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y = angle; // Update the state estimate // x = A * x + B * u x_00 += (A_01 * x_10) + (B_00 * u); // Compute the innovation -- error between measured value and state // inn = y - c * x inn_00 = y - x_00; // Compute the covariance of the innovation // s = C * P * C' + Sz s_00 = P_00 + Sz; // Compute AP matrix for use below // AP = A * P AP_00 = P_00 + A_01 * P_10; AP_01 = P_01 + A_01 * P_11; AP_10 = P_10; AP_11 = P_11; // Compute the kalman gain matrix // K = A * P * C' * inv(s) K_00 = AP_00 / s_00; K_10 = AP_10 / s_00; // Update the state estimate // x = x + K * inn x_00 += K_00 * inn_00; x_10 += K_10 * inn_00; // Compute the new covariance of the estimation error // P = A * P * A' - K * C * P * A' + Sw APAT_00 = AP_00 + (AP_01 * A_01); APAT_01 = AP_01; APAT_10 = AP_10 + (AP_11 * A_01); APAT_11 = AP_11; KCPAT_00 = (K_00 * P_00) + (K_00 * P_01) * A_01; KCPAT_01 = (K_00 * P_01); KCPAT_10 = (K_10 * P_00) + (K_10 * P_01) * A_01; KCPAT_11 = (K_10 * P_01); P_00 = APAT_00 - KCPAT_00 + Sw_00; P_01 = APAT_01 - KCPAT_01; P_10 = APAT_10 - KCPAT_10; P_11 = APAT_11 - KCPAT_11 + Sw_11; // Output return = x_00; } 66 4.1.3 ;iFÿ͓QKFiFWK{QJV͙YjKRjQFK͑QKE͡O͕F Kalman &iFWK{QJVӕFӫDEӝOӑF.DOPDQOjNKiFQKDXÿӕLYӟLQKӳQJKӋWKӕQJNKiFQKDX &K~QJÿѭӧF[iFÿӏQK FKӫ\ӃXEҵQJNӃWTXҧÿRÿҥF WKӵFQJKLӋP NK{QJWKӇGQJPӝW SKѭѫQJSKiSWRiQKӑFQjRWtQKUDÿѭӧF %ӝOӑF.DOPDQiSGөQJFKRKӋWKӕQJFҧPELӃQJӗPDFFHOHURPHWHUYjJ\URVFRSH GQJWURQJÿӅWjL FyQKӳQJWK{QJVӕÿѭӧF[iFÿӏQKQKѭVDX - WKӡLJLDQOҩ\PүXGW = െA_01 = B_00 - SKѭѫQJVDLQKLӉXÿROѭӡQJ5 = 0.3 rad = 17.2o - SKѭѫQJVDLQKLӉXTXiWUuQK Q angle = 0.0001 Q gyro = 0.0003 9jÿk\OjNӃWTXҧWKXÿѭӧFWӯEӝOӑF.DOPDQÿѭӧF[k\GӵQJWKHRFiFWK{QJVӕ QKѭWUrQ +uQK2 %ӝOӑF.DOPDQ KRjQFKӍQK 7URQJÿy ŷWtQKLӋXWӯFҧPELӃQJLDWӕF accelerometer ŷ WtQKLӋXJyFQJKLrQJVDXNKLTX\ÿәL ŷ WtQKLӋXWӯFҧPELӃQ con quay KӗLFKX\ӇQgyroscope ŷ WtQKLӋXJyFQJKLrQJVDXNKLOӑF 67 4.2. &KѭѫQJWUuQKJLiPViWGQJSKҫQPӅPLabVIEW [7] [8] 4.2.1 .L͋PWUDYj[͵OêWtQKL͏XF̫PEL͇Q +uQK3 *LDRGLӋQ[ӱOêWtQKLӋXGQJ.DOPDQWUrQLabVIEW 7tQKLӋXFҧPELӃQÿѭӧFATmegaWUX\ӅQOrQLabVIEWTXDFәQJ56VDX ÿyÿѭӧFOӑFEҵQJEӝOӑF.DOPDQ +uQK4 6ѫÿӗNKӕL[ӱOêWtQKLӋXGQJ.DOPDQWUrQLabVIEW 68 ĈӇ WUX\ӅQ QKұQGӳOLӋXTXDFәQJ&20FKѭѫQJWUuQKJӗPNKӕL9,SAFKtQK - 9,6$&RQILJXUH6HULDO3RUWGQJNKDLEiRFiFWK{QJVӕJLDRWLӃSQKѭGDWDELW time out, stop bit, VISA resource name (WrQFәQJ&20). +uQK 4.5 KKӕL9,9,6$&RQILJXUH3RUW - VISA 5HDGGQJÿӑFGӳOLӋXYӅWӯFәQJ&20E\WHFRXQWVӕE\WHÿӑFYӅ +uQK6 KKӕL9,9,6$5HDG - V,6$:ULWHGQJJKLGӳOLӋX[XӕQJFәQJ&20ZULWHEXIIHUGӳOLӋXFҫQJKL [XӕQJ&20 +uQK 4.7 KKӕL9,9,6$:ULWH +jPFҳWFKXәLNêWӵYjFKX\ӇQWKjQKVӕQJX\rQWҥRWKjQKPӝWPҧQJ +uQK 4.8 KKӕL6SUHDGVKHHW6WULQJ7R$UUD\ Code WKXұWWRiQ .DOPDQÿѭӧFYLӃWWURQJKjP0DWKscript Node: +uQK 4.9 6ѫÿӗNKӕL0DWKscript Node 69 4.2.2 *LiPViWWU̩QJWKiLKR̩Wÿ͡QJFͯDQuadrocopter QuadrocopteUNKLKRҥWÿӝQJFҫQÿѭӧFJLiPViWFiFWK{QJVӕWӕFÿӝ FӫD 4ÿӝQJ FѫYjhai JyFQJKLrQJpitch, roll. +uQK 4.10 *LDRGLӋQJLiPViWWUҥQJWKiLQuadrocopter *LDRGLӋQKLӇQ WKӏÿѭӡQJFKkQ WUӡL ÿѭӧFJLҧ OұSQKѭ WURQJEXӗQJ OiL WKӵF FӫD Pi\ED\%rQFҥQKOjÿӗWKӏOѭXOҥLFiFJLiWUӏJyFÿmWKHRG}LWUѭӟFÿy .KLJyF\DZÿѭӧFJLiPViWFyWKӇGQJWKrPNLPODEjQÿӇFKӍWKӏKѭӟQJ7X\ QKLrQ JLiP ViW QKѭ Yұ\ FNJQJ NKy ÿӇ QJѭӡL GQJ Fy WKӇ KuQK GXQJ WUҥQJ WKiL FӫD QuadURFRSWHUPӝWFiFKWUӵFTXDQ 70 9ұ\QrQWDFҫQ Fy WKrPPӝWJLDRGLӋQJLiPViW': +uQK 4.11 *LDRGLӋQJLiPViWWUҥQJWKiLQuadURFRSWHUEҵQJKuQKҧQK' *LDRGLӋQJLiPViWYӟLKuQKҧQK'Qj\FKRQJѭӡLGQJPӝWFiLQKuQWUӵFTXDQ KѫQYӅWUҥQJWKiLWKӵFFӫDQuadrocopter. +uQKҧQKKLӇQWKӏWUrQJLDRGLӋQVӁWKD\ÿәLWKHRWӯQJWUҥQJWKiLFӫDP{KuQKTXD ÿyWKӇKLӋQÿҫ\ÿӫFiFWK{QJVӕJyFUROOSLWFK\DZ WѭѫQJTXDQWӕFÿӝJLӳDÿӝQJ FѫYjKѭӟQJGLFKX\ӇQFӫDP{KuQK 71 +uQK 4.12 Block Diagram cKѭѫQJWUuQKJLiPViWWUҥQJWKiL 7URQJFKѭѫQJWUuQKWUrQFyKDLNKӕi