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Đ An Vi X Lý
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O V IU KHIN TC NG C DNG 8051 GVHD:o c Thnh Sinh vin thc hin: Trng Vn Trng Phan Cng Ton
Li ni u Trong nhng nm gn y vi s pht trin mnh m ca khoa hc k thut.c bit ca ngnh cng nghip ch to cc linh kin bn dn,cc cc vi mch tch hp IC mt hng pht trin mi ca Vi x l hnh thnh l Vi iu Khin.Vi nhng u im to ln v tc , chnh xc cao,kh nng s l cc ba ton,tnh linh hot nn cc Vi iu khin c ng dng trn hu ht cc lnh vc trong cuc sng. Bng cch p dng Vi iu Khin trong sn xut v x l,Vi iu Khin thc s th hin c cc u im ca mnh so vi cc thit b thng thng khc. V nhng ng dng to ln ca Vi iu khin,do m cc trng i Hc,Cao ng,TCCN. V khoa hc cng ngh .Mn vi x l tr thnh mt mn hc khng th thiu c trong trng trnh o to.vi iu khin 8051 s cung cp cho sinh vin nhng khi nhin c bn cch thc hot ng ca Vi x l qua sinh vin c t duy ,kin thc nn tng, c th gii quyt cc bi ton ng dng thc t trong cuc sng,cng nh l c s hc tp nghin cu cc dng Vi x l khc nh :PIC,AVR. Qua n ny chng em c ci nhn thc t hn,su sc hn v vi iu khin.chng em cng hiu thm nhiu v cch thc x l mt bi ton thc t phc tp. Vi s hng n tn tnh ca thy:o c Thnh chng em hi vng chng em c th hon thnh tt n ny. Chng em xin chn thnh cm n thy! GVHD:o c Thnh 1
GVHD:o c Thnh
GVHD:o c Thnh
Xung in
ENCODER
S khi ca mch.
II.2.nhim v - chc nng ca tng khi. ng c:ng c in c s dng trong mch l ng c in mt chiu c in p t vo ti a 24V.Trn trc ng c c gn mt a trn c khot cc l trn cho nh sng t led pht quang c th i qua ti con mt thu quang c th o c tc ng c. y chng ta dng ng c DC 12V. Encoder :dng o s vng quay ca ng c v pht hin chiu quoay ca ng c.encoder n s o tc ng c thng qua s lin lc, mt lin lc ca led pht quang v b phn thu quang ri chuyn thnh cc xung in p vung gi ti chn ngt ca Vi X L.
GVHD:o c Thnh
GVHD:o c Thnh
P1.0/T2 P3.0/RXD P1.1/T2-EX P3.1/TXD P1.2 P3.2/INT0 P1.3 P3.3/INT1 P1.4 P3.4/T0 P1.5 P3.5/T1 P1.6 P3.6/WR P1.7 P3.7/RD XTAL1 XTAL2 EA/VPP RST AT89C52 ALE/PROG PSEN
GVHD:o c Thnh
RST
Mch reset tc ng bng tay v s t ng reset li my. - XTAL1 v XTAL2:l hai ng vo v ra ca b khuch i o ca mch giao ng,c cu hnh dng dng nh mt b giao ng trn chp.
