
6-12
motor_stop(1);
//
1
motor_stop(2);
//
2
motor_stop(ALL);
//
(1
2).
6.5.3
motor_off
.
0.
:
void motor_off()
6.5.4
forward
,
.
:
void forward(int speed)
:
speed -
6.5.5
.
0
100.
0
100.
backward
,
.
:
void backward(int speed)
:
speed -
6.5.6
.
s_left
,
.
:
void s_left(int speed)
:
speed -
6.5.7
.
0
100.
0
100.
s_right
,
.
:
void s_right(int speed)
:
speed -
.
6.6
sound.h
,
-
MicroCamp.
:
void sound(int freq,int time)
:
freq -
.
time -
.
6-13
2
sound(2000,500); //
,
0. 5
6.7
.
timer.h
6.7.1
timer_start
.
.
:
void timer_start(void)
6.7.2
timer_stop
.
:
void timer_stop(void)
6.7.3
timer_pause
.
:
void timer_pause(void)
6.7.4
timer_resume
timer_pause.
:
void timer_resume(void)
.
6.7.5
msec
.
:
unsigned long msec()
:
.
6.7.6
“long”.
sec
..
:
unsigned long sec()
:
.
“long”.
6-14
#include <in_out.h>
#include <sleep.h>
#include <timer.h>
void main()
{
timer_start();
while(1)
{
if(msec()>500)
{
timer_stop();
toggle_c(5);
timer_start();
}
}
}
//
//
//
.
//
//
//
//
500?
.
0.5
.
.
7
MicroCamp
,
MICROCAMP.
,
.
,
Microcamp
.
.
.
MICROCAMP
2
4
.
2
2
.
Part list
48:1
x2
MicroCamp
x1
x2
x1
x1
(
)
x2
x2
2
x2
25
x2
60l MicroCamp : ATmega8
.
1.
2
.
,
2.
3x6
3.
25
.
.
3 x 10
3
.
25
2- 3
4.
3 x 10
.
5.
3x15
,
2
3
.
.
3 x 15
3
x2
6.
.
3
.
-
7.
.
3
8.
3
5
MicroCamp
.(
.
P0,
P1).
5
.
9.
3 x 10
3
.
.
10.
.
3 x 10
.
3
.
.
P2 (PC2),
11.
P3 (PC3).
MicroCamp.
4 AA
MicroCamp
.
MicroCamp
:
+V
LED1
R1
510
R2
10k
R3
220
DATA
S1
GND
.
, DATA
"1"
, DATA
"0",
LED1
.
,
.
.
+V
TCRT5000
OUT
510
10k
ND
,
,
.
-
.
.
,
OUT
,
,
.(
TCRT5000
OUT
30
0.1
0.5
1023.
5 ,
MicroCamp
1.5
).
1
MicroCamp
1-1
A1.1
AVR Studio,
A1-1.
C
.
A1.2
PX-400
MicroCamp
.
HEXISP-
A1.3
.
.
.
A1.4
.
.
MicroCamp
.
.
1
.
,
,
(
).
,
.
.
#include <in_out.h>
#include <sleep.h>
#include <motor.h> //
void main()
{
while(1)
//
{
forward(100); //
sleep(1000);
//
1
backward(100); //
sleep(1000);
//
1
}
}
A1-1
.
.
.
.
C
1-2
A1.5
A1-2.
C
A1.6
PX-400
MicroCamp
.
HEXISP-
A1.7
.
.
.
A1.8
.
.
SW1
SW2.
#include <in_out.h>
#include <sleep.h>
#include <motor.h>
void main()
{
while(1)
{
while((in_d(2)==1));
motor(1,100);
motor(2,30);
motor_off();
}
}
//
//
//
//
//
1
2
A1-2,
.
MOTOR.
.
.
,
.
,
.
SW1
.
PD2
While.
“0”
,
SW2
PD3.
.
.