sub VI: - .K͙L 6XE VI Artificial Horizon ÿLӅX NKLӇQ KLӇQ WKӏ JyF ED\ 3LWFK/Roll EҵQJ KuQKҧQKÿѭӡQJFKkQWUӡL +uQK 4.13 &KѭѫQJWUuQKNKӕL$UWLILFial Horizon 72 - KK͙L6XE9,'3LFWXUH:ÿLӅXNKLӇQKLӇQWKӏ WUҥQJWKiLQuadURFRSWHUEҵQJKuQK ҧQK' +uQK4.14 &KѭѫQJWUuQKNKӕL'3LFWXUH 3KҫQFRGH0DWKVFULSWNode GQJÿӇWtQKWRiQYjOӵDFKӑQKuQKҧQKKLӇQWKӏ 1JRjLUDWrong LabVIEW czQ FyFKӭFQăQJKLӇQWKӏP{KuQKYұWWKӇ 3D.KӕL P{KuQKÿѭӧFWKLӃWNӃWUrQ6ROLGZRUNVVDXÿyÿѭӧFÿѭD YjRKLӇQWKӏWUrQ LabVIEW. +uQK5 0ӝWFKѭѫQJWUuQK/DE9,(:KLӇQ WKӏP{KuQK YұWWKӇ3D 1KyPVӁWLӃSWөFQJKLrQFӭXWuPKLӇXYӅFKӭFQăQJQj\WURQJQKӳQJSKiWWULӇQ WLӃSWKHRFӫDÿӅWjL 73 4.3. .ӃWTXҧWKӵFQJKLӋP YjQKұQ[pW 4.3.1 ĈiSͱQJO͹Fÿ̱\FͯD(6&± Motor 90o E-4 Motor E-4 Motor E-4 Motor Scale 1Kg Balance Thrust +uQK16 0{KuQKNLӇPWUDOӵFÿҭ\ÿӝQJFѫ 7URQJP{KuQKNLӇPWUDOӵFÿҭ\ Qj\NӃWTXҧQKұQÿѭӧFGӵDYjRÿӝWKD\ÿәLNKӕL OѭӧQJFӫD YұWQһQJ.JÿRÿѭӧFӣ FkQÿLӋQWӱOӵFÿҭ\ FiQKTXҥW FjQJOӟQNKӕLOѭӧQJ ÿRÿѭӧF JLҧPÿLFjQJQKLӅX ĈӇFyNӃWTXҧÿRFKtQK[iFWKuWUөFFӫDÿӝQJFѫSKҧLWUQJYӟLSKѭѫQJFӫDWUӑQJ OӵFQJKƭDOjJyFFӫDGk\WUHRYұWQһQJYjkhung Quadrocopter SKҧLEҵQJo. 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[2] Tommaso Bresciani, Modelling, Identification and Control of a Quadrotor Helicopter, Lund University, Sweden, 10/2008. [3] 1JX\ӉQĈuQK+ӧL/r7KDQK/RQJ1JX\ӉQ1JӑF7X\ӅQĈӛ$QK7KѭѫQJ ĈһQJ $QK 7~ 7KL͇W N͇ FK͇ W̩R P{ KuQK ED\ 4XDGURWRU ĈҥL KӑF &{QJ QJKLӋS+j1ӝL [4] 6WHIiQ %DOGXUVVRQ BLDC Motor Modelling and Control ± A Matlab/Simulink Implementation, Chalmers University, Sweden, 05/2005. [5] 0DL9ăQ1DP/r1JX\rQ%uQK+RjQJ4XDQJ0LQK7Ut1JKLrQFͱXWKL͇W N͇ FK͇ W̩R [H W͹ FkQ E̹QJ ÿ͡QJ ĈҥL KӑF 6ѭ SKҥP .