GII THIU S LC V VI IU KHIN P89V51RD2

-----

----Bi Trung Hiu

Webmaster: Khoa hc v tui tr

Nh mi ln trc, nm nay, Philips tip tc ti tr cho tt c cc i thi Robocon vi iu khin

P89V51RD2 thng qua b mn iu khin t ng-khoa in-in t trng HBK TP H Ch Minh, mi i
s c nhn 2 MCUs <v nu thy cc MCUs s dng tin li, cc i c th mua vi s lng khng hn
ch!>
Nhm gii thiu vi cc bn mt s tnh nng ni bt ca MCU P89V51RD2 phc v cuc thi Robocon,
trong bi vit ny, ti xin a ra mt s ngh v mch np, mch ng dng, cc chc nng iu xung
<PWM>, Capture, giao tip PC qua cng COM<UART> tin li cho bn trong khi s dng vi iu khin
ny. Code ca chng trnh, ti vit bng ngn ng C, qua , bn thy c tnh tin ch ca C-Compiler.

Cc mc trong bi:
1.
2.

Khi qut cc tnh nng: .................................................................................................................................. 3

T chc b nh: ................................................................................................................................................ 4
a. La chn bank b nh chng trnh flash: ............................................................................................... 4
b. Thc thi on code Reset ngun sau khi bt ngun: <Power-on reset code execution>......................... 5
c. Trnh t s dng mch np: ....................................................................................................................... 6
3. nh ngha cc thanh ghi chc nng:............................................................................................................... 8
4. To chng trnh giao tipPC-MCU:............................................................................................................... 9
5. Chc nng PCA: ............................................................................................................................................. 13
a. Thanh ghi chc nng c bit CMOD:....................................................................................................... 13
b. Thanh ghi chc nng c bit CCON: ....................................................................................................... 14
c. Thanh ghi chc nng so snh/capture cho cc modul PCA: CCAPMn..................................................... 14
d. Cc ch hot ng ca modul PCA ...................................................................................................... 14
e. Ch Capture ca PCA: .......................................................................................................................... 14
f. Chc nng PWM ca PCA: ........................................................................................................................ 16
6. Kt lun: ......................................................................................................................................................... 17

Cc hnh v trong bi:

Hnh
Hnh
Hnh
Hnh
Hnh
Hnh
Hnh
Hnh
Hnh
Hnh
Hnh
Hnh
Hnh
Hnh
Hnh

1: S khi ca MCU P89V51RD2............................................................................................................. 3

2: Mch Reset hp l ...................................................................................................................................... 5
3: Mch MCU P89V51RD2 khi s dng ISP................................................................................................. 5
4: Mch giao tip RS232 qua cng COM....................................................................................................... 6
5: Mn hnh khi ng FlashMagic................................................................................................................ 6
6: Thit c cc thng s cn thit cho FlashMagic ....................................................................................... 7
7: Mn hnh xut hin sau khi bm Start ca FlashMagic.............................................................................. 7
8: Giao din ca chng trnh Keil uV3......................................................................................................... 8
9: Bng thng bo khi to code khi ng cho h 8051 .............................................................................. 9
10: Timer 2 ch sinh tc baud............................................................................................................ 9
11: Kt qu chng trnh giao tip UART ................................................................................................... 12
12: H thng cc ngt chc nng PCA ...................................................................................................... 13
13: Ch capture ca modul PCA.............................................................................................................. 15
14: M hnh s dng chc nng Capture ngh vi 4 ch quy nh bi Mode Select.......................... 15
15: Chc nng PWM ca PCA ..................................................................................................................... 16

Cc bng s liu:
Bng
Bng
Bng
Bng
Bng
Bng

1: Cc tc baud thng dng vi tn s thch anh 12MHz .................................................................... 10

2: Cc bit nh ngha cho thanh ghi CMOD................................................................................................. 13
3 : Quy nh cch chn xung nhp cho PCA ................................................................................................ 13
4: Cc bit nh ngha ca thanh ghi CCON.................................................................................................. 14
5: Cc bit nh ngha thanh ghi CCAPMn ................................................................................................... 14
6: Cc ch hot ng modul PCA ........................................................................................................... 14

1. Khi qut cc tnh nng:

Trc tin, ta lt qua cc tnh nng ca P89V51RD2:
+Khi qut:

P89V51RD2 l vi iu khin 80C51 c 64kB Flash v 1024bytes<1kB> b nh d liu RAM.

Tnh nng c bit ca P89V61RD2 l ch hot ng mode x2. Ngi thit k chn chy ng dng
ca mnh ch ny nng i tc khi hot ng cng tn s dao ng<mt chu k my=6 chu k
xung nhp>

B nh chng trnh Flash cho php lp trnh ISP hoc/v song song. Ch lp trnh song song c
a ra thch ng vi tc cao, gim thi gian v gi thnh.

IAP/ISP.
+Cc tnh nng:

CPU 80C51.

Hot ng 5VDC trong tm tn s dao ng n 40MHz.

64kB ISP.

SPI

5 PCA vi chc nng PWM/capture/compare 16bits.

4 cng xut nhp.

3 Timers/Couters 16bits.

Watchdog Timer c th lp trnh c.

8 ngun ngt.

2 thanh ghi DPTR.

Tng thch mc logic TTL v CMOS.

Pht hin ngun yu <Brownout Detect>

Ch Low-power, Power down, Idle.

S khi ca MCU P89V51RD2:

Hnh 1: S khi ca MCU P89V51RD2

S qua v cc chn ca vi iu khin:

Port 0, Port 1, Port 2, Port 3: Nh cu trc 8051 kinh in.
P1.0 - T2: Ng vo Counter cho Timer/Counter 2 hoc ng ra cho Counter/Timer 2.
P1.1 - T2EX: iu khin hng v cnh kch chc nng Capture cho timer/Counter 2.
P1.2 ECI: Ng vo xung nhp. Tn hiu ny l ngun xung nhp ngoi cho chc nng PCA.
P1.3 CEX0: ng vo xung nhp cho chc nng Capture/Compare modul 0.
P1.4:
o SS : Chn cng ph vo cho SPI.
o CEX1: ng vo xung nhp cho chc nng Capture/Compare modul 1.
P1.5:
o MOSI: phc v SPI
o CEX2: ng vo xung nhp cho chc nng Capture/Compare modul 2.
P1.6:
o MISO: phc v SPI
o CEX3: ng vo xung nhp cho chc nng Capture/Compare modul 3.
P1.7:
o SCK: phc v SPI
o CEX4: ng vo xung nhp cho chc nng Capture/Compare modul 4.
P S E N : Cho php dng b nh chng trnh ngoi. Khi MCU s dng b nh chng trnh trong chip,
P S E N khng tch cc. Khi s dng b nh chng trnh ngoi, P S E N thng mc tch cc 2 ln
trong mi chu k my. S chuyn mc cao sang thp trn P S E N cng bc t bn ngoi khi ng vo
RST ang mc cao trong hn 10 chu k my s a MCU vo ch lp trnh host t bn ngoi.
RST: Khi ngun dao ng ang hot ng, mc cao trn chn RST trong t nht 2 chu k my s Reset li
h thng. Nu chn P S E N chuyn mc trong khi RST vn cn mc cao, MCU s vo ch lp
trnh host t bn ngoi, nu khng, s hot ng bnh thng.
E A : Cho php s dng b nh chng trnh ngoi.
o E A =0 B nh ngoi.
o E A =1 B nh trong chip.
ALE/ PRO G : Cho php kha a ch<Nh 8051 c in> ngoi ra, chn ny cn c dng a vo
ch lp trnh FLASH.
2. T chc b nh:
MCU P89V51RD2 c 2 vng khng gian a ch ring bit: vng lu tr cho b nh chng trnh v cng
a ch cho b nh d liu <cu trc Harvard>
a. La chn bank b nh chng trnh flash:
C 2 vng b nh ni flash trong MCU, Block 0 c 64kB v c t chc thnh 512 sector, mi sector
cha 128 Bytes. Block 1 cha chng trnh ISP/ICP v c kch hot khi chn kt hp bit reset mm (SWR)
<FCF.1> v bit chn bank (BSEL) <FCF.0>.

