Micro rc sema ve attını kod

[parametre]

Micro rc ve sema attıny kodlari



Receiver

// 1:150 RC Car Receiver ATtiny1616 20200509 1700
#include <avr/io.h>
#define F_CPU 3333333
#include <avr/interrupt.h>
#define pin PORTA.IN
#define stop TCA0.SINGLE.CMP1L=0;TCA0.SINGLE.CMP2L=0;

uint8_t ir=0x04,ib,fg,asb=3,str=127,rc=127,cti,ct;
int8_t dir;
uint16_t dat;

ISR(PORTA_PORT_vect){ //Steering Photo Sensor
 str+=dir;
 if((fg)&&((rc>=str && dir==-1)||(rc<=str && dir==1))){stop;fg=0;TCD0.CTRLA&=~(1<<0);}
 ct=0; //Timer Reset
 PORTA.INTFLAGS|=0b10000000; //PA7:Clear Flag
}

void operation(){
 PORTA.OUT^=(1<<1); //***
 if((dat>75)&&(dat<179)){ //Steering
 rc=dat;
 if((rc<str-asb)||(rc>str+asb)){
 if(rc<str-asb){TCA0.SINGLE.CMP1L=15;TCA0.SINGLE.CMP2L=0;dir=-1;} //Left
 if(rc>str+asb){TCA0.SINGLE.CMP2L=15;TCA0.SINGLE.CMP1L=0;dir= 1;} //Right
 TCD0.CTRLA|=(1<<0);
 }
 else{
 if(rc<str){TCA0.SINGLE.CMP1L=10;TCA0.SINGLE.CMP2L=0;dir=-1;ct=0;TCD0.CTRLA|=(1<<0);} //Left
 if(rc>str){TCA0.SINGLE.CMP2L=10;TCA0.SINGLE.CMP1L=0;dir= 1;ct=0;TCD0.CTRLA|=(1<<0);} //Right
 }
 fg=1;
 }

 if((dat>10)&&(dat<31)){ //Forward
 TCB1.CCMPH=dat-11;
 TCB0.CCMPH=0;
 }
 if((dat>=0)&&(dat<10)){ //Reverse
 TCB1.CCMPH=0;
 TCB0.CCMPH=9-dat;
 }
 if(dat==10){ //Stop
 TCB1.CCMPH=0;
 TCB0.CCMPH=0;
 }
}

void infrared(){ //IR Remote Control Receiving

 RTC.CNT=0;while(~pin & ir){} //Leader Check
 cti=RTC.CNT; //RTC.CNT(1count):0.03msec
 if(cti>46 && cti<76){
 RTC.CNT=0;while((pin & ir)&&(RTC.CNT<76)){} //Blank Check
 for(ib=0;ib<16;ib++){
 RTC.CNT=0;while(~pin & ir){} //Count Data bit
 cti=RTC.CNT;
 dat<<=1; //dat:Data Code 
 if(cti>22){dat|=1;}
 RTC.CNT=0;while((pin & ir)&&(RTC.CNT<20)){}
 }
 if((dat>>8)==(0x00FF-(dat & 0x00FF))){dat>>=8;operation();} //Data,~Data Check
 }
}

ISR(TCD0_OVF_vect){ //Steering Limit Switch
 ct++;
 if(!(ct%23)){
 stop;fg=0;TCD0.CTRLA&=~(1<<0);
 if(dir==-1){str=115;} //Left
 if(dir== 1){str=139;} //Right
 }
 TCD0.INTFLAGS|=0b00000001;
}

int main(void){

 _PROTECTED_WRITE(CLKCTRL.MCLKCTRLB,0b00010001); //Div6, 3333333Hz

 PORTA.DIR        =0b00101000; //PA7:Photo Sensor, PA5,3:Drive Motor, PA2:IR
 PORTB.DIR        =0b00000110; //PB2,1:Steering Moter
 PORTA.PIN7CTRL  =0b00001011; //PA7 Pull up, Falling
 PORTA.INTFLAGS  =0b10000000; //PA7 INT Enable

 //Steering Motor
 TCA0.SINGLE.CTRLA=0b00001111; //Div1024, Enable
 TCA0.SINGLE.CTRLB=0b00000110; //Low2,1
 TCA0.SINGLE.CTRLD=0b00000001; //Split Mode
 TCA0.SINGLE.PERL =81;        // 3333333Hz/Div1024/81=40Hz

