Bao cao DA

H iu khin thi gian thc SVTH: Nhm 1

1

MC LC

I. C s l thuyt .......................................................................................................... 3

1. Tm hiu v RTOS ............................................................................................... 3

1.1 RTOS l g ? ................................................................................................... 3

1.1.1 H thng thi gian thc (Real time System): .......................................... 3

1.1.2 Thi gian thc cng (Hard Real-time) v thi gian thc mm (Soft Real- Time): ............................................................................................. 3

1.1.3 nh ngha h iu hnh thi gian thc RTOS: ..................................... 4

1.2 Cc thnh phn trong RTOS: ......................................................................... 4

1.2.1 B lch trnh (Scheduler): ....................................................................... 4

1.2.2 B iu phi (Dispatcher): ...................................................................... 6

1.2.3 Cc i tng (Objects) trong RTOS: ..................................................... 7

1.3 nh ngha Tasks: ........................................................................................... 8

1.3.1 Task h thng (System Task): ................................................................. 8

1.3.2 Cc trng thi ca mt Task: ................................................................... 9

1.3.3 Cu trc ca mt Task: .......................................................................... 10

2. Tm hiu v SWI ................................................................................................ 10

2.1 nh ngha SWI ............................................................................................ 10

2.2 u tin SWI trong h thng .................................................................... 10

2.3 Quy tc lp lch trnh (Scheduling Rules) .................................................... 11

2.4 Cc bc x l trong h thng ...................................................................... 12

3. ng c bc ..................................................................................................... 12

3.1 Khi nim ..................................................................................................... 12

3.3 Phn loi ....................................................................................................... 13

3.4 u im v nhc im ............................................................................... 13

4. Gii thiu v Kit Launchpad dng vi iu khin TivaC .................................... 14

II. Thit k ................................................................................................................... 15

1. S khi ......................................................................................................... 15

2. Kt ni phn cng............................................................................................16

3. Thit k phn cng...........................................................................................16

3.1 Phm nhn ..................................................................................................... 15


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3.2 Led n ......................................................................................................... 17

3.3 Mch bo v .................................................................................................. 17

3.4 Mch m dng ............................................................................................ 18

4. Phn mm CCS................................................................................................... 18

III. Code iu khin ...................................................................................................... 18

IV. Kt qu nh gi ..................................................................................................... 24

1. Kt qu t c ................................................................................................. 24

2. u im v hn ch: ........................................................................................... 24

3. ngh ............................................................................................................... 24

TI LIU THAM KHO ...................................................................................... 24


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S VNG QUAY QUA LED N

Mc tiu:

Trong iu khin chuyn ng k thut s, ng c bc l mt c cu chp hnh c bit hu hiu bi n c th thc hin trung thnh cc lnh a ra di dng s. ng c bc c ng dng nhiu trong ngnh T ng ho, chng c ng dng trong cc thit b cn iu khin chnh xc. V d: iu khin robot, iu khin tiu c trong cc h quang hc, iu khin nh v trong cc h quan trc, iu khin bt, bm mc tiu trong cc kh ti quan st, iu khin lp trnh trong cc thit b gia cng ct gt, iu khin cc c cu li phng v chiu trong my bay... Trong cng ngh my tnh, ng c bc c s dng cho cc loi a cng, a mm, my in...

I. C s l thuyt

1. Tm hiu v RTOS

1.1 RTOS l g ?

1.1.1 H thng thi gian thc (Real time System):

Thi gian (Time) :

S chnh xc ca h thng khng ch ph thuc vo kt qu

tnh ton logic m cn ph thuc vo thi gian cho ra kt qu.

Thc (Real):

p ng ca h thng vi nhng s kin bn ngoi.

Thi gian thc (Real-Time):

Phi m bo cc yu t:

p ng nhanh

D on c.

Cc tc v (Real-time Task) c xc nh bng deadline.

Deadline l thi gian ti a mt tc v phi hon thnh

vic thnh ton.

1.1.2 Thi gian thc cng (Hard Real-time) v thi gian thc mm (Soft Real-Time):

Hnh 1: Thi gian thc cng v thi gian thc mm.