Hnh 2: Mch Reset hp l

Qu trnh tun t sau khi ngun c bt, chng trnh boot s t ng thc thi v c gng ly tn hiu
autobaud t my ch. Nu khng c qu trnh ny xy ra trong vng 400ms v bit c SoftICE khng c bt,
chng trnh boot s t ng vo on chng trnh c ngi dng lp trnh.
b. Thc thi on code Reset ngun sau khi bt ngun: <Power-on reset code execution>
Khi mi cp in vo MCU, tt c cc port u trng thi bt k no ti khi oscillator bt u hot
ng v qu trnh reset ko tt c cc pin ln mc cao. Qu trnh bt ngun m khng i i vi vic Reset MCU
hp l s dn ti tnh trng ta khng bit MCU thc thi lnh vng nh no! iu c th dn n m lnh
trong flash b thay i. Reset h thng trong khi chng trnh ang hot ng s khng c nh hng ti RAM
ca MCU, tuy nhin, ni dung ca vng nh RAM trn chip trong qu trnh bt ngun l cc gi tr ngu nhin.
Khi bt u m ngun, chn RST phi c gi mc cao mt khong thi gian cho oscillator khi
ng <thng l vi mili giy i vi dao ng tn s thp>, thm na, qu trnh reset l hp l, cn gi
mc cao t nht 2 chu k my. Cc gi tr tr v t c chn trn hnh 2.

Hnh 3: Mch MCU P89V51RD2 khi s dng ISP

Ni mt cch d hiu, qu trnh Reset l hp l, ta nn mc mch RC nh hnh 2. Khi dng chc

nng ISP/ICP, cn thm mt Push button ko ln ngun nh hnh 3. Qu trnh Reset ngoi<ch nhn nt
RESET> v POR l c tc dng nh nhau.
Ta lu cn ni cc chn TxD, RxD ng theo trnh t mch giao tip RS232:

Hnh 4: Mch giao tip RS232 qua cng COM

c. Trnh t s dng mch np:
Tt ngun, gn mch cng COM-RS232
a) M chng trnh np <FlashMagic, chn Device, BaudRate, thit lp cc thng s>
b) Browse n File .hex cn np vo MCU.
c) Bt ngun.
d) Nhp Start trn trnh FlashMagic.
e) Bm Reset ngoi.<C th n lc ny, bn mi bt ngun, y l qu trnh POR>
f) Kt ni ISP, ch bo hiu Complete
g) Tt FlashMagic
Cc hnh minh ha:

Hnh 5: Mn hnh khi ng FlashMagic

Hnh 6: Thit c cc thng s cn thit cho FlashMagic

Hnh 7: Mn hnh xut hin sau khi bm Start ca FlashMagic

n lc ny, bn bm nt Reset trn board mch. Mn hnh s mt bng thng bo Reset Device v i
vo chng trnh ISP nh phn tch trn. Do hin ti, gp mt s trc trc v thit b th nghim nn ti cha
th ly kt qu thc t a vo bi vit. Tuy nhin, vi l thuyt kho st t Datasheet, kt qu l ng tin cy.

3. nh ngha cc thanh ghi chc nng:

Do P89V51RD2 c thm mt s thanh ghi chc nng c bit, nu bn ang s dng cc trnh bin dch
thng thng, cn phi khai bo cc thanh ghi chc nng . C th xem cc trang 11-12-13 ca datasheets
nh ngha cc thanh ghi chc nng. V d:
;on code di y v d cho nh ngha cc thanh ghi chc nng khi dng ASM.
;Khi to 200601312020
CCAP0H