GVHD:o c Thnh
Khng c yu cu no v chu k nghin v ca tn hiu xung Clock bn ngoi do tn hiu ny phi qua mch flip-flop chia hai trc khi ti mch to xung bn trong.Tuy nhin cc chi tit k thut v thi gian mc thp v thi gian mc cao,in p cc i ,in p cc tiu cn c xem xt. c.t chc b nh Khng gian b nh ca b vi iu khin c phn chia thnh 2 phn: b nh d liu v b nh chng trnh. Hu ht cc IC MCS u c b nh chng trnh nm bn trong chip, tuy nhin cng c th m rng dung lng ln n 64K b nh chng trnh v 64K d liu bng cch s dng mt s b nh ngoi. Bn trong chip vi iu khin AT89C51 c 128 byte b nh d liu. Khng gian b nh bn trong c chia thnh cc bank thanh ghi, RAM a ch theo bit, RAM dng chung v cc thanh ghi chc nng c bit. 7F FF F0 E0 D0 CD CC F 7 E 7 F 6 E 6 F 5 E 5 F 4 E 4 F 3 E 3 F 2 E 2 F 1 E 1 F 0 E 0 B ACC
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B B B B B B B B P3 7 6 5 4 3 2 1 0 A F A A A A A IE C B A 9 8
6 6 6 6 6 6 F E D C B A 6 6 6 5 6 4 6 3 6 2
2C 6 7
2B 5 5 5 5 5 5 F E D C B A 2 A 29 28 27 26 5 7 5 6 5 5 5 4 5 3 5 2
4 4 4 4 4 4 F E D C B A 4 7 4 6 4 5 4 4 4 3 4 2
3 3 3 3 3 3 F E D C B A 3 7 3 6 3 5 3 4 3 3 3 2
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1 1 1 1 1 1 F E D C B A 1 7 1 6 1 5 1 4 1 3 1 2
0 0 0 0 0 0 F E D C B A 0 7 0 6 0 5 0 4 0 3 0 2
83 82 81
DPH DPL SP 8 7 8 6 8 5 8 4 8 3 8 2 8 1 8 0 P0
00
80
d.cc thanh ghi c bit. AT89C52 c cc thanh ghi R0 n R7 v 21 thanh ghi chc nng c bit SFR (Special Function Register) nm phn trn ca RAM t a ch 80H n FFH.
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- Thanh ghi B: thanh ghi lun c s dng km theo thanh ghi A thc hin cc php ton nhn v chia. Thanh ghi B xem nh l thanh ghi m dng chung. N c a ch t F0 n F7. - Con tr ngn xp: l mt thanh ghi 8 bit, n cha a ch ca phn d liu ang hin din ti nh ngn xp. Ngn xp hot ng theo phng thc LIFO. Hot ng y vo ngn xp lm tng SP ln trc khi ghi d liu vo. Hot ng ly ra khi ngn xp s c d liu ra rI gim SP. - Con tr d liu DPTR(Data Pointer): DPTR c s dng truy cp vo b nh chng trnh v b nh d liu ngoi, l thanh ghi 16 bot c 8 bit thp a ch 82H (DPL) v 8 bit cao a ch 83h (DPL)
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RCAP2L Nhn byte thp ca b nh thi 2 CAH RCAP2 H TL2 TH2 Nhn byte cao ca b nh thi 2 Byte thp ca b inh thi 2 Byte cao ca b nh thi 2 CBH CCH CDH
- Thanh ghi TMOD (Timer Moder Register): Bit 7 6 5 4 3 2 1 0 Tn Timer Chc nng Khi bit Gate=1 v INT1 cao th Timer 1 mi hot ng Bit chn counter/timer (1/0) Bit mode 1 Bit mode 0 Bit GATE ca timer 0 Bit chn counter/timer (1/0) Timer 0 Bit mode 1 ca Timer 0 Bit mode 0 ca Timer 0
GATE 1 C/T M1 M0 1 1 1
GATE 0 C/T M1 M0 0 0 0
Cc bt a ch ca thanh ghi TMOD: Thanh ghi TMOD c chia thnh 2 nhm 4 bit dng truy cp cc ch hot ng ca Timer0 v Timer1. Cc ch hot ng ca b nh thi: GVHD:o c Thnh 14
c.cc ch ca timer v c trn Ch nh thi 13 bit (mode 0): Mode 0 t c s dng trong cc h thng mi. Byte cao ca b nh thi THx c kt hp vI 5 bit c trng s nh nht va byte thp ca b nh thi TLx to nn b nh thi 13 bit. #bit cn li ca TLx khng c s dng.
TLx (5bit) THx (8bit)
TF Ch nh thi 16 bit (mode1): Trong Mode 1, tn hiu ng h c a vo c 2 byte cao v thp ca b nh thi (TLx,THx). Khi nhn xung ng h, b nh thi bt u m ln t GVHD:o c Thnh 15
TLx(8bit)
THx(8bit)
TFx(c trn)
Ch nh thi 8 bt t ng np li (mode 2): Trong Mode 2, thanh ghi nh thi TLx hot ng nh l b dnh thi 8 bit trong khi byte cao ca b dnh thi lu gi tr np li. Khi qu trnh m TLx b trn t FFH v 00H th khng nhng c trn bt ln m gi tr tng THx c np vo TLx, v tip tc qu trnh m t gi tr ny ti khi xy ra s chuyn i tip theo t FFH v 00H.