ӻ WKXұW 73+&0 07/2009. [6] 0DL7XҩQĈҥW;HKDLEiQK W͹FkQE̹QJGLFKX\͋QWUrQÿ͓DKuQKSK̻QJĈҥL KӑF%iFKNKRD73+&0. [7] Prentice Hall, LabVIEW for Everyone: Graphical Program Made Easy and Fun, Third Edition, 27/07/2006. [8] National Instruments, LabVIEW Basics I & II Course Manual version 6.0, 09/2010. [9] RC Groups, Quadrocopter and Tricopter Info Mega Link Index, 12/2010. URL [10] Starlino, A Guide To using IMU (Accelerometer and Gyroscope Devices) in Embedded Applications, 12/2010. URL [11] SparkFun Electronics, Help with implementing Kalman filter for IMU 5?, 09/2010. URL [12] &kXOҥFEӝ0{KuQK. URL [13] MikroKopter, 01/2011. URL https://www.mikrocontroller.com/ [14] Multicopter Wiki, Multicopter Table, 12/2010. URL [15] Machine Intelligence Laboratory, Generating PWM signals using Timers in the ATmega chip, 08/2010. URL 87 3+Ө/Ө&A BҦN VӀ 0Ð+Î1+0È<%$<QUADROCOPTER 88 3+Ө/Ө&%V,Ĉ,ӄ8.+,ӆ1ATMEGA128 <rXFҫXFӫDKӋWKӕQJÿLӅXNKLӇQOjÿiSӭQJQKDQKGRÿyÿzLKӓLPӝWORҥLYLÿLӅX NKLӇQ PҥQK Fy WӕF ÿӝ [ӱ Oê QKDQK Fy NKҧ QăQJ JKpS QӕL YӟL QKLӅX WKLӃW Eӏ QKѭ module 5)FҧPELӃQgyro YjJLDWӕFYjFyWKӇWtFKKӧSWKrPFiFPRGXOe NKiFQӳD ATmega128WKXӝFGzQJYLÿLӅXNKLӇQ$95FӫD$WPHO OjPӝW YLÿLӅXNKLӇQ UҩW PҥQK ÿӫÿӇÿiSӭQJFiF\rXFҫXKӋWKӕQJ ÿһWUD 1KͷQJÿ̿FWtQKF˯E̫Q - Flash: 128 Kbytes - EEPROM: 4Kbytes - SRAM: 4Kbytes - 64 thanh ghi I/O - WKDQKJKLYjRUDPӣUӝQJ - WKDQKJKLÿDPөFÿtFK - EӝÿӏQKWKӡL-bit (Timer/Counter 0,2) - EӝÿӏQKWKӡL-bit (Timer/Counter 1,3) - %ӝÿӏQKWKӡLZDWFKGRJ - %ӝGDRÿӝQJQӝL5&WҫQVӕ0+]0+]0+]0+] - 7ҫQVӕWӕLÿD0+] - $'&NrQKYӟLÿӝSKkQJLҧL-bit ӢGzQJ;PHJDOrQWӟL-bit ) - NrQK3:0-bit - NrQK3:0FyWKӇOұSWUuQKWKD\ÿәLÿӝSKkQJLҧLWӯWӟL-bit - %ӝVRViQKWѭѫQJWӵFyWKӇOӵDFKӑQQJ}YjR - +DLNKӕL86$57OұSWUuQKÿѭӧF - .KӕLWUX\ӅQQKұQQӕLWLӃS63, - .KӕLJLDRWLӃSQӕLWLӃSGk\7WI - +ӛWUӧERRWORDGHU - FKӃÿӝWLӃWNLӋPQăQJOѭӧQJ - /ӵDFKӑQWҫQVӕKRҥWÿӝQJEҵQJSKҫQPӅP - ĈLӋQWKӃV - 5.5V 89 ATmegaFy WҩWFҧFKkQ, EDRJӗPFәQJSRUW YjRUD-bit Oj 3RUW$ 3RUW%3RUW&3RUW'3RUW(3RUW)3RUW*WѭѫQJӭQJYӟLÿѭӡQJYjRUDYjFKkQ FzQOҥL5(6(7;7$/;7$/$9&&$5()3(1YjFKkQ*1' +uQK%6ѫÿӗNKӕLYLÿLӅXNKLӇQATmega128 B.1 ADC trong ATmega128 Trong ATmega