A1-2
C
SW1
30%
SW2
1-3
A1.9
C
MicroCamp
PX-400
HEX-
.
.
ISP-
A1.10
.
.
.
SW1
.
#include <in_out.h>
#include <sleep.h>
#include <motor.h>
void main()
{
while(1)
{
if (in_d(2)==0)
{
while(1)
{
forward(100);
sleep(900);
s_right(50);
sleep(300);
}
}
if (in_d(3)==0)
{
while(1)
{
forward(100);
sleep(900);
s_left(50);
sleep(300);
}
}
}
}
SW2.
SW2
SW1,
.
//
//
SW1
0.9
//
//
//
50%
0.3
SW2
0.9
//
//
50%
0.3
SW2
(
)
A1-3
A1-3.
.
(
SW1
)
2
2-1
,
.
,
.
A2.1
A1-4.
C
.
A2.2
A2.3
PX-400
MicroCamp
HEX-
.
.
.
ISP-
A2.4
.
A2.6
.
A2.7
.
PD2
PC3.
“0”.
.
,
.
,
.
#include <in_out.h>
#include <sleep.h>
#include <motor.h>
void main()
{
//
while(1)
//
{
if (in_c(2)==0)
//
{
backward(100);
//
SW1
,
sleep(400);
//
s_left(50);
sleep(300);
}
else if (in_c(3)==0) //
{
backward(100);
//
sleep(400);
s_right(50);
sleep(300);
}
else
{
forward(100);
0.3
0.3
//
.
0.4
.
.
,
//
0.4
.
,
}
}
}
.
A2-1
2-2
,
,
.
(A2-1)
A2-2.
A2.8
A2-2.
C
A2.9
PX-400
HEX-
MicroCamp
.
.
.
ISP-
.
A2.10
.
A2.11
.
.
,
5
180
.
#include <in_out.h>
#include <sleep.h>
#include <motor.h>
#include <sound.h>
void main()
{
unsigned char cnt_=0;
sound(3000,100);
while(1)
{
if (in_c(2)==0)
{
if ((cnt_%2)==0)
{cnt_++;}
else
{cnt_=0;}
backward(100);
sleep(400);
s_left(50);
if (cnt_>5)
{
sleep(700);
sound(3000,100);
cnt_=0;
}
//
//
//
//
//
SW1
//
//
//
//
//
//
//
//
//
//
//
//
//
//
.
,
?
.
,
0.4
5
,
0.7
A2-2
(
)
else
{ sleep(300);}
//
//
else if (in_c(3)==0)
{
if ((cnt_%2)==1)
//
5,
0.3
}
{cnt_++;}
else
{cnt_=0;}
backward(100);
sleep(400);
s_right(50);
sleep(300);
}
else
{forward(100);}
}
}
A2-2
(
)
//
//
//
//
//
//
//
//
//
.
,
.
1
,
0.4
0.3
,
8
LCD-
16
SLCD16x2
.
.
bps,
2400
2
TTL
RS-232.
SEIKO EPSON SED1278.
HITACHI HD44780
,
,
6
1
.
8.1
9600
SLCD16x2
MicroCamp.
SLCD16x2
8.1.1
l
RS-232
l 1/8
TTL/CMOS.
1/16
.
l
LCD Serial BackpackTM command.
Scott Edwards’s
l
l
+5
12
8.1.2
. 8-1
SLCD16x2.
(1)
(ST).
MicroCamp
:
SLCD16x2
-
2
.
(EX).
(ST).
(2)
:
8
.
4
1/8
1/16
.
1/16.
1/16.
1/8
16
+5
(EX)
(ST)
8-
16-
(8)
9600 bps (96)
(16)
RS-232 (IN)
(DI)
2400 bps (24)
8-1
SLCD16x2™
(3)
: 2400
8N1 (8-
(4)
,
1
:
TTL/CMOS (DI).
