1. UNIT 29
MCU Project
로봇 SW 교육원
조용수

2. 학습 목표
M051 MCU 를 이용한 간단한 프로젝트 진행

3. Simple Mobile Robot Mobile Robot 자율 주행 가능한 Robot 제작 장애물이 있을 경우 회피
독립 전원 사용

4. 필요한 기능 DC Motor 구동 능력 장애물 판별 능력 PWM 을 이용한 모터의 속력 조절 Motor Driver 회로 필요
Ultrasonic Sensor 로 전방 장애물 판단
장애물이 있는 경우 좌/우로 회피

5. 필요한 기능 M051에서 사용할 기능 UART GPIO : PWM : TIMER : 디버깅 메시지 출력용
P2.1 ~ 2.4 : LED
P4. 2 : Ultrasonic Sensor Interface
PWM :
PWM5 : DC 모터 속도 조절 용
PWM6 :DC 모터 속도 조절 용
TIMER :
Timer 0 : 주기적으로 인터럽트를 발생하여 , 전방 장애물 판단
및 모터의 속도 조절 용
Timer 1 : Delay 함수 용

6. M051 MCU L293D Block Diagram Motor0 Motor0 Battery (1.5v x 4) UART
JTAG
GPIO
P4.2
PWM
P2.5 , P2.6
Motor0
L293D
Ultrasonic
Motor0

7. Init void Sys_Init() { SYS_UnlockReg();
CLK->APBCLK = CLK_APBCLK_UART0_EN_Msk;
SystemCoreClockUpdate();
CLK_EnableModuleClock(PWM45_MODULE);
CLK_EnableModuleClock(PWM67_MODULE);
CLK_SetModuleClock(PWM45_MODULE, CLK_CLKSEL2_PWM45_S_HIRC, 0);
CLK_SetModuleClock(PWM67_MODULE, CLK_CLKSEL2_PWM67_S_HIRC, 0);
SYS->P2_MFP = SYS_MFP_P24_PWM4 | SYS_MFP_P25_PWM5 | SYS_MFP_P26_PWM6 |
SYS_MFP_P27_PWM7 ;
SYS->P3_MFP = SYS_MFP_P30_RXD0 | SYS_MFP_P31_TXD0 ;
SYS_LockReg(); }

8. System Init void Sys_Init() { SYS_UnlockReg();
CLK->APBCLK = CLK_APBCLK_UART0_EN_Msk;
SystemCoreClockUpdate();
CLK_EnableModuleClock(PWM45_MODULE);
CLK_EnableModuleClock(PWM67_MODULE);
CLK_SetModuleClock(PWM45_MODULE, CLK_CLKSEL2_PWM45_S_HIRC, 0);
CLK_SetModuleClock(PWM67_MODULE, CLK_CLKSEL2_PWM67_S_HIRC, 0);
SYS->P2_MFP = SYS_MFP_P25_PWM5 | SYS_MFP_P26_PWM6;
SYS->P3_MFP = SYS_MFP_P30_RXD0 | SYS_MFP_P31_TXD0 ;
SYS_LockReg(); }

9. Timer Init void TMR0_Init(void) { CLK_EnableModuleClock(TMR0_MODULE);
CLK_SetModuleClock(TMR0_MODULE, CLK_CLKSEL1_TMR0_S_HIRC, 4);
TIMER_Open(TIMER0, TIMER_PERIODIC_MODE, 5);
/* Enable the Timer time-out interrupt */
TIMER_EnableInt(TIMER0);
/* Start Timer counting */
TIMER_Start(TIMER0);
/* Enable TMR0 Interrupt */
NVIC_EnableIRQ(TMR0_IRQn); }
void TMR1_Init(void)
CLK_EnableModuleClock(TMR1_MODULE);
CLK_SetModuleClock(TMR1_MODULE, CLK_CLKSEL1_TMR1_S_HIRC, 1);

10. PWM Init void PWMInit() { PWM_ConfigOutputChannel(PWMB, 1, 5000, 10);
/* PWMA pin output enabled */
PWM_EnableOutput(PWMB, 0xF);
/* Start PWMA module */
PWM_Start(PWMB, 0xF); }

11. Main() int main() { int d; int change = 0; Sys_Init(); Uart_Init();
PWMInit(); // Motor Control
TMR1_Init(); // Delay
TMR0_Init(); // Loop
printf("Mobile App Test \n");
while(1)
distance = getDistance();
TIMER_Delay(TIMER1, ); }

12. Timer Handler void TMR0_IRQHandler(void) {
/* Clears Timer time-out interrupt flag */
TIMER_ClearIntFlag(TIMER0);
if(distance < 1000) {
if(d == 0) {
printf("Turn Left: %d\n", distance);
PWM_ConfigOutputChannel(PWMB, 1, 5000, 1);
PWM_ConfigOutputChannel(PWMB, 2, 5000, 99); } else {
printf("Turn Right: %d\n", distance);
PWM_ConfigOutputChannel(PWMB, 1, 5000, 99);
PWM_ConfigOutputChannel(PWMB, 2, 5000, 1); }

13. Timer Handler else { d = rand()%2; if(distance > 5000) {
printf("Go Forward: %d , Speed : %d\n", distance , 99);
PWM_ConfigOutputChannel(PWMB, 1, 5000, 99);
PWM_ConfigOutputChannel(PWMB, 2, 5000, 99); } else if(distance > 1000) {
int speed = (int)((float)distance / 100);
printf("Go Forward: %d , Speed : %d\n", distance , 30 + speed);
PWM_ConfigOutputChannel(PWMB, 1, 5000, 30 + speed);
PWM_ConfigOutputChannel(PWMB, 2, 5000, 30 + speed); } }