DATA

0FAH

CCAP1H

DATA

0FBH

CCAP2H

DATA

0FCH

CCAP3H

DATA

0FDH

CCAP4H

DATA

0FEH

CCAP0L

DATA

0EAH

CCAP1L

DATA

0EBH

CCAP2L

DATA

0ECH

CCAP3L

DATA

0EDH

CCAP4L

DATA

0EEH

CCAPM0

DATA

0DAH

CCAPM1

DATA

0DBH

CCAPM2

DATA

0DCH

CCAPM3
CCAPM4
ECOM_0
CAPP_0
CAPN_0
MAT_0
TOG_0
PWM_0
ECCF_0

DATA
DATA
BIT
BIT
BIT
BIT
BIT
BIT
BIT

0DDH
0DEH
CCAPM0.6
CCAPM0.5
CCAPM0.4
CCAPM0.3
CCAPM0.2
CCAPM0.1
CCAPM0.0

y, ti s dng phn mm Keil-uV3 lm chng trnh son tho chnh v vit bng ngn ng C
nn ch cn #include<P89V51Rx2.h>: <Bn c th load ti y> Nu vit bng ASM, c th i chiu vi
file header ny to file P89V51Rx2.inc, tin cho vic s dng sau ny!

Hnh 8: Giao din ca chng trnh Keil uV3

Sau khi chn Device, bn nhp OK, hin bng thng bo:

Hnh 9: Bng thng bo khi to code khi ng cho h 8051

Bn chn Yes.
Bm t hp phm Ctrl+N, to mt trnh son tho mi.
4. To chng trnh giao tipPC-MCU:
Theo thng l khi vit mt Embedded system, ti vit trnh giao tip MCU-PC, vi vi iu khin
P89V51RD2 ti cng bt u nh vy:
Bit TCLK v/hoc RCLK trong thanh ghi T2CON cho php chn ngun sinh sinh tc Baud UART
truyn pht t timer1 hoc 2:
SCON: SM0-SM1=0-1: UART mode 1: 8-bit UART variable
TI: c ngt truyn pht
RI: c ngt thu nhn.
REN: cho php thu.
SM2=0 mode 1.
Khi TCLK = 0, Timer 1 l ngun sinh tc Baud,
Khi TCLK = 1, Timer 2 l ngun sinh tc Baud.

Hnh 10: Timer 2 ch sinh tc baud.

BaudRate =
khng du.

OscillatorFreq
<Cng thc 1> vi RCAP2H-RCAP2L l gi tr Integer 16 bit
16 ( 65536 ( RCAP 2 H , RCAP 2 L ) )

Tc baud
750000
19200
9600
4800
2400
600
220

Timer 2
RCAP2H
12MHz
FF
12MHz
FF
12MHz
FF
12MHz
FF
12MHz
FE
12MHz
FB
12MHz
F2
Bng 1: Cc tc baud thng dng vi tn s thch anh 12MHz
Tn s thch anh

Chng trnh c vit bng C: <load v>

/***********************************************************************
Chuong trinh thu giao tiep UART
Tac gia
:
Bui Trung Hieu - Webmaster: http://www.khvt.com
Su dung
:
Co the su dung voi moi muc dich ma khong can xin phep
tac gia ve tac quyen, tac gia khong chiu moi trach nhiem ve
cac tac hai gay ra va khong doi hoi cac loi ich co the co
Khoi tao
:
Ngay 31 thang 1 nam 2006 luc 9h15'PM
Hoan thanh
:
Ngay 31 thang 1 nam 2006 luc 10h15'PM
***********************************************************************/
#include <P89V51Rx2.h>
#include "uart.h"
#include "stdio.h"
void main (void)
{
//Khoi tao chuc nang UART
uart_init();
//Cho phep ngat chung
EA=1;
//Tich cuc co ngat phat
TI=1;
//In cac ki tu tren man hinh PC
printf("\n******************************************");
printf("\n
Hom qua tat nuoc dau dinh
");
printf("\n
Bo quen cai ao tren canh hoa sen
");
printf("\n
Em duoc thi cho anh xin
");
printf("\n
Hay la em de lam tin trong nha?
");
printf("\n****************************************** ");
//Xoa co ngat phat, bao hieu khong truyen phat nua
TI=0;
//Vong lap vo tan, chuong trinh dung tai day!
while(1);
}
//End