),
9600 bps (
)
TTL/CMOS
RS-232 (IN)
SLCD16x2.
3
(G).
:
+5
(+),
(S)
8.1.3
SLCD16x2
MicroCamp
JST3AB-8.
.
2.54
2.00
GND
S
+5V
JST3AB-8
2.00
(P0...P4)
SLCD16x2.
2.54
(A-end).
MicroCamp.
,
•
•
•
.
Standard (ST).
•
16-
A-end
B-end
(16).
9600 bps (96).
Direct (DI).
(B-end),
JST
8.1.4
SLCD16x2
.
,
.
,
ASCII 254 (0FE hex
11111110
(
SLCD16x2
).
.
. 8-2)
.
:
,
(
COMMAND\DATA BIT
ASCII 1),
)
D7
D6
[254]
D5
D4
D3
D2
00000001
SLCD16x2 (
[1]
D1
D0
1. Initial LCD
0
0
0
0
0
0
0
0
2. Clear LCD
0
0
0
0
0
0
0
1
3. Returm Home
0
0
0
0
0
0
1
*
4. Entry Mode Setting
0
0
0
0
0
1
I/D
S
5. Display Setting
0
0
0
0
1
D
C
B
6. Shift Display
0
0
0
1
S/C
R/L
*
*
7. Function Setting
0
0
1
DL
*
N
F
*
*
8. Set CGRAM
Address
0
1
A5
A4
A3
A2
A1
A0
9. Set DDRAM
Address
1
A6
A5
A4
A3
A2
A1
A0
Standard instrction command set summary
(except Initial LCD is addition command.
Initialize make I/D=1, S=0, D=1, C=0, B=0, N=1, F=0, DDRAM Address=00
*
[]
Don't care bit
S
0=Automatic cursor shift after byte
1=Cursor not moved
I/D
0=After byte, decrease cursor position
1=After byte, increase cursor position
(when S=1, cursor won't be shifted .)
D
C
B
0=Display OFF, 1=Display ON
0=Cursor OFF, 1=Cursor ON
0=Cursor not blink, 1=Cursor blink
S/C
R/L
0=Cursor shift, 1=Display Shift
0=Left shift, 1=Right shift
N
0=1/8 Duty, 1=1/16 Duty
(not recommend to set this bit,
use jumper setting instead)
0=5x7 dot size, 1=5x10 dot size
F
A0 to A7 are CGRAM or DDRAM Address
Serial input timing diagram
SERIAL
INPUT
Start
8-2
D0
D1
D2
D3
D4
D5
D6
D7
Stop
SLCD16x2
TP
(Processing time)
TP MIN = 5 ms.
Start
D0
D1
D2
...
8.1.5
(
.
.
,
E)
,
ASCII 0...7,
,
*See note
.
.(
HD44780A
.
1
08h-0Fh,
8
2
SED1278F0A)
.
0
10h-17h, ...
7
00h-07h,
38h-3Fh.
Example: Load arrow ymbol on CGRAM 3, aprogram
wouldssend the following bytes to the SLCD controller.
[254] , [01011000 b] , [0] , [254]
[01011001 b] , [4] , [254] , [01011010 b] , [2] ,
[254] , [01011011 b] , [31] ,
[254] , [01011100 b] , [2] ,
[254] , [01011101 b] , [4] ,
[254] , [01011110 b] , [0] ,
[254] , [01011111 b] , [0]
,
3
SLCD16x2
A3.1
B-end
A3.2
3x35
3
JST3AB-8
SLCD16x2
SLCD16x2.
3x10
25
3
.
MicroCamp
.
35
25
3
A3.3
end
JST3AB
SLCD16x2
P2
.
MicroCamp.
.
A-
8.2
soft_serout
SLCD16x25
.
soft_serout.h.
8N1.
8-1.
(P0...P4).
8.2.1
3
.
soft_serout_init()
.