Timer Clock
TLx(8bit)
TFx(c trn)
THx(8bit)
Ch nh thi phn chia (mode 3): Timer 0 trong mode 3 c chia thnh 2 b nh thi 8b bit. TL0 v TH0 hot ng nh 2 b nh thi ring r v s dng cc c trn tng ng l TF0,TF1. Timer 1 trong mode 3 ngng lm vic nhng c th hot ng bng cch chuyn n sang mt trong mode khc. iu hn ch duy nht l c trn ca Timer mode khng b nh hng khi xy ra trn Timer1, bi v n c ni n TH0
Timer Clock
TL1(8bit) TL0(8bit)
Timer Clock
1/12 FOSC
TH0(8bit)
TF1(c trn)
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ISR
C ch thc hin ngt b.t chc ngt. AT89C51 c tt c 6 nguyn nhn ngt: hai ngt do bn ngoi, ba ngt do b nh thi, mt ngt do port ni tip. Tt c cc ngt u b cm sau khi h thng khi ng (reset) sau chng c cho php bng phn mm. c. u tin ngt. Mi mt ngun ngt c th c lp trnh t c mt trong 2 mc u tin thng qua thanh ghi chc nng c bit c a ch bit IP tI 0B8H. Thanh ghi GVHD:o c Thnh 17
Thanh ghi IE. Cc bt trong thanh ghi IP (thanh ghi iu khin u tin ngt): Bit IP.7 IP.6 IP.5 IP.4 IP.3 IP.2 IP.1 IP.0 K hiu PY2 PS PT1 PX1 PT0 PX0 a bit BDH BCH BBH BAH B9H B8H ch M t Khng nh ngha Khng nh ngha u tin cho ngt Timer 2 u tin cho ngt cng nI tip u tin cho ngt Timer 1 u tin cho ngt ngoi 1 u tin cho ngt Timer 0 u tin cho ngt ngoi 0 18
GVHD:o c Thnh
d.c ch la chn tun t. Nu c 2 ngt cng mc u tin xy ra ng thi, mt c ch chn la theo th t c sn s xc nh ngt no c p ng trc. Vic chn la theo th t l: External 0, Timer 0, External 1, Timer 1, Serial Port, Timer 2. Qu trnh x l ngt: Khi mt ngt xut hin v n c CPU chp nhn, chng trnh chnh b ngng, cc hot ng tip theo xy ra nh sau: + Thc hin xong lnh hin hnh + B m chng trnh PC c lu vo trong Stack + Lu gi tnh trng ca ngt hin ti + Cc ngun ngt c gi ti mc ca ngt hin ti + Nap vo PC a ch Vector ca ISR + ISR thc hin ISR hot ng p ng li yu cu ngt. ISR kt thc bng lnh RETI c tc dng quay tr v chng trnh chnh, lnh ny s np li gi tr c ca PC trong ngn xp v khi phc tnh trng ca ngt c. Vic thc hin chng trnh chnh tip tc din ra ti ni n tm dng. e.vector ngt. Khi mt ngt c chp nhn th gi tr np vo PC gi l vect ngt. N chnh l a ch bt u ca ISR tng ng vi ngt c chp nhn. * Hm ngt: Void tenhamngat(void) interrupt ngun ngt { // Chng trnh ngt y } GVHD:o c Thnh 19
nguyn l hot ng. Khi ng c quoay vi tc n(vong/pht) th bnh rng cng quoay vi tc n(vong/phut) th t thng ca nam chm vnh cu gi qua cun dy s bin thin.lm xut hin trn hai cun dy mt sc in ng E c tn s ph thuc vo tc quoay ca bnh rng. n = 60f/p hoc n=60f/N Trong : p:s rng trn bnh rng hay s l. n :tc ca c (vong/phut). N:s xung/vng ca encoder. f :tn s ca sc t ng to ra trn hai u cun dy. Ch cn o c tn s xung f ny ta c th xc nh c tc ca ng c. GVHD:o c Thnh
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Cu to trong ca encoder tng i. Nguyn tc hot ng. - to m xung th mi b ENCODER s s dng hai led pht v tng ng l hai b tch sng (hai con mt thu) .hai led c t sao cho hai tn hiu ra c pha vung gc nhau xc nh chiu quoay ca a(tng ng vi chiu quoay ca ng c).