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Thi gian thc cng:

Mt tc v l thi gian thc cng nu nh thi gian tnh ton vt qu deadtime c th gy ra s ph v mi trng iu khin.

Thi gian thc mm: Mt tc v l thi gian thc mm nu nh m bo thc

thi trong deadtime cho php v nu nh khng m bo th s khng to ra nhng nguy hi no ng k cho h thng v khng lm nh hng n s ng x ca h thng.

1.1.3 nh ngha h iu hnh thi gian thc RTOS:

L h thng c:

Lch trnh thc thi theo thi gian.

Qun l ti nguyn h thng.

Cung cp nhng nn tng c bn pht trin cc ng dng

trn n.

1.2 Cc thnh phn trong RTOS:

Hnh 2: Cc i tng trong RTOS

B lch trnh (Scheduler):

L mt tp cc thut ton xc nh tc v (Task) no c

thc thi.

i tng (Object):

L nhng cu trc c bit (Kernel) gip ngi lp trnh to ra

cc ng dng.

Dch v (Service) :

L nhng iu khin m Kernel (li) thc thi trong i tng

(object): chia thi gian (Timing), ngt (interrupt), p ng (handling)

v qun l ti nguyn h thng (resource management).

1.2.1 B lch trnh (Scheduler):


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L mt phn v cng quan trng ca li h thng iu khin

(Operating System Kernel).

N gip xc nh tc v (task) no s dnh quyn CPU

thc thi tip theo. Sau , n thc hin vic chuyn trng thi

(context switching) c thc hin bng b iu phi (dispatcher).

Hnh 3: Chuyn i trng thi (Context Switching)

Trng thi (ng cnh) ca tc v (Task)

Mi task c mt trng thi ring ca n, n chnh l trng thi

ca nhng thanh ghi (registers).

Mi thi im 1 task mi c to ra, kernel s to ra v lu

gi mt block iu khin lin quan n task (TCBs). TCBs l

nhng cu trc d liu h thng m kernel dng lu tr nhng

thng tin c trung ca task. TCBs cha mi th m mt kernel cn

bit v mt task c th no . Khi task nag chy, trng thi ca

n l ng. Trng thi ng ny c lu tr trong TCB. Khi task

khng cn chy na, trng thi s b ng bng (frozen) trong TCB,

v c s dng cho ln thc thi tip theo ca task.

Cng tc chuyn i trng thi (Context Switch):

S xy ra khi b lch trnh (scheduler) chuyn t mt trng

thi ny sang mt trng thi khc.

Vic chuyn i trng thi bao gm:

Thi gian chuyn i:

L thi gian tiu tn cho b lch trnh chuyn t task ny

sang task khc.

N khng c lin quan no n cc lnh thc hin trong task.

Nu mt ng dng c thit k m xy ra chuyn i trng

thi thng xuyn th c th dn n nhng thc thi khng cn thit.

V vy, nn thit k ng dng theo cch m to ra t chuyn i trng

thi nht.

Khi no chuyn i xy ra:

Mi khi ng dng to mt li gi h thng (System Call), b

lch trnh s xc nh rng c cn chuyn i trng thi hay khng.

Khi b lch trnh xc nh vic chuyn i l cn thit th s gi b

phn phi (dispatcher) thc hin vic chuyn i.


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V d: Khi b thc thi ca Kernel xc nh cn dng vic thc thi

Task 1 chuyn qua trng Task 2 th n s thc thi theo cc bc

sau: Kernel s lu thng tin trng thi ca Task 1 Load thng tin

trng thi ca Task 2, Task 2 tr thnh lung (thread) thc thi hin

ti. Trng thi chuyn i ca Task 1 s c ng bang trong khi

Task 2 ang c thc thi, nhng nu nh b chuyn i xc nh

cn chy li Task 1 th Task 1 s quay li v tr ngay trc khi n b

chuyn i.