9600
.
void soft_serout_init(unsigned long baud_)
:
soft_serout_init(9600);
8.2.2
Set the baudrate to 9600 bit per second.
serout_byte()
.
void serout_byte(char tx,unsigned char dat)
;
tx
0...4
MicroCamp.
P0...P4
dat -
:
serout_byte(2,0x80);
8.2.3
Send 0x80 data to P2 port.
serout_text()
.
void serout_text(char tx,unsigned char * p)
; tx -
.
0
4
P0...P4
*p-
:
serout_text(2,"MicroCamp");
"MicroCamp"
P2.
#include <avr/io.h>
#include <in_out.h>
#ifndef _soft_serout_
#define _soft_serout_
#define PRESCALER_1 (1<<CS20)
#define PRESCALER_32 (1<<CS21) | (1<<CS20)
#define OFFSET_DELAY1 20
#define OFFSET_DELAY2 18
unsigned int base=0;
unsigned char base_start_rcv=0;
unsigned char TCCR2_cal=0;
unsigned int base;
unsigned int baud=9600;
//
//
//
//
//
//
void soft_serout_init(unsigned long baud_)
{
unsigned long tick=0;
if(baud_<=4800)
{
tick = ((1000000/baud_)-OFFSET_DELAY1)/4;
TCCR2_cal = PRESCALER_64;
}
else if(baud_>4800 && baud_<=9600)
{
tick = ((1000000/baud_)-OFFSET_DELAY2)/2;
TCCR2_cal = PRESCALER_32;
}
TCCR2 = 0;
TIFR |= 1<<TOV2;
base = 255-tick;
base_start_rcv = 255-(tick/2);
(1/16M) 0.0625 us per MC
(8/16M) 0.5 us per MC
(32/16M) 2 us per MC
(64/16M) 4 us per MC
for out function used 20 us
for out function used 20 us
// Config.and Start up timer 2
// Calculate Delay for baudrate
// Calculate Delay for baudrate
// Stop timer
// Ensure Clear Overflow flag
}
// Delay For baudrate
void delay_baud(unsigned int _tick)
{
//
TCNT2 = _tick;
TCCR2 = TCCR2_cal;
//
while(!(TIFR & (1<<TOV2)));
//
TIFR |= 1<<TOV2;
//
TCCR2 = 0;
//
}
Load Prescaler form calculate
Load interval
Wait until count success
Ensure Clear Overflow flag
Stop timer 2
// Send Data 1 Byte
void serout_byte(char tx,unsigned char dat)
{
int i;
out_c(tx,0);
// start bit
delay_baud(base);
// Delay for start bit
for(i=0;i<8;i++)
{
out_c(tx,dat & 0x01);
// Send data bit
8-1
soft_serout library (
)
delay_baud(base);
dat=dat>>1;
}
out_c(tx,1);
delay_baud(base);
// Delay for calculate base
// Shift for next bit
// stop bit
// Delay for stop bit
}
// Send More Than 1 byte
void serout_text(char tx,unsigned char *
p) {
while(*p)
{
serout_byte(tx,*p++);
}
}
#endif
8-1
soft_serout library (
)
4
SLCD16x2
A4.1
A4-1.
C
A4.2
soft_serout library
A4.3
.
PX-400
.
MicroCamp
HEX-
.
.
.
ISP-
A4.4
.
A4.5
SLCD16x2.
MicroCamp
SLCD16x2
.
#include <soft_serout.h>
#include <sleep.h>
void main()
{
sleep(1000);
soft_serout_init(9600);
while(1);
}
2
1
1.
2.
1
//
//
//
//
9600 8N1
"MicroCamp" SLCD
; soft_serout.h
sleep.h
.
SLCD16x2.
9600
3.
4.
.
//
“MicroCamp”
:
.
P2
SLCD16x2
.
A4-1
SLCD16x2
5
SLCD16x2
.
h 0xFE
.
.
A5.1
A5-1.