FyWtFKKӧSQJ}$'&YӟLÿӝSKkQJLҧL-bit. 7tQKLӋX WѭѫQJWӵÿѭDYjRFiFQJ}$'&ÿѭӧFOҩ\PүXYjFKX\ӇQWKjQK WtQ KLӋXVӕ7tQKLӋXVӕÿѭӧFOѭXWURQJWKDQKJKL$'&+ ADCL. 0ӝWQJҳWFyWKӇWҥRUD NKLKRjQWKjQKPӝWFKXWUuQKFKX\ӇQ ÿәL$'& .KLOjPYLӋFYӟL$'& FҫQTXDQWkPÿӃQÿҥLOѭӧQJ - ĈLӋQiSWKDPFKLӃX OjJLiWUӏÿLӋQWKӃGQJÿӇVRViQKYӟLÿLӋQWKӃFӫDWtQKLӋX WѭѫQJ Wӵ FҫQELӃQÿәL ӣQJ} YjR$'& &y OӵD FKӑQÿLӋQ WKӃ WKDPFKLӃX$9&& EҵQJYӟL9&& ÿLӋQiSWKDPFKLӃXQӝL.9YjÿLӋQiSWKDPFKLӃXQJRjL9UHIOjW\ FKӑQ 90 - 7ҫQVӕFORFN OjWҫQVӕFORFNFXQJFҩSFKR$'&WҫQVӕWKtFKKӧSFKRÿӝSKkQ JLҧL-ELWNKRҧQJWӯ-.+].KLVӱGөQJ$'&-bit WDFyWKӇQkQJWҫQVӕQj\ OrQNKRҧQJ-700KHz WӕFÿӝOҩ\PүXӣÿӝSKkQJLҧL-ELWQKDQKKѫQUҩWQKLӅXso YӟL10-bit). 7ҫQVӕ[XQJFORFNQj\ÿѭӧFOҩ\GӵDYjRV\VWHPFORFNVDXNKLÿѭӧFFKLD WK{QJTXD bit $'36FӫDWKDQKJKL$'&65$ +uQKB.2 6ѫÿӗNKӕLÿѫQJLҧQFӫD Eӝ$'&WURQJ$95 %ӝ$'&FyFKӃÿӝKRҥWÿӝQJ - Free running: FKX\ӇQÿәLOLrQWөF, OjFKӃÿӝVDXNKLNKӣLÿӝQJWKuEӝ$'&WKӵF KLӋQFKX\ӇQÿәLOLrQWөF - Single conversion: FKX\ӇQÿәLWӯQJEѭӟF Eӝ$'&VDXNKLKRjQWKjQKFKX\ӇQ ÿәLVӁQJӯQJFKX\ӇQÿәLWLӃSWKHRÿѭӧFEҳWÿҫXNKL Fy\rXFҫX &iFWKDQKJKLFӫDEӝFKX\ӇQÿәL$'& 1/ ADC Multiplexer Selection Register ± ADMUX: thanh ghi OӵDFKӑQQJ}Yjo analog. 2/ ADC Control and Status Register A ± ADCSRA: WKDQKJKLWUҥQJWKiLYjÿLӅXNKLӇQ 3/ The ADC Data Register ± ADCL Yj ADCH: WKDQKJKLFKӭDNӃWTXҧ FKX\ӇQÿәL 9ӟLGzQJYLÿLӅXNKLӇQ$95YLӋFWKLӃWOұSFiFWKDQKJKLQj\ÿѭӧFKӛWUӧEҵQJ FKӭFQăQJ&RGH:L]DUG WURQJSKҫQPӅP OұS WUuQK&RGH9LVLRQ$95JL~SFKRQJѭӡL VӱGөQJGӉGjQJWKDRWiFYӟLFiFWtQKQăQJÿDGҥQJFӫDYLÿLӅXNKLӇQ ĈӇWKLӃWOұSKRҥWÿӝQJFKR Eӝ$'&YӟLFKӭFQăQJ KӛWUӧ&RGHWizardAVR Qj\, WDWKӵFKLӋQFiFEѭӟFVDX - &KRSKpSEӝ$'&KRҥWÿӝQJ - &ҩXKuQKFKREӝ$'&FKӑQÿLӋQiS WKDPFKLӃXWҫQVӕxung clock, FKӃÿӝKRҥW ÿӝQJ (8-bit, 10-bit)FiFQJҳW 91 +uQK%7KLӃWOұS Eӝ $'&GQJ&RGH:L]DUG$95 B.2 USART trong ATmega128 B.2.1 7yPO˱ͫWY͉86$57 USART (Universal Synchronous and Asynchronous serial Receiver and Transmitter - bӝtUX\ӅQnKұQnӕLtLӃSÿӗQJbӝvjbҩWÿӗQJbӝ) OjNKӕLFKӭFQăQJGQJ FKRYLӋFWUX\ӅQWK{QJJLӳDYLÿLӅXNKLӇQYӟLFiFWKLӃWEӏNKiF &iFKWKӭFWUX\ӅQGӳOLӋXFKLDUDKDLFKӃÿӝFѫEҧQÿӗQJEӝ6\QFKURQRXVYj EҩWÿӗQJEӝ$V\QFKURQRXV - 7UX\ӅQÿӗQJEӝ: OjNLӇXWUX\ӅQGӳOLӋXWURQJÿyEӝWUX\ӅQ(TransPLWWHUYjEӝ QKұQ5HFHLYHUVӱGөQJFKXQJPӝW[XQJÿӗQJKӗFORFN[XQJFORFNÿyQJYDLWUzOj WtQ KLӋX ÿӗQJEӝ FKR KӋ WKӕQJѬXÿLӇPFӫD NLӇX WUX\ӅQÿӗQJEӝ Oj WӕF ÿӝ QKDQK WKtFKKӧSNKLWUX\ӅQGӳOLӋXNKӕLEORFN - 7UX\ӅQEҩWÿӗQJEӝ OjNLӇX WUX\ӅQ WURQJÿyEӝ WUX\ӅQYjEӝQKұQFyEӝ WҥR [XQJFORFNULrQJ WӕFÿӝKDL[XQJFORFNQj\FyWKӇNKiFQKDXQKѭQJWKѭӡQJNK{QJ TXi 7ӯKDLNLӇXWUX\ӅQGӳOLӋXFѫEҧQWUrQQJѭӡLWDÿѭDUDQKLӅXJLDRWKӭF3URWRFRO WUX\ӅQNKiFQKDXQKѭ63,ÿӗQJEӝ8657ÿӗQJEӝ8$57EҩWÿӗQJEӝ« B.2.2 *LͣLWKL͏XE͡86$57FͯDATmega128 ATmegaFyKDLEӝ86$57Oj86$57Yj86$57+DLEӝ86$57Qj\Oj ÿӝFOұSQKDXÿLӅXQj\FyQJKƭD OjKDLNKӕL86$57Yj86$57FyWKӇKRҥWÿӝQJ FQJPӝWO~F 92 +uQK%6ѫÿӗNKӕL8SART 7URQJVѫÿӗNKӕLWUrQFySKҫQFKtQK Clock Generation, Transmitter, Receiver. &KkQ;&. FKӍ ÿѭӧF GQJ WURQJPRGH WUX\ӅQ ÿӗQJ Eӝ &K~QJ WD KRjQ WRjQ Fy WKӇ NLӇPWUDTXi WUuQKWUX\ӅQQKұQGLӉQUDQKѭWKӃQjRTXDIUDPHHUURUGDWDRYHUUXQYj parity errors. &iFWKDQKJKLFӫDNKӕL86$57 1/ Internal Clock Generation ± The USART Baud Rate Generator ± UBRR: thanh ghi WKLӃWOұSWӕFÿӝWUX\ӅQ. 2/ USART I/O Data Register ± UDRn: WKDQKJKLEӝÿӋPWUX\ӅQQKұQGӳOLӋX 3/ USART Control and Status Register A ± UCSRnA 4/ USART Control and Status Register B ± UCSRnB 5/ USART Control and Status Register C ± UCSRnC 6/ USART Baud Rate Registers ± UBRRnL Yj UBRRnH: WKDQKJKLWӕFÿӝWUX\ӅQ 93 ĈӇWKLӃWOұS Eӝ8$57YӟL&RGH:L]DUG$95 WDWKӵFKLӋQFiFEѭӟFVDX +uQK%5 7KLӃWOұS UART GQJ&RGH:L]DUG$95 - &KӑQ NKӕL86$57FҫQVӱGөQJ86$57KRһF86$57FKӑQFKӃÿӝWUX\ӅQEҩW ÿӗQJEӝ$V\QFKURQRXV. - &ҩXKuQKNKӕL86$57EұWNrQKWUX\ӅQ / QKұQWӕFÿӝWUX\ӅQFiFWK{QJVӕJLDRWLӃS FiFQJҳW. B.3 7ҥRWtQKLӋX PWM EҵQJ7LPHUtrong ATmega128 ATmegaFyEӝÿӏQKWKӡLEӝÿӏQKWKӡLYjOjEӝÿӏQKWKӡL-bitEӝÿӏQK