 //Steering Limit Switch
 CPU_CCP          =CCP_IOREG_gc; //Un-protect Protected I/O Registers
 TCD0.CMPBCLR    =4000;      // 3333333Hz/Div32/4000=26Hz
 while(!(TCD0.STATUS & TCD_ENRDY_bm)){} //Enable Ready
 TCD0.CTRLA      =0b01110001; //System Clock, Div32, Enable
 TCD0.INTCTRL    =0b00000001; //OVF

 //Drive Motor
 //Forward(PA3)
 TCB1.CTRLA      =0b00000101; //From CLK_TCA, Enable
 TCB1.CTRLB      =0b00010111; //CCMPEN, 8bit PWM
 TCB1.CCMPL      =40;        // 3333333Hz/Div1024/40=81Hz
 //Reverse(PA5)
 TCB0.CTRLA      =0b00000101; //From CLK_TCA, Enable
 TCB0.CTRLB      =0b00010111; //CCMPEN, 8bit PWM
 TCB0.CCMPL      =40;        // 3333333Hz/Div1024/40=81Hz

 //Count IR
 RTC.CTRLA        =0b00000001; //RTC Enable
 RTC.PER          =65535;      //Top Value
 sei();

//--------------------------------------------
 while(1){
 if(~pin & ir){infrared();}
 }
}//int main

Transmitter

// 1:150 RC Car Transmitter ATmega88V 20200509 1600
#include <avr/io.h>
#define F_CPU 8000000UL
#include <avr/interrupt.h>
#define on DDRB|=(1<<3) //Infrared LED On
#define off DDRB&=~(1<<3) //Infrared LED Off

uint16_t st0,str,ac0,acl;
uint8_t data,i,ct0;

void ti(uint8_t ct1){ //Count TX
 TCNT0=0;
 for(;;){if(TCNT0==ct1){break;}}
}

void infrared(){ //Infrared LED

 on;ti(250); //Leader(2msec:8μsec*250)
 off;ti(250); //Blank(2msec:8μsec*250)

 for(i=0;i<8;i++){ //Data
 on;if((data>>(7-i))&1){ti(125);}else{ti(63);}
 off;ti(63);
 }
 for(i=0;i<8;i++){ //~Data
 on;if((~data>>(7-i))&1){ti(125);}else{ti(63);}
 off;ti(63);
 }
}

ISR(TIMER1_OVF_vect){ //ADC
 ct0++;
 if(ct0%2){ //Steering
 ADCSRA|=(1<<7);
 ADMUX  =0b00000000; //ADC0 Enable
 ADCSRA|=0b01000000;
 while(ADCSRA & 0b01000000);
 st0=ADC/50+117; //st0:117-137
 ADCSRA&=~(1<<7);
 if(st0>str){st0--;} //Offset
 data=st0;
 infrared();
 str=st0;
 }
 else{ //Accel
 ADCSRA|=(1<<7);
 ADMUX  =0b00000001; //ADC1 Enable
 ADCSRA|=0b01000000;
 while(ADCSRA & 0b01000000);
 ac0=ADC/34; //ac0:0-30
 ADCSRA&=~(1<<7);
 if(ac0>acl){ac0--;} //Offset
 data=ac0;
 infrared();
 acl=ac0;
 }
}

//----------------------------------------------------
int main(void){

 CLKPR =0b10000000; //Prescaler Change Enable
 CLKPR =0b00000000; //Div1:8000000Hz

 DDRB  =0b00000000; //PB3:Infrared LED
 PORTB =0b00000000;

 //TX Timer
 TCCR0A=0b00000011; //Fast PWM
 TCCR0B=0b00001011; //Div64
 OCR0A =255;        //TCNT0(1dot):8000000Hz/Div64=125000Hz(8μsec)

 //ADC Setting
 ADCSRA=0b00000011; //CK/8

 //Interrupt for ADC
 TCCR1A=0b00000010; //Fast PWM
 TCCR1B=0b00011101; //Div1024
 TIMSK1=0b00000001; //TOIE1
 ICR1  =520;        // 8000000Hz/Div1024/520=15Hz

 //IR Carrier Frequency
 TCCR2A=0b01000011; //Fast PWM
 TCCR2B=0b00001001; //Div1
 OCR2A =105;        // 8000000Hz/105/2=38kHz(Duty Cycle:1/2)
 sei();

 while(1){}
}

Link

[https://drive.google.com/file/d/1ynx_sC-Qco1kWu8m248hn5V3JQEay_9M/viewtd]