IR Remote Controlled Car (PWM motor control using MOSFET H-bridge)

By CC Dharmani
www.dharmanitech.com
(for schematic & more details visit my blog post: IR Remote Controlled Car)
//********************************************************
// *********** PWM DC MOTOR CONTROL with IR *************
//********************************************************
//Controller: ATmega8 (1MHz internal Crystal)
//Compiler:
ICCAVR
//Author:
CC Dharmani, Chennai(India)
//Date:
Dec 2008
//********************************************************
//this program uses two of the three PWM channels (OC1A & OC1B)
//of the ATmega8, for controlling speed & direction of DC motor
//The remote of Sony TV was used for sending IR codes
//***********************************************************************
// ************** HEADER FILE PWM_main.h *****************
//***********************************************************************
#define
#define
#define
#define
#define
#define
#define
#define

DIRECTION_FORWARD !(PIND & 0x20)

DIRECTION_REVERSE (PIND & 0x20)
STOP_MOTOR TCCR1B = 0x00; TCCR1A = 0x00
START_MOTOR TCCR1B = 0x09
set_FORWARD TCCR1A = 0x81
set_REVERSE TCCR1A = 0x21
ENABLE_INT0 GICR |= 0x40
DISABLE_INT0 GICR &= ~0x40

//defining macros for setting minimum and maximum PWM counter values
//and step-size for controlling the voltage applied to MOSFETs base
#define COUNTER_LOWER_LIMIT 0x0070
#define COUNTER_UPPER_LIMIT 0x00f8
#define STEP_SIZE 0x0008

void port_init(void);
void timer0_init(void);
void timer1_init(void);
unsigned int read_IR (void);
void motorControl (unsigned char code, unsigned char address);
void init_devices(void);
void delay_ms(int miliSec);
//***********************************************************************
// ************** SOURCE FILE PWM_main.c *****************
//***********************************************************************
#include <iom8v.h>
#include <macros.h>
#include "PWM_main.h"

//*********************************************************************
// Initializing functions for ports, timer0 & timer1
//*********************************************************************
void port_init(void)
{
PORTB = 0x00;
DDRB = 0x06; //PWM pins OC1A & OC1B defined as outputs
PORTC = 0x00;
DDRC = 0x20; //LED for IR detection indication
PORTD = 0x00;
DDRD = 0x01; //LED, for testing purpose
}
//timer0 init
void timer0_init(void)
{
//8-bit timer for measuring delay between IR pulses
TCCR0 = 0x03; //CLK / 64
TCNT0 = 0; //reset the timer
}
//TIMER1 initialize - prescale:1
//PWM Frequency: 1KHz
void timer1_init(void)
{
TCCR1B = 0x00; //stop
TCNT1H = 0xFC; //setup
TCNT1L = 0x18;
OCR1A = COUNTER_LOWER_LIMIT;
OCR1B = COUNTER_LOWER_LIMIT;
ICR1H = 0x03;
ICR1L = 0xE8;
}
/**************************************************************************
* Interrupt Service Routine for INT0
* Executed whenever a remote code is detected
**************************************************************************/
#pragma interrupt_handler int0_isr:2
void int0_isr(void)
{
unsigned char count, code, address;
unsigned int IR_input;
TCNT0 = 0;
while(!(PIND & 0x04));
count = TCNT0;
if(count < 30) //to verify start pulse (2.4 ms long)
{
delay_ms(20);
ENABLE_INT0;
return;
}
PORTC |= 0x20;

IR_input = read_IR ();

code = (unsigned char) ((IR_input & 0xff00) >> 8);
address = (unsigned char) (IR_input & 0x00ff);
motorControl ( code, address );
PORTC &= ~0x20;
delay_ms(250);
}
//*********************************************************************
//Function to read IR message from the detector
//Return value contains code in upper byte and address in lower byte
//*********************************************************************
unsigned int read_IR (void)
{
unsigned char pulseCount=0, code = 0, address = 0, timerCount;
unsigned int IR_input;
while(pulseCount < 7)
{
while(PIND & 0x04);
TCNT0 = 0;
while(!(PIND & 0x04));
pulseCount++;
timerCount = TCNT0;
if(timerCount > 14)
code = code | (1 << (pulseCount-1));
else
code = code & ~(1 << (pulseCount-1));
}
pulseCount = 0;
while(pulseCount < 5)
{
while(PIND & 0x04);
TCNT0 = 0;
while(!(PIND & 0x04));
pulseCount++;
timerCount = TCNT0;
if(timerCount > 14)
address = address | (1 << (pulseCount-1));
else
address = address & ~(1 << (pulseCount-1));
}
IR_input = (((unsigned int)code) << 8) | address;
return(IR_input);

}
//
****************************************************************************
//Function to control motor speed & direction depending onthe IR code rceived
//Argumets are the code and address values received from IR detector
//
****************************************************************************
void motorControl (unsigned char code, unsigned char address)
{
static unsigned char counter, dir, dir1;
if (address != 1) //detect only TV remote, other signals rejected
return;
if((code == 16) || (code == 17)) //Channel+ or Channel- button is pressed
{
if(code == 16) //Channel+
dir = 0;
else //Channeldir = 1;
if(dir != dir1) //change direction
{
STOP_MOTOR;
delay_ms(500);
if(dir == 0)
set_FORWARD;
else
set_REVERSE;
START_MOTOR;
dir1 = dir;
}
}
if(code == 18) //Volume- button pressed
{
if(counter >= COUNTER_UPPER_LIMIT) //if speed is already maximum, don't do
anything
counter = COUNTER_UPPER_LIMIT;
else
counter += STEP_SIZE; //increase speed by a fixed step
OCR1A = counter;
OCR1B = counter;
}
if(code == 19) //Volume+ button pressed
{
if(counter <= COUNTER_LOWER_LIMIT) //if speed is already minimum, don't do
anything
counter = COUNTER_LOWER_LIMIT;
else
counter -= STEP_SIZE; //reduce speed by a fixed step

OCR1A = counter;
OCR1B = counter;
}
if(code == 9) //'0' button pressed
{
OCR1A = COUNTER_LOWER_LIMIT;
OCR1B = COUNTER_LOWER_LIMIT;
STOP_MOTOR;
}
if(code == 0) //'1' button pressed
{
OCR1A = COUNTER_LOWER_LIMIT;
OCR1B = COUNTER_LOWER_LIMIT;
TCCR1A = 0x81;
START_MOTOR;
}
}
//************************************************************
//*** call this routine to initialize all peripherals
//************************************************************
void init_devices(void)
{
//stop errant interrupts until set up
CLI(); //disable all interrupts
port_init();
timer0_init();
timer1_init();
MCUCR = 0x02;
GICR = 0x40;
TIMSK = 0x00; //timer interrupt sources
SEI(); //re-enable interrupts
//all peripherals are now initialized
}
//************************************************************
//***** FUNCTION FOR SOFTWARE DELAY OF 1 mSEC (appx.) *******
//************************************************************
void delay_ms(int miliSec) //for 1 Mhz crystal
{
int i,j;
for(i=0;i<miliSec;i++)
for(j=0;j<100;j++)
{
asm("nop");
asm("nop");
}
}
//*******************************************************
// ************ MAIN FUNCTION *************
//*******************************************************

void main(void)
{
init_devices();
while(1); //infinite loop, waiting for interrups from IR detector
}
//****************************** END **************************************
//*****
CC Dharmani
*******
www.dharmanitech.com
******