C
.
A5.2
PX-400
HEX-
MicroCamp
.
.
ISP-
A5.3
A5.4
.
SLCD16x2.
SLCD16x2
.
.
#include <sleep.h>
void main()
{
unsigned char i=0;
while (1)
{
sleep(1000);
soft_serout_init(2,9600);
serout_byte(2,0xFE);serout_byte(2,0x00);
//
serout_byte(2,0xFE);serout_byte(2,0xC0);
serout_text(2,"Microcontroller");
sleep(2000);
//
//
//
//
"Microcontroller"
!
serout_text(2,"From");
sleep(500);
//
//
//
5"From"
"
for (i=0;i<9;i++)
{
sleep(200);
}
//
// 9
//
#
for (i=0;i<9;i++)
{
sleep(200);
}
$
for (i=0;i<9;i++)
//
{
serout_byte(2,0xFE);serout_byte(2,0x08); //
sleep(200); serout_byte(2,0xFE);
serout_byte(2,0x0C);
//
sleep(200);
}
%
serout_text(2,"Innovative");
serout_text(2,"Experiment");
//
//
//
1
9600 8N1
"MicroCamp"
1-
// <<<<<<
9
//
//
//
//
//
//
9
"Innovative "
1"Experiment"
2-
}
}
A5-1
SLCD16x2
(
.
)
SLCD16x2.
1
.
2
MicroCamp.
3
(0x80)
Microcontroller.
(0x01)
From.
(0x07)
(0xC0)
(0x85)
4
5From
.
5
From
(0x05)
.
6
(0x08)
.
(0x0C)
From.
7
Innovative
A5-1
2,
Experiment
SLCD16x2
.
(
)
9
MicroCamp
7
.
.
MicroCamp
PC0...PC4
.
5ATmega8.
,
100
1,023
.
.
analog.h.
,
.
1,023
0000H
0
03FFH
.
.
.
(
).
.
+V
TCRT5000
OUT
10k
9-1 :
ZX-03
ND
510
9.1
ZX-03
TCRT5000.
.
,
.
,
.
,
.
,
ZX-03
.
3
0.1
4.8 ,
9.2
8
.
20
1,000.
analog:
analog.h
PC0...PC5.
.
unsigned int analog(unsigned char channel)
channel:
.
P0...P4.
0
1023.
0
4
6
.
,
.
A6.1
analog
A6.2
A6.3
.
.
PX-400
.
MicroCamp
HEXISP-
.
-
A6.5
30 x 30
.
.
A6.4
30
A6-1.
C
.
.
-
30 x
8 7 l MicroCamp : Kvint
#include <stdlib.h>
//
//
#include <analog.h>
#include <motor.h>
#include <sleep.h>
void lcd_command(unsigned char pin,unsigned char command)
{
serout_byte(pin,0xFE);serout_byte(pin,command);
}
int main()
{
unsigned int l_sensor=0,r_sensor=0;
unsigned char dec1[4],dec2[4];
sleep(1000);
//
1
//
9600 8N1
while(1)
{
l_sensor = analog(3);
//
r_sensor = analog(4);
//
utoa(l_sensor,dec1,10);
//
Integer
utoa(r_sensor,dec2,10);
//
Integer
lcd_command(2,0x80);
//
1serout_text(2,"L Sensor=
");
//
1lcd_command(2,0x8A);
serout_text(2,dec1);
//
Ascii
lcd_command(2,0xC0);
//
1serout_text(2,"R Sensor=
");
//
1lcd_command(2,0xCA);
//
Ascii
sleep(300);
}
}
ATmega8
.
A6-1
.
,
Ascii
Ascii
MicroCamp : Kvint l 88
(
A6.6
.
A6.4)
,
.
.
.
L Sensor= 250
R Sensor= 250
L Sensor= 550
R Sensor= 550
:
600
100
(600+100) /2 = 350.