RCAP2L
FF
D9
B2
64
C8
1E
AF

Trong , hm khai bo cho chc nng UART l:

// Khai bao thu vien thanh ghi cua P89V51RD2 va cac ham dung trong uart
#include <P89V51Rx2.h>
#include "uart.h"
/***********************************************************************
Chuc nang
: Khoi tao UART o mode 1,
-Su dung dao dong Osc 12Mhz
-BAUDRATE:
19200
Gia tri tra ve:
Khong co
Luu y
:
De dung ket hop voi ngat uart, phai dat EA=1
************************************************************************/
void uart_init(void)
{
//Cau hinh cho UART
//Chon mode 1
SM0=0;
SM1=1;
SM2=0;
//Chu y neu ban load file header tu trang ban dan cua Philips
//phai sua lai SM3 thanh SM2, toi khong hieu tai sao co truc trac nay
//Chon Timer 2 la nguon sinh toc do Baud
//Cau hinh cho Timer 2, xem them o phan Timer 2 trong Datasheet
TCLK=1;
//T2OE=0; luu y thanh ghi T2MOD khong can thiep tung bit duoc
T2MOD|=0x02;
//Cho Timer 2 chay
TR2=1;
//Toc do Baud la 19200, luu y cong thuc 3 hoac bang 24 trong Datasheet
//Tuc la cong thuc 1 hoac bang 1 trong bai gioi thieu nay
RCAP2H=0xFF;
RCAP2L=0xD9;
// Khong co uu tien ngat
IP0&=0xEF;
IP0H&=0xEF;
// Cho phep ngat noi tiep
ES = 1;
} //Ket thuc ham khoi tao UART
void uart_isr(void) interrupt 4 using 0
{
}
//Ham ngat khong lam gi ca()

Kt qu vi chng trnh Debug:

Hnh 11: Kt qu chng trnh giao tip UART

Nu bn , chng trnh ny ti vit hon ton ging hm main cho chng trnh giao tip ca
P89LPC922<xem thm trong phn P89LPC922>, ch c cc khai bo cn thit cho uart_init() l thay i
thch hp. Tnh linh hot ca chng trnh c vit bng C th hin rt r nt. Trong trng hp bn
c mt s th vin khai bo ngoi vi cn thit, thi gian c th hon thnh mt chng trnh l rt
ngn.

5. Chc nng PCA:

Chc nng ni bt ca P89V51RD2 l c 5 knh PCA, cc thanh ghi chu tc ng: CMOD, CCON,
CCAPMn.

Hnh 12: H thng cc ngt chc nng PCA

a. Thanh ghi chc nng c bit CMOD:
Khng th can thip vo tng bit.
Bit
K hiu
Chc nng
iu khin trng thi ri ca Counter PCA. CIDL=0 s cho Counter PCA tip tc
7
CIDL
hot ng bt chp ang trong trng thi ri. CIDL=1 s lp trnh cho n khng hot
ng trong trng thi ri.
6
WDTE
Cho php Watchdog Timer trn modul 4.
5-3
Cha c khai bo
2-1
CPS1-CPS0 La chn ngun xung m cho PCA <Xem bng di>
0
ECF
Cho php ngt khi trn Counter PCA.
Bng 2: Cc bit nh ngha cho thanh ghi CMOD
Ta s li dng chc nng PWM ca PCA iu xung, nhm chnh mc p t vo ng c, qua , thay
i tc ca n.
PCA l Timer 16bit c bit, gm 5 modul. Mi modul c th lp trnh vn hnh 1 trong 4 ch : capture
cnh ln/xung, timer, ng ra tc cao, hay PWM. Timer PCA c th vn hnh nh cc ngun xung nhp:
OscFreq ; 1/6OscFreq; tc trn ca timer 0; hay t ng vo trn chn ECI(P1.2). Ngun xung nhp ca PCA
c chn nh cc bit CPS1-CPS0 trn thanh ghi a dng CMOD.
CPS1
CPS0
Chn xung nhp cho PCA
0
0
Fosc/6
0
1
Fosc/2
1
0
Trn t Timer 0
1
1
Xung nhp ngoi (ECI) Tc ln nht Fosc/4
Bng 3 : Quy nh cch chn xung nhp cho PCA

b. Thanh ghi chc nng c bit CCON:

C th can thip vo tng bit
Bit
K hiu
Chc nng
7
CF
C m trn PCA.
6
CR
Bit iu khin chy counter PCA
5
Cha nh ngha
4
CCF4
C ngt modul PCA 4
3
CCF3
C ngt modul PCA 3
2
CCF2
C ngt modul PCA 2
1
CCF1
C ngt modul PCA 1
0
CCF0
C ngt modul PCA 0
Bng 4: Cc bit nh ngha ca thanh ghi CCON
c. Thanh ghi chc nng so snh/capture cho cc modul PCA: CCAPMn

Khng can thip c vo tng bit.

Bit
K hiu
Chc nng
7
Cha nh ngha
6
ECOMN
Cho php b so snh
5
CAPPN
Cho php capture cnh ln
4
CAPNN
Cho php capture cnh xung
3
MATN
Cho php kt ni vi c ngt CCFn thanh ghi CCON
2
TOGN
Lt mc ng ra. Tc ng n chn CEXn
1
PWMN
Ch iu xung. Tc ng n chn CEXn
0
EXCFN
Cho php ngt CCFn.
Bng 5: Cc bit nh ngha thanh ghi CCAPMn
d. Cc ch hot ng ca modul PCA
Xem bng sau:
ECOM CAPP CAPN
MAT
TOG
PWM
ECCF
Ch hot ng
0
0
0
0
0
0
0
Khng hot ng
x
1
0
0
0
0
x
Capture 16 bit kch cnh ln CEX
x
0
1
0
0
0
x
Capture 16 bit kch cnh xung CEX
x
1
1
0
0
0
x
Capture 16 bit kch cnh CEX
1
0
0
1
0
0
x
Timer 16 bit
1
0
0
1
1
0
x
Ng ra tc cao 16 bit
1
0
0
0
0
1
0
PWM 8 bit
1
0
0
1
x
0
x
ng h Watchdog.
Bng 6: Cc ch hot ng modul PCA
e. Ch Capture ca PCA:
Phi c t nht 1 bit trong CAPP hoc CAPN c bt; s chuyn mc CEX s thnh ng vo
Capture cho modul ny.Khi c s chuyn mc hp l trn CEX, phn cng ca modul PCA s t np cc

gi tr thanh ghi Timer/Counter ca PCA (CH v CL) vo cc thanh ghi Capture modul PCA
<CCAPnL, CCAPnH>. Xem hnh v di thy r hn chc nng y.

Hnh 13: Ch capture ca modul PCA

ng dng ca chc nng Capture vo vic c Encoder ngt cnh cc mode Normal, x2, x4 t ra rt
tin li, dng kt hp 2 modul ny pht hin thm hng di chuyn cng rt tt. M hnh ngh ca ti a
ra di y, nu bn thc hin thnh cng, nh gi m ngun, cc bn khc cng tham kho nh!

