Chng 5: Computer System.

Chng ny bao gm: la chn vi iu khin, s khi ca xe, lu gii thut.

5.1 La chn vi iu khin
5.1.1 S khi ca cu trc iu khin

Xe s dng gii thut iu khin phn cp s dng 4 vi iu khin m nhn cc chc nng ring bit.
Trong c

1 Slave lm nhim v c v x l tn hiu sensor.

2 Slave iu khin ng c thng qua driver v c tn hiu t Encoder.
1 Master thu thp d liu t Slave c cm bin, sau tin hnh tnh ton v ra lnh cho cc
Slave iu khin ng c.
5.1.2 Yu cu ca cc vi iu khin
Do s dng h iu khin phn cp nn iu cn quan tm nht l phng thc giao tip gia cc vi
iu khin vi nhau. Trong h thng s dng 1 Master v 3 Slave do ta khng th chn giao tip
RS232, vy c th chn I2C hoc SPI thc hin vic giao tip gia cc vi iu khin vi nhau.
SPI l cn t nht 4 dy cho truyn nhn. V trn mi Slave, li c thm mt tn hiu SS (Slave Selected)
Master chn Slave mong mun. Vic cn nhiu dy l mt bt li trong vic thit k mt h thng nh
gn. I2C ch cn 2 dy, 1 cho clock v 1 cho data.V vy phi chn giao tip va s dng t chn giao tip
hn nhng vn phi m bo c yu cu t ra, do I2C l gii php ph hp.
Yu cu c th cho tng vi iu khin:
Vi iu khin c cm bin: Cn c t nht 7 chn c tn hiu analog t sensor. Tng thi gian chuyn
i tn hiu Analog ca 9 knh nh hn thi gian ly mu (0,01s) v c h tr giao tip I2C.
Vi iu khin ng c: C ti thiu 1 ngt ngoi, c ti thiu 1 chn output PWM, thi gian 1 chu k lnh
nh hn chu k xung encoder v c h tr giao tip I2C.
Vi iu khin lm Master: nhn d liu t Slave 1 v truyn d liu n Slave 2, 3 thng qua chun
truyn I2C, mi d liu (v tr cm bin so vi ng line, vn tc bnh tri, vn tc bnh phi) c lu
vo 1 byte. Yu cu ca Master l tng thi gian truyn nhn nh hn thi gian ly mu (0,01s).
5.1.3 La chn vi iu khin
La chn vi iu khin Pic 16F877A ca hng MicroChip vi:

14 chn c tn hiu analog.

C 2 chn output PWM.
C h tr giao tip I2C.
5.1 Gii thut iu khin: