[마이크로프로세서](181120)

Servo contorol

#include <mega128.h>
#include <delay.h>
#include <stdio.h>
#include "lcd.h"
 
/* SERVO */
// TCCR3A = 10101010 // COM3A[1,0], COM3B[1,0], COM3C[1,0]
// TCCR3B = 00011010 // WGM[1,1,1,0], CS[0,1,0]
// WGM[1,1,1,0] : Fast PWM, TOP = ICR3
// OCR3A = 3000; // COMP = 1.5[msec]
// ICR3 = 40000;  // TOP = 20[msec]
/* SERVO */
 
void Init_TImer3A(void)
{
    TCCR3A = 0xAA;
    TCCR3B = 0x1A;
    OCR3AH = 3000>>8;
    OCR3AL = 3000&0xff;
    DDRE = 0x08;
    ICR3H = 39999>>8;
    TCR3L = 39999&0xff;
}
 
void Servo_motor(int angle)
{
    OCR3AH = (angle*18+3000)>>8;
    OCR3AL = (angle*18+3000)&0xff;
}
 
void main(void)
{
    Init_TImer3A();
 
    while(1)
        {
            Servo_motor(45);
            delay_ms(2000);
            Servo_motor(0);
            delay_ms(2000); 
            Servo_motor(-45);
            delay_ms(2000);
            Servo_motor(0);
            delay_ms(2000);
        }
}

Infrared contorol

#include <mega128.h>
#include <delay.h>
#include <io.h>
#include "lcd.h"
 
/* ADC */
/*
    ADCSRA = 0b11101111
    Bit 7 : ADEN, ADC Enable
    Bit 6 : ADSC, ADC Start Conversion(AD 변환시작)
    Bit 5 : ADFR, ADC Free Running Select(ADC 프리러닝) -> 1일 때, 프리러닝
    Bit 4 : ADIF, ADC Interrupt Flag
    Bit 3 : ADIE, ADC Interrupt Enable
    Bit 2~0 : ADPS, ADC Prescaler Bits     // (/128)

    ADMUX = (1<<REFS1)|(1<<REFS0)
    REFS1~0 : REF 전압 선택 -> [1,1]내부전압 2.56V
    ADC 정렬방향 선택 -> 우측정렬 0
    UX 4~0 : ADC핀 선택(이득도 선택가능) -> 가변저항은 ADC0

    ADCW = ADCH + ADCL // ADC 변환 값을 저장
*/
/* ADC */
 
interrupt [ADC_INT] void adc_isr(void)
{
    LCD_pos(0,0);
    
}
 
void AD_Init(void)
{
    ADMUX |= (1<<REFS1)|(1<<REFS0);
    ADCSRA |= 0xEF;
}
 
void LCD_Decimal(short AD_dat)
{
    unsigned char Decimal[5];
    Decimal[4] = '0'+ AD_dat/10000;
    AD_dat = AD_dat%10000;
    Decimal[3] = '0' + AD_dat/1000;
    AD_dat = AD_dat%1000;
    Decimal[2] = '0' + AD_dat/100;
    AD_dat = AD_dat%100;
    Decimal[1] = '0' + AD_dat/10;
    AD_dat = AD_dat%10;
    Decimal[0] = '0' + AD_dat/1;    
    
    LCD_pos(0,0);
    LCD_STR("Result:");    
    
    LCD_pos(0,8);
    LCD_Data(Decimal[4]);
    LCD_pos(0,9);
    LCD_Data(Decimal[3]);
    LCD_pos(0,10);
    LCD_Data(Decimal[2]);
    LCD_pos(0,11);
    LCD_Data(Decimal[1]);
    LCD_pos(0,12);
    LCD_Data(Decimal[0]);
     
    LCD_pos(1,0);
    LCD_STR("Distance:");
                   
    LCD_pos(0,10); 
      
    if(508<AD_dat){LCD_STR("under");}
    else if(460<AD_dat && AD_dat<=508){LCD_STR("20cm");}
    else if(390<AD_dat && AD_dat<=460){LCD_STR("25cm");} 
    else if(352<AD_dat && AD_dat<=390){LCD_STR("30cm");}
    else if(294<AD_dat && AD_dat<=352){LCD_STR("35cm");} 
    else if(266<AD_dat && AD_dat<=294){LCD_STR("40cm");}
    else if(237<AD_dat && AD_dat<=266){LCD_STR("45cm");} 
    else if(215<AD_dat && AD_dat<=237){LCD_STR("50cm");}
    else if(198<AD_dat && AD_dat<=215){LCD_STR("55cm");} 
    else if(180<AD_dat && AD_dat<=198){LCD_STR("60cm");}
    else if(174<AD_dat && AD_dat<=180){LCD_STR("65cm");} 
    else if(158<AD_dat && AD_dat<=174){LCD_STR("70cm");}
    else if(151<AD_dat && AD_dat<=158){LCD_STR("75cm");} 
    else if(137<AD_dat && AD_dat<=151){LCD_STR("80cm");}    
    else if(124<AD_dat && AD_dat<=137){LCD_STR("90cm");}
    else if(112<AD_dat && AD_dat<=124){LCD_STR("100cm");} 
    else if(105<AD_dat && AD_dat<=112){LCD_STR("105cm");}
    else if(102<AD_dat && AD_dat<=105){LCD_STR("110cm");}  
    else if(96<AD_dat && AD_dat<=102){LCD_STR("120cm");} 
    else if(89<AD_dat && AD_dat<=96){LCD_STR("130cm");}
    else if(83<AD_dat && AD_dat<=89){LCD_STR("140cm");} 
    else if(78<AD_dat && AD_dat<=83){LCD_STR("150cm");}
    else if(AD_dat<=78){LCD_STR("over");}
}
 
void main(void)
{
    AD_Init();
    Port_Init();
    LCD_Init();
    
    SREG = 0x08;
 
    while(1)
        {
           LCD_Decimal(ADCW);
        }
}