950
300
8 9 l MicroCamp : Kvint
7
.
(1)
:
.
,
(2)
-
:
.
.
,
(3)
-
:
.
.
,
-1
A7-1
-2
-3
#include
#include
#include
#include
unsigned
<in_out.h>
<sound.h>
<analog.h>
<motor.h>
int AD0=350,AD=350;
//
//
void main()
{
SW1
//
while(1)
{
if((analog(3)>AD0)&&(analog(4)>AD1))
forward(100);
if (analog(0)<AD0)
s_left(100);
if (analog(1)<AD1)
s_right(100);
-
//
//
//
//
//
//
-
}
}
A7-1 :
A7.1
.
.
.
.
A7.2
A7-1.
.
A7.3
PX-400
ISP-
.
A7.4
HEX-
MicroCamp
.
.
SW1.
.
.
.
91 l MicroCamp : Kvint
8
7.
,
MicroCamp
2-
.
.
.
,
.
.
A8-1.
A8.1
7.
.
.
2
.
A8-1.
A8.2
.
A8.3
PX-400
ISP-
.
A8.4
HEX-
MicroCamp
.
.
SW1.
.
,
,
.
.
:
.
.
.
.
#include <in_out.h>
#include <sound.h>
#include <analog.h>
#include <motor.h>
unsigned int AD0=350,AD1=350;
unsigned char i=0,j=0;
void main()
{
//
//
//
SW1
//
while(1)
{
if((analog(3)<AD0)&&(analog(4)<AD1))
{
j++;
backward(30);
sleep(10);
motor_stop(ALL);
for (i=0;i<j;i++)
{
sound(2500,100);
sleep(50);
}
forward(100);
sleep(300);
//
//
//
//
//
//
}
if((analog(3)>AD0)&&(analog(4)>AD1))
forward(100);
if (analog(3)<AD0)
s_left(100);
if (analog(4)<AD1)
s_right(100);
}
}
A8-1
.
//
//
//
//
//
//
-
10
.
GP2D120,
.
,
.
10.1
GP2D120
l
4
l
5 ,
4.5
l
30
33
0.4
l
.
2.4
+5
( )
2.8
2.4
2.0
1.6
/2 , 1.2
0.8
Vout GND
Vcc
0.4
0
0
4
8
12
16
20
24
(
*
38.3±9.6 ms
1-
Kodak
n-
2-
90%.
n-
5 ms
10-1 :
* GP2D120
32
R-27.
2-
1-
Vout
28
)
GP2D120,
MicroCamp2.0
,
.
94l MicroCamp : Kvint
3-
GP2D120
:
(Vcc),
(GND)
(Vout).
GP2D120,
32...52.9
0.25
GP2D120
4 ,
0.55 .
.
(
30
+5 )
2.25 ±
0.3 .
10.2
.
,
.
.
.
,
,
.
,
.
.
-
.
,
,
:
(L)
L F
=
A X
,
×A
L= F
X
L
A
,
.
F
GP2D120
X
10.3
GP2D120
GP2D120
, Vout = 0.5
.
6
.
26
,
Vout = 2V
10-1
GP2D120
.
,
.
,
307
8
.
GP2D120™s Vout
10-1:
GP2D120™,
.
9
GP2D120
x2
x2
x4
3x10
x4
3
x4
GP2D120 (
MicroCamp2.0 Standard)
GP2D120
MicroCamp.
,
GP2D120
.
MicroCamp.
.
A9.1
3 x 10
GD2D120,
.
3
.
A9.2
.
,
(
)
A9.3
.
A9.4
.
.
A9.5
.
GP2D120
3 x 10
A9.6
GPD120
P0
3
,
.
P0
.
10
MicroCamp
analog().
GP2D120
GP2D120
:
R = (2933 / (V + 20)) - 1
; RV-
.
0
1,023.
,
A10.1
A10.2
analog
A10.3
A10-1.