WKӡLYjOjEӝÿӏQKWKӡL-bit. &iFÿӏQKQJKƭDTXDQWUӑQJWUѭӟFNKLWuPKLӇXWtQQăQJ3:0FӫD FiFEӝÿӏQKWKӡL (Timer/Counter). - BOTTOM: OjJLiWUӏWKҩSQKҩWPjbӝTimer/Counter FyWKӇÿҥWÿѭӧF JLiWUӏQj\ OX{QOj - MAX: OjJLi WUӏOӟQQKҩWPjEӝTimer/Counter FyWKӇÿҥWÿѭӧF9tGөYӟLEӝ Timer/Counter 8-bit WKuMAX Oj[)) 16-bit WKu MAX Oj[)))) - TOP: OjJLiWUӏkhi Timer/Counter ÿҥWÿӃQQyVӁWKD\ÿәLWUҥQJWKiL JLiWUӏQj\ NK{QJQKҩWWKLӃWOjMAX, JLiWUӏTOP ÿѭӧFWKD\ÿәLEҵQJFiFKÿLӅXNKLӇQFiF thanh ghi WѭѫQJӭQJ 94 &iFWKDQKJKLWURQJTimer/Counter 1 (Timer/Counter 3 WѭѫQJWӵ): 1/ Timer/Counter 1 Control Register A ± TCCR1A: WKDQKJKLÿLӅXNKLӇQ Bit 7:2 ± COMnX1:0 (X= A,B,C): Compare Output Mode for channel X: ÿLӅXNKLӇQ FiFKKRҥWÿӝQJFӫDQJ} UD VR ViQK &RPSDUH2XWSXWFӫD OҫQ OѭӧW FiFFKkQ2&Q$ OCnB, OCnC (n=1,3). Bit 1:0 ± WGMn1:0: Waveform Generation Mode: kӃW KӧS YӟL FiF ELW:*0Q WURQJ WKDQKJKL7&&5Q%QKӳQJELW Qj\FKRSKpS OӵD FKӑQFKӃÿӝ WKӵF WKL FӫDEӝ ÿӏQKWKӡLTX\ÿӏQKFKӃÿӝKRҥWÿӝQJ FӫDTimer/Counter 1. 2/ Timer/Counter 1 Control Register B ±TCCR1B: Bit 2:0 ± CS12:0: Clock Select: TX\ÿӏQKFKӑQQJXӗQ[XQJFORFNFKR7imer/Counter. 95 3/ Timer/Counter1± TCNT1H Yj TCNT1L: tKDQKJKLEӝÿӏQKWKӡL7&17OjWKDQKJKL 16-bit ÿѭӧF NӃW KӧS Wӯ KDL WKDQK JKL 7&17+ Yj thanh ghi TCNT1L. Thanh ghi 7&17Fy WKӇÿӑFKD\JKL. .K{QJQrQFKӍQKVӱD WKDQKJKL7&17Q (n=1,3) NKLQy ÿDQJÿӃPÿӇWUiQKEӏKӓQJ&RPSDUH0DWFKJLӳD7&17QYjPӝW WURQJQKӳQJ WKDQK ghi OCRnX (n=1,3. X=A,B,C) 4/ Output Compare Registers: Output Compare Register 1 A ± OCR1AH Yj OCR1AL Output Compare Register 1 B ± OCR1BH Yj OCR1BL Output Compare Register 1 B ± OCR1CH Yj OCR1CL /jWKDQKJKLFKӭDJLiWUӏ-ELWOX{QÿѭӧFVRViQKYӟL7&17 PӝWVӵNLӋQ[ҧ\ UDNKLWKDQKJKLQj\EҵQJQKDX WҥRGҥng xung ng} UDӣFiF FKkQ2&Q; 5/ Input Capture Register 1 ± ICR1H Yj ICR1L: thanh ghi Input CDSWXUH,&5QVӁ FұSQKұWJLi WUӏ FӫDEӝÿӃP7&17QPӛLNKL[ҧ\ UD VӵNLӋQӣFKkQ ,&3Q1JRjL UD