Tc quoay ca a c xc nh nh vo tn s ca tn hiu.chiu c xt bng cch xem tn hiu no sm pha hay mun pha hn.
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B encoder trong thc t gn trn ng c thng c 4 dy trong : - Dy :l dy ngun 5V. - Dy xanh l :GND - Dy vng v dy trng l hai tn hiu lch pha nhau 90 dng o tc ng c.
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V led 7 on cha bn trong n cc led n, do khi kt ni cn m bo dng qua mi led n trong khong 10mA-20mA bo v led. Nu kt ni vi ngun 5V c th hn dng bng in tr 330 trc cc chn nhn tn hiu iu khin. S v tr cc chn c b ch nh sau:
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III.4.mch cu H.
III.4.1.nguyn l hot ng ca mch cu H Mt mch cu H dn gin c dng nh s sau:
Theo s trn ta mch cu H gm c: - Dy cp ngun +V. - Dy cp mass GND. - 4 kha ng m. Khi kha A1 v A2 ng th dng chy t ngun +V qua A1,MOTOR,A2 => ng c chy thun. GVHD:o c Thnh
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y ta xt: A,Bx = 1l ng cng tc. A,Bx = 0 l m cng tc. T bng trn ta nhn thy,cu H ch dng vi 4 trng thi u tin.V vy khi s dng cn thit phi trnh cc trng thi khng mong mun. Mch cu H chng ta dng iu khin chiu quoay ca ng c .C rt nhiu loi mch cu H khc nhau nh:mch cu H bn dn,mch cu H tch hp.mch cu H dng rle III.4.2.gii thiu v L298 (IC mch cu H). IC L298 l mch tch hp n chip c kiu v cng sut 15 chn (multiwatt 15) v POWERSO20 (linh kin dn cng sut). IC L298 l mt mch cu i (dual full- bridge ) c kh nng hot ng in p cao,dng cao. in p cp ln ti 46V Tng dng mt chiu chu c ti 4A in p bo ha Chc nng bo v qu nhit Logic 0 t 1.5V tr xung 27
GVHD:o c Thnh
Dng ng v ca L298.
Cc gi tr c trng:
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s chn Chc nng cc chn. MW.15 powerSO Tn 1,15 2,19 senseA ,senseB 2,3 4,5 Out 1,out 2 4 6 VSS
cu trc bn trong
5,7 6,11
7,9 8,14
8 9 10,12
Chc nng Chn ny qua in tr cm ng dng xung GND iu khin dng ti Ng ra ca cu A,dng ca ti mc gia hai chn ny c quy nh bi chn 1. Chn cp ngun cho tng cng sut.cn c mt t in 100nF ni gia chn ny vi chn GND Chn ng vo ca cu A,tng thch chun TTL. Chn ng vo enable(cho php) tng thch chun TTL.mc thp chn ny s cm ng ra cu A (i vi chn enableA)hoc cu B (vi enableB). Chn t (ground) Cp ngun cho khi logic,cn 1 t 100nF ni gia chn ny vi GND. Cc chn ng vo cu B 29
GVHD:o c Thnh
Cu to bn trong ca ng c in mt chiu. ng c in mt chiu l ng c in hot ng vi dng in mt chiu. Cu to ca ng c gm c 2 phn: stato ng yn v rto quay so vi stato. Phn cm (phn kch t-thng t trn stato) to ra t trng i trong mch t, xuyn qua cc vng dy qun ca phn ng (thng t trn rto). Khi c dng in chy trong mch phn ng, cc thanh dn phn ng s chu tc ng bi cc lc in t theo phng tip tuyn vi mt tr rto, lm cho rto quay. Chnh xc hn, lc GVHD:o c Thnh 30
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Mch ny s dng: - Mt IC n p LM 7805. - Mt led n :bo trng thi c ngun. - 4 t:chng nhiu v san phng in p
IV.2.encoder
Khi tai sng t led hng ngoi chiu vo chn B ca transistor quang lm ni tr Rce ca transistor gim mc 0 c a vo chn dng (+) ca OPAM lc my u ra ca b khuch i thut ton l 0. a m ha c gn trn trc ng c dn ti khi ng c quoay c lc a s chn tia sng chiu t led quang ti chn B ca transistor lm cho ni tr Rce ca transistor tng ln a in p dng (5V) vo chn dng (+) ca OPAM lm cho u ra ca b khuch i l mc dng. Bin tr:R9 to in p so snh.