.
PX-400
.
HEX-
MicroCamp
.
A10.4
ISP-
A10.5
SLCD16x2.
A10.6
.
GP2D120.
.
,
GP2D120
4
30
.
#include <stdlib.h>
//
//
#include <sleep.h>
//
#include <analog.h>
//
#define m 2933
//
#define b 20
#define k 1
void main()
//
{
unsigned char dec[4],dec2[4];
unsigned int gp2=0,cm=0;
sleep(1000);
ascii
//
//
//
//
1
9600 8N1
while(1)
{
gp2
= analog(0);
//
cm = (m/(gp2+b)) - k;
//
utoa(gp2,dec,10);
//
utoa(cm,dec2,10);
//
serout_text(2,"RAW Data= ");
serout_text(2,dec);
serout_text(2,"Distance= ");
serout_byte(2,0xFE);serout_byte(2,0xCE);
. Ascii
. Ascii
Integer
Integer
//
//
1Ascii
2-
//
//
//
//
//
214-
serout_text(2,"CM");
sleep(500);
}
}
(1)
SLCD16x2.
(2)
P0
.
(m/(gp2+b)) - k.
(3)
(4)
ASCII
(5)
0,5
SLCD16x2.
.
GP2D120,
A10-1 :
SLCD16x2
11
A11-1.
,
A11.1
A11.2
analog
A11.3
.
PX-400
.
HEX-
MicroCamp
.
ISP-
A11.4
.
.
A11.5
.
A11.6
.
8
.
.
,
,
,
.
< 8 cm.
1
2
3
4
#include
#include
#include
#include
#include
<stdlib.h>
<motor.h>
<sleep.h>
<sound.h>
<analog.h>
//
//
//
//
void main()
{
unsigned int sensor=0;
unsigned char i=0;
sleep(200); sound(4000,50);
while(1)
{
sensor=0;
for (i=0;i<5;i++)
{
sensor=(sensor+analog(0));
}
sensor=(sensor/5);
if (sensor>260)
{
backward(50);sleep(800);
s_left(50);sleep(600);
}
else
{
forward(50);
}
}
}
(1)
//
//
GP2D120 5
//
//
//
< 8
?
//
//
.
(2)
GP2D120
.
5
.
(3)
.
320
0.8
8 .
50%.
(4)
.
,
,
320,
(5)
.
A11-1:
GP2D120.
0.6
.
11
8
SLCD.
.
.
-
ER-4.
.
38
.
.
38
ER-4
.
.
11.1
ER-4
l
4
8
l4
.
l
l
.
.
2.4-3.0
AA.
l
RS-232
1200 bps
8N1
+3-5V
K A
IR-LED
"A"
Easy remote4
"B"
"C"
C
B
A
ER-4
3
SW3
V,,
GP1
IC1
ER4-FW
2
R1
1k
Q1
BC338
GP2
GP4
GND
8
(B)
11-1 :
*
5
SW3
"D"
GP0
GP5
6
SW2
D
(A)
7
SW1
2-5V
LED1
IR-LED
1
(C)
ER-4
ZX-IRM 38
Standard.
MicroCamp2.0 Beginner.
11.1.1
ER-4,
1,200 bps
RS-232
8N1.
11-1.
.
A,
A,
a.
B,
B,
b.
C,
C,
c.
D,
D,
d.
.
,
.
,
,
.
11.2
ZX-IRM
(5...10 )
38
38
.
,
.
.
,
38
,
38
“1”.
,
“0”.
0.1uF
50V
3
1
1 Out
3
2
2
3
cc
11-2 :
Out
GND
2 GND
1
Vcc
38
12
3x10
3
x2
x1
x1
A12.1
3x10
ZX-IRM 38
ZX-IRM
3
x1
.
.
nut.
A12.2
.
ER-4.
A12.3
ZX-IRM
IRM
MicroCamp.