WKDQKJKLQj\FzQÿѭӧFVӱGөQJÿӇÿӏQKQJKƭDJLiWUӏTOP FӫDEӝÿӃP 6/ Timer/Counter Interrupt Mask Register ± TIMSK: WKDQKJKLÿLӅXNKLӇQQJҳW Ba FKӃÿӝÿLӅXFKӃÿӝUӝQJ[XQJ (PWM) FKtQKWURQJ7imer/Counter 1: - Fast PWM: 3:0WҫQVӕFDR +RҥWÿӝQJWUrQ1 VѭӡQ[XQJ ÿӃPWӯBOTTOM OrQTOP VDXÿyUHVHWYӅBOTTOM ÿӃPOҥL +uQK%6 *LҧQÿӗWKӡLJLDQӣFKӃÿӝ)DVW3:0 &{QJWKӭF[iFÿӏQKWҫQVӕFKRFast PWM 1OjKӋVӕFKLD1, 8, 64, 256, 1024): - Phase Correct PWM: 3:0YӟLSKDFKtQK[iF (hight resolution). &KӃÿӝQj\ KRҥWÿӝQJGӵDWUrQVѭӡQOrQ[XӕQJ, ÿӃPWӯBOTTOM OrQTOP UӗL Wӯ723 WUӣYӅ BOTTOM. HRҥWÿӝQJWKHRVѭӡQ[XQJQrQFKӃÿӝQj\NK{QJWҥRUDWҫQVӕQKӓQKѭ VѭӡQ[XQJ FӫD Fast PWM. ĈӝSKkQJLҧL[iFÿӏQKEҵQJWKDQKJKLICRn KRһF2&5QX. 96 +uQK%7 *LҧQÿӗWKӡLJLDQӣFKӃÿӝ3KDVH&RUUHFW3:0 &{QJWKӭF[iFÿӏQKWҫQVӕFKRPhase Correct PWM: - Phase and Frequency Correct PWMFKӃÿӝ3:0YӟLSKDYjWҫQVӕFKtQK [iF&KӃÿӝQj\KRҥWÿӝQJGӵDWUrQVѭӡQOrQ[XӕQJ JLӕQJYӟL3KDVH&RUUHFWÿӃPWӯ BOTTOM OrQTOP UӗLWӯ723 WUӣYӅ%27720.KiFQKDXӣ FKӛ WKӡL JLDQFұSQKұW JLiWUӏFӫDWKDQKJKL2&5Q;ӣ%27720FKӭNK{QJSKҧLӣ723 +uQK%8 *LҧQÿӗWKӡLJLDQӣFKӃÿӝ3KDVHDQG)UHTXHQF\&RUUHFW3:0 97 &{QJWKӭF[iFÿӏQKWҫQVӕFKRPhase Correct PWM: 6RViQKFiFFKӃÿӝQj\ӣÿLӅXNLӋQiSGөQJYjRÿӅWjLWDWKҩ\ - Hai cKӃÿӝ PWM SKDFKtQK[iFӭQJGөQJWӕWFKRÿLӅXNKLӇQ WӕFÿӝ ÿӝQJFѫ. - TX\QKLrQNKLFKXQJPӝWWҫQVӕKRҥWÿӝQJ VѭӡQÿ{LOjPFKRÿӝPӏQ FӫDFKӃÿӝ SKDFKtQK[iF EӏJLҧPOҫQVRYӟLFKӃÿӝ)ast PWM. - 'QJFKӃÿӝFDVW3:0QӃXJLӳFӕ ÿӏQKJLiWUӏ723EҵQJ thanh ghi ICRn, ta FNJQJÿѭӧFWҫQVӕYjSKD3:0әQÿӏQKÿӇÿLӅXNKLӇQÿӝQJFѫPһWNKiFOҥLÿѭӧFÿӝ PӏQFDRWӕWFKR YLӋF ÿLӅXNKLӇQ KѫQ. 7KLӃWOұSFKӃÿӝ)DVW3:0FKR7LPHU&RXQWHUYӟL CodeWizardAVR: +uQK%9 7KLӃWOұS 7LPHUWҥRPWM GQJ&RGH:L]DUG$95 - FKӑQFKӃÿӝ)DVW3:0WRS ,&5WҫQVӕ[XQJFORFN0+]. - &iFQJ}UD$%&ÿһW non-LQYHUWHGFiFWKLӃWOұSNKiFFDSWXUHFRPSDUHJLӳQJX\rQ. - ĈӇWҥR[XQJ20ms (50HzÿһWJLiWUӏWKDQKJKL,&5n=39999. - .KLÿyFiFWKDQKJKL2&5Q;VӁWKD\ÿәLJLiWUӏWURQJNKRҧQJWӯÿӃQÿӇ FyÿӝUӝQJ[XQJPVÿӃQPVFKRYLӋFÿLӅXNKLӇQÿӝQJFѫ.