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IV.3.mch VK 89c51.
S nguyn l
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V.1.tnh ton tham s. V.1.1.tnh ton gi tr np vo cho timer0 v timer1. a. Phn tch la chn phng n o tc bng encoder: phng n 1:Tnh s cnh sung trong khong thi gian Ts (sampling time) suy ra vn tc trung bnh ca ng c (Pulse/Ts). phng n 2:Tm thi gian sut hin hai cnh xung lin tip ca encoder t c th suy ra vn tc trung bnh ca ng c.
b.Phn tch la chn phng n: Phng n 1: - S dng phng n ny ta cn mt timer nh thi gian ly mu v mt counter dm s xung. - Nu s dng phng n 1 s b gii hn v mt p ng do encoder gy ra (s xung qu ln,trn counter/hoc encoder c phn gii thp th thi gian ly mu Ts phi ln gim thiu sai s o c) Phng n 2: Nu dng phng n ny GVHD:o c Thnh 35
Timer 0 encoder
Ts
TF=1
Counter 1
Hnh 1.s c tc t encoder. - S dng Timer 1 ch 1 dng lm counter m s xung cnh ca encoder. - S dng timer 0 nh thi gian ngt (Ts) thi gian ny c lp trnh c th thay i ty vo mc ch , ca ngi s dng.nhng chng ta nn chon Ts sao cho vic tnh ton tc ng c l n gin nht: Ta c:
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Ts
Ts (s) nn tn s xung l f=1/T count 60 f 60.count Suy ra: c tc ng c l: n (vong/giay) N N .Ts
Th ta c chu k ca xung l : T
khi tc ng c ch n gin l :
n=count (vong/giay). Vy l by gi chng ta ch vic hin th con s count ln thit b hin th (trong n ny th thit b hin th l led 7seg)
Trong bi ny chng em dng encoder N = 100xung/vong.nn t biu thc trn ta c:
60 1 Ts=0.6 (s). 100.Ts
Suy ra s nhp cn cho VK (c tn s thch anh f=12MHz) trong thi gian 0.6(s) l:
0.6 600000 =12.50000 >65536 do ta np cho cc thanh ghi TH0 v 106
TL0 ca vi iu khin gi tr:65536-50000=15536D=3C0B H TH0=0x3C v TL0=0xB0. V cn cho VK chy lp li 12 ln m bo T=12.500000. 10 6 =0.6 (s).
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0v
T
Trong :T1 l khong thi gian xung mc cao 5V T l chu k ca xung. Xung % tc l T1/T= %= /100.
- Xung PWM s c a ra iu khin L298 thng qua rng xung.khi khng c xung ng c khng quoay,khi 100% xung th ng c quoay max.tuy xung phi ln hn mt mc no mi khi ng ng c. - c th thay i 10 cp vi chu k T=1000us th ta phi khi to cho ngt timer2:100us ngt 1 ln . - S dng timer2 vi ch t np 16bit th ta phi np cho RCAP2H;RCAP2L cc con s :65536-100=65436=FF9C H. RCAP2H=0xFF v RCAP2L=0x9C. V.1.3.mt s tnh ton khc. - Do cng P0 ca vi iu khin 89C52 c dng
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start
Khi to: -timer 0:ch 16bit (50.000us). -timer2 :ch 16bit. - timer 1:ch count1 16 bit
2
Kim ta mt n
QT
QN
TT
GT
STOP
TR2=1
PWM
Tin hieu K ng C
ng c
END
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Xung encoder
Count 1
Ngt timer0
Dem ++
Dem ==12
Hien thi
b.cc lu chng trnh con v cc hm chc nng. Chng trnh to tr: Delay(long time)
Long k=0
S K++==time
GVHD:o c Thnh
exit
41
Khoitao(void)
P3=0xFF TMOD=0x51 IE=0xAA TR0=1 TR1=1 TH0=0x3C TL0=0xB0 T2CON=0x04 RCAP2H=0xFF RCAP2L=0x9C ET2=1 EA=1 TR2=1
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Qoay thuan(void)
P1.2==0
Return phantramxung
Note:P1.5 v P1.6 l cc chn iu khin sng led thng bo l ang chy thun hay chy nghch.