IRM
3x10
11.3
C
serial.h file.
,
UART
ATmega8.
uart_set_baud()
uart_get_key().
.
11.3.1
uart_set_baud();
ATmega8.
UART
void uart_set_baud(unsigned int baud)
ER-4
1200
.
: uart_set_baud(1200;
11.3.2
uart_get_key();
1
30
RxD
(timeout).
.
char uart_getkey(unsigned int timeout)
:
key=uart_getkey(20000);
key.
ATmega8.
20,000
13
,
ER-4
A12-1.
,
A12.1
serial.h
A12.2
A12.3
.
PX-400
.
HEX-
MicroCamp
.
ISP-
A12.4
A12.5
2
A12.6
.
AA
ER-4.
.
ZX-IRM
ER-4
MicroCamp.
,
SLCD.
SLCD
.
Yo u Press Key
C
#include
#include
#include
#include
#include
#include
<stdlib.h>
<soft_serout.h>
<sleep.h>
<serial.h>
<sound.h>
<motor.h>
//
//
//
//
//
//
SLCD
unsigned char key,flag=0;
unsigned char dec[4],bin[9];
void main()
{ sleep(1000);
//
//
uart_set_baud(1200);
//
sound(2000,200);
//
serout_text(0,"You Press Key ");
1
9600 8N1
//
//
while(1)
//
{
//
if ((key!=flag)&&(key>0x40)&&(key<0x7F))
//
{
serout_byte(0,0xFE);
serout_byte(0,0x8E);
//
serout_byte(0,key);
flag=key;
}
}
timeout 33
}
2
(1)
1
serial.h
SLCD.
(2)
SLCD 9,600
(3)
.
.
ER-4 1,200
(4)
.
"You Press Key".
(5)
(6)
ER-4.
.
(7)
,
.
A12-1 :
ER-4
C
.
soft_serout.h.
14
12,
MicroCamp
A, B, C, D
a, b, c, d.
ER-4
8
,
ER-4
:
K A
IR-LED
,
+
*
)
-D
-
-A
-
-C
-
a
c
-B
-
d
b
.
serial.h
A13.2
A13.3
.
PX-400
.
MicroCamp
.
A13.4
A13-1.
,
A13.1
ISP-
.
HEX-
#include
#include
#include
#include
#include
#include
unsigned
<stdlib.h>
<soft_serout.h>
<sleep.h>
<serial.h>
<sound.h>
<motor.h>
char key,flag=0;
//
//
//
//
//
//
void main()
{
sleep(1000);
uart_set_baud(1200);
//
//
//
SLCD
1
sound(2000,200);
//
serout_text(0,"Press any IR Key");
//
while(1)
{
//
if ((key=='a')||(key=='A'))
// "A"
{
backward(100);
if (flag!=1)
//
"Backward"
{
serout_byte(0,0xC0);
serout_text(0,"Backward ");
flag=1;
}
}
else if ((key=='d')||(key=='D'))
// "D"
{
forward(100);
if (flag!=2)
//
"Forward"
{
serout_text(0,"Forward
");
flag=2;
}
}
else if ((key=='c')||(key=='C'))
// "C"
{
s_left(100);
if (flag!=3)
//
"Turn Left"
{
serout_text(0,"Turn Left ");
flag=3;
}
}
else if ((key=='b')||(key=='B'))
// "B"
A13-1:
(
)
9600 8N1
timeout 33
{
s_right(100);
if (flag!=4)
{
serout_text(0,"Turn Right");
flag=4;
}
//
}
else
{motor_off();flag=0;}
"Turn Right"
//
}
}
(
A12-1)
.
.
.
(
A13-1:
)
A13.6
.
A13.7
.
ER-4
.
○ ○ ○
○ ○ ○
○ ○ ○
○ ○ ○
○ ○ ○
○ ○ ○
○ ○ ○
.
.

MicroCamp2.0

Transcription

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