1. Seminar #2
Inteligent Car
15th, J.H Won
18th, C.H Cho

2. 영상 자료

3. 자 시작해볼까?

4. 8ch Periodic Interrupt Timer
DEMO9S12XEP100 (Freescale)
8ch PWM 8bit
8ch Timer 16bit
8ch Periodic Interrupt Timer
32ch ATD 12bit
X-GATE
Max Speed : 50Mhz
그 외 5ch SPI, 3ch SPI …

5. Infrared Sensor Nomalize
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

6. Infrared Sensor Nomalize
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

7. Infrared Sensor Nomalize
System Flow ?
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

8. Infrared Sensor Nomalize
1KHz & Sequential Cycle
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

9. Infrared Sensor Nomalize
1KHz & Sequential Cycle
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

10. Normalize – First Attempt AllowedArea = MaximumVal - MinimumVal
NormalizeVal = (PresentVal – MinimumVal) / AllowedArea
- Make Position
Position = ∑WeightedMult /∑NormalizeVal
∑WeightedMult = ∑(NormalizeVal * Importance)
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

11. This approach cause noisy result
So, we decided to apply “Digital Filter”
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

12. What is “Digital Filter”? There is TWO method for this FIR, IIR
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

13. H[n]FIR = x[n] + x[n-1] + x[n-2] …
H[n]IIR = y[n] + y[n-1] + … + x[n] + x[n-1] …
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

14. FIR(Finite Impulse Response) 위상특성이 강하다 > 위상변화에 민감하다.
즉, 우리가 필요한 필터와 거리가 멀다.
IIR(Infinite Impulse Response)
각진 필터 구현에 용이하다 > Low-pass 역할을 한다.
즉, 변화가 작은 노이즈를 해결할 수 있다.
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

15. We cannot avoid this serious problem
But !
We cannot avoid this serious problem
Because Position-value have too wide range.
Ex < Pv < 100
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

16. Make Position – Second Attempt If(NormalizedVal > X) Set or Clear
Position = (∑(WeightedSum * SetIndex))/ NumofSet
Importance = Odd Number Z ( -7 < Z < 7 )
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

17. Make Position – Second Attempt If(NormalizedVal > X) Set or Clear
Position = (∑(WeightedSum * SetIndex))/ NumofSet
Importance = Odd Number Z ( -7 < Z < 7 )
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

18. We could get smaller cases, and applied it to Servo Motor
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

19. Infrared Sensor Nomalize
2. Distance Sensor
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

20. Adjustable range : 10cm ~ 80cm
SHARP - GP2Y0A21AK
Adjustable range : 10cm ~ 80cm
Analog to Digital
Conversion
Infrared Sensor Nomalize
&
Distance Masure
Digital Servo
Control
with PWM
Encoder Counting
DC Motor
Control
By PID ctrler

21. My Semnar is done ! But… 내가 한 것은 이것밖에 없는가? 그렇다. 사실 이것도 경환이가 거의 다했다.
Volatile 은 왜 사용되는가?

22. Ex. (i=0;i<100;i++) b++;
왜 volatile 키워드를 사용하는가?
컴파일러 최적화에서 제외시키기위해
Ex. (i=0;i<100;i++) b++;
2. 메인 루틴과 인터럽트 루틴에서 변수를 통해
메모리 공간을 공유할 때
3. 순서를 유지하고 싶을 때
Ex. X = 1;
Y = 1;
내가 한 것은 이것밖에 없는가? 그렇다. 사실 이것도 경환이가 거의 다했다.
Volatile 은 왜 사용되는가?