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Quoay nguoc(void)
P1.4==0
Return phantramxung
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Dung(void)
P1.3==0
Return phantramxung
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Phantramxung >0
P1.0==0
P1.0==0
Phantramxung ++
Phantramxung >9
Phantramxung=10
Return phantramxung
GVHD:o c Thnh
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Hm gim tc :
giamtoc
P1.1==0
P1.1==0
S
Phantramxung --
Phantramxung <=1
Phantramxung=1
Return phantramxung
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X=0
P0=0x40;break
X=1
P0=0x79;break
X=2
P0=0x24;break
X=3
P0=0x30;break
X=4
P0=0x19;break
X=5
P0=0x12;break
X=6
P0=0x02;break
X=7 X=8
P0=0x78;break
P0=0x00;break
P0=0x10;break
return
48
int a,b,c,d,e; n=m*255+n e=n/10000; n=n-10000*e a =n/1000 n=n-1000*a b=n/100 n=n-100*b c=n/10 n=n-10*c d=n P3.0=1 Chuso(a);delay(1);P3.0=0 P3.1=1 Chuso(b);delay(1);P3.1=0 P3.2=1 Chuso(c);delay(1);P3.2=0 P3.3=1 Chuso(d);delay(1);P3.3=0 GVHD:o c Thnh 49
ISR_timer0
Dem==12
TR0=TR1=1
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ISR_timer2
TR2=TF2=0 chay++
Chay<=phantramxung
P2=xung
P2=0
Chay==10
S
Chay=0
TR2=1
Note:khi chy thun th P2.0=1 <=> xung=0x01 cn khi chy ngc th P2.1=1<=>xung=0x02. GVHD:o c Thnh 51
**********************************************************/
#include <REGX52.H> int count1=0,count2=0; int dem=0; long k; void khoitao(void){// Ham khoi tao P3=0xFF; TMOD=0x51; IE=0xAA; TR0=1; TR1=1; TH0=0x3C; TL0=0xB0; //T2MOD=0xc9;//Timer 2 che do 2 8 bit auto reload,tine1 16 bit T2CON=0x04; //timer 2 o che do tu nap 16 bit va nap boi RCAPL2 GVHD:o c Thnh
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if(chay==10) chay=0; // Neu dem du 10 thi gan lai bang 0 de bat dau chu ki
/*********** cac ham dung de hien thi len leg **************/ void chuso(unsigned char x){// Ham dua du lieu ra PORT switch(x){ // Tuy thuoc vao bien dau vao ma dua du lieu ra tu 0...9 //logic 1 tat led, logic 0 bat led case 0: { P0=0x40; break; } // So 0 case 1: { P0=0x79; break; } // So 1 case 2: { P0=0x24; break; } // So 2 case 3: { P0=0x30; break; } // So 3 case 4: { P0=0x19; break; } // So 4 case 5: { P0=0x12; break; } // So 5 case 6: { P0=0x02; break; } // So 6 case 7: { P0=0x78; break; } // So 7 case 8: { P0=0x00; break; } // So 8 case 9: { P0=0x10; break; } // So 9 } GVHD:o c Thnh 57
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VI.2.ng dng v phng hng pht trin. 1.ng dng. Mch o v iu khin tc ng c dng xc nh tc ng c mt chiu t C th: - Bit tnh trng hot ng ca ng c.pht hin ng c c chy theo ng thit k ban u khng bit c ng c c b hng hc hay khng. GVHD:o c Thnh 60
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