Hnh 14: M hnh s dng chc nng Capture ngh vi 4 ch quy nh bi Mode Select

Khi s dng hai dy Encoder, gin xung ca chng nh hnh v trn, gi s bn dng ngt cnh ln, 2
s 1-1 biu th mode 1, s 1-2 biu hin mode x2: bn dng ch ngt cnh, s 1-4 biu hin mode x4. ng
thi, c theo th t ngt cnh ln E1-E2 l hng ti, theo th t E2-E1 l hng li, ta cng c th dng mode
x4 trit tiu nhiu o: trng hp khi dng, bnh xe khng dng hn m nhch ti nhch lui, dao ng quanh
v tr cn bng, bng cch tnh tng s xung tin li trong mt ln ly mu, ta c th bit c v tr gc quay
tng i ca ng c.
V chc nng Capture cn tng i mi vi mt s bn mi lm quen vi vi iu khin <ti cng
vy> nn ti mun ni thm mt cht v chc nng ny: Gi s bn dng mt chng trnh iu khin vn tc
ng c <PID chng hn, hay mt chng trnh c chc nng gn nh th> bn cn bit vn tc chnh xc ca
hai ng c Robot mnh ang vn hnh, cch thng thng hin nay, l ta m s xung trong 1 chu k ly mu,
t suy ra vn tc; cch ny khng t chnh xc cao <trc kia, ti sai lm do vi v v phn tch qu s
si thi gian thc v chnh xc khi so snh 2 cch c vn tc-bn xem thm bi DC Motor>. Nu ta dng
chc nng Capture, c khong thi gian gia 2 ln ngt cnh <gi s ang dng mode 1>, bit s xung ca
encoder, ta c th dng cng thc [v]=s/t tnh vn tc trung bnh trong khong Ts. Trong cng thc, s l
khong cch gia 2 xung cnh ln lin tip, gi s Encoder c 100 xung th s=2*pi/100, t l khong thi gian lu
c nh du tng i trong CCAP. Gi s trong khong thi gian Ts, bn c n mu, ly trung bnh s c
vn tc trung bnh ly mu, cch ny t ra u th nu khong thi gian ly mu ngn v yu cu chnh xc cao.
Bn ch thm ti ngng trn ca chc nng Capture, v c th Timer ca PCA b trn trong qu trnh ly
mu, nhng ch trn nu bn khc phc c, ti ngh chc nng Capture s rt tt trong ng dng ny. Khi
bn hon thnh m mn, nh gi cho ti on code v chng trnh gii thut cng chia x vi mi ngi nh!
f. Chc nng PWM ca PCA:

Hnh 15: Chc nng PWM ca PCA

chc nng ny, gi tr ng ra CEX ph thuc vo gi tr ca 2 thanh ghi: CCAPnL v CL, khi CL
tng ln hn CCAPnL th CEX s chuyn sang mc 1, ngc li, s mc 0, mi ln trn c, CCAPnL s np
li gi tr t CCAPnH, chnh iu ny cng cho php ta cp nht duty cycle mi m khng gy nh hng ti
qu trnh PWM.
Chc nng PWM ny c phn gii 8 bit, tc l ta c 256 mc chia <tng i mn vi p 24V th
mi mc s c 24/25694mV>

6. Kt lun:
Trong phm vi bi vit ny, do thi gian cng rt hn ch nn khng th nu tt c cc tnh nng
ca mt vi iu khin, cc chc nng PWM, Capture, UART, ti ngh bn s cn ti trong k thi Robocon
cho iu khin ng c, kim tra mt s chc nng, nn ti mnh dn a ra, c th cn nhiu sai st,
mong bn thng cm. Cc chc nng cn li, ti ngh hoc bn quen khi s dng vi AT89C51/52,
hoc s t dng ti nn khng c a ra trong bi vit ny.
Mc ch ca ti trong bi vit ny, l nu mt cch khi qut bn c th ng dng mt cch d
dng nhng tnh nng ca vi iu khin P89V51RD2. Bn nn lm quen vi trnh bin dch C-Compiler
ca Keil-uV3, n s gip bn nhiu trong cc ng dng sau ny, cho c nhng vi iu khin khc, khng
phi ch ring P89V51RD2.
Khi thc hin tt cc ng dng ca bn, ti ngh s s chia s rt cn thit! Mt chng trnh
nh, mt sub function ca nhiu c nhn s to thnh mt th vin ln cng ng s dng c th
nhanh chng k tha v pht huy cc ng dng phong ph. y l mong mun khng phi ca ring ti
vy!
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Chc cc bn c nhiu ng dng th v vi vi iu khin P89V51RD2!
[Ti liu tham kho chnh: Datasheet P89V51RD2 ca Philips Semiconductor]