Hnh 4: V d v Contex Switch

1.2.2 B iu phi (Dispatcher):

Dng thc thi (Flow of Execution): Ti bt k thi im no RTOS ang chy, dng thc thi s

chuyn n 3 vng: n cc Task ng dng (application Task), n mt chng trnh phc v ngt (ISR), hoc n Kernel.

Khi no b phn phi c thc hin:

Khi mt Task hoc ISR to mt li gi h thng, dng iu

khin s chuyn n Kernel thc thi mt trong s nhng th tc

c cung cp bi Kernel.

Khi ri khi Kernel, dispatcher s c trch nhim l chuyn

lnh iu khin n mt trong s nhng Task ng dng.

Hnh 5: iu phi t mt Task


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Cch thc hin nh sau:

Khng cn thit chuyn ton b lnh iu khin n

cng mt task gi System Call. iu ny s c xc nh bng gii

thut phn chia thi gian biu (scheduling algorithms) ca b lch

trnh (scheduler).

Chuyn i thc thi t mt Task

Ty thuc vo cch truy cp vo Kernel nh th no m

dispatching s xy ra khc nhau. Khi mt Task thc hin mt li gi

h thng, dispatcher s c s dng thot khi Kernel mi khi

Li gi h thng c hon thnh. Trong trng hp ny, dispatcher

c dng nh mt li gi ca li gi (call-by-call basic) n c

th h tr cho vic chuyn i trng thi ca Task. Bt k Task no

cng c th gi system call. Mt hay nhiu Task c th trng thi

sn sng cho thc thi.

Chuyn i thc thi t 1 chng trnh phc v ngt (ISR):

Hnh 6: iu phi t mt ISR

Khi mt ISR to mt System Call, Dispatcher s b b v

hiu ha cho n khi ISR thc thi xong. Qu trinh ny s ng min

l c ti nguyn chuyn i gia cc Task. Chuyn i trng

thi ny s khng c din ra bi v ISR phi c thc thi xong

m khng c ngt bi cc Tasks. Sau khi ISR thc thi xong,

Kernel s thot n dispatcher c th iu phi n ng task thc

thi tip theo.

1.2.3 Cc i tng (Objects) trong RTOS:

Tasks:

L cc lung (thread) thc thi cng tn ti v c lp nhau c

th cnh tranh nhau dnh quyn thc thi.

Semaphores:

L i tng bt s kin ng b gia cc tasks, c th

tng hoc gim.

Message Queues:


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L mt kiu cu trc d liu c dng ng b ha hoc

trao i thng tin gia cc Tasks.

Real-time embedded applications:

L s kt ni gia cc i tng ca Kernel gii quyt vn

thi gian thc nh s ng thi, s ng b, v trao i d liu

1.3 nh ngha Tasks:

Hnh 7: S cu trc ca mt Task c bn.

Task l mt lung thc thi c lp m c th cnh tranh chim quyn

thc thi. Mt ng dng c chia ra lm nhiu Tasks ng thi

(Concurrent Task) ti u kh nng p ng vo ra trong lut thi

gian.

Mt Task c nh ngha thun ty l mt tp cc tham s v cu

trc d liu.

Cc thnh phn ca mt Task: Khi c to ra, Task s c tn, ID duy nht, u tin, mt

block iu khin Task (TCB), Stack, v cc th tc thc thi Task.

1.3.1 Task h thng (System Task):

Bao gm cc Task sau:

Task khi to (Initialization or Startup Task)

Khi to h thng v to task khi ng h thng.

Task Ri (Idle Task).

Idle Task chy theo chu k ri ca h thng (idle cycles),

c t u tin thp nht.

Thc thi mt vng lp v tn. Idle task chc chn rng b

m chng trnh lun lun c gi tr cho trong trng hp khng c

task no thc thi.

Kernel cho php cc thao tc c cu hnh bi ngi dng

(developer) chy nhng yu cu c bit: sleep mode.


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Task ng nhp (Logging Task).

L tin nhn truy cp vo h thng.

Task Li (Exception- Handling Task).

Thc thi cc trng hp li h thng hoc ng dng.

Task sa li (Debug Agent Task).

Cho php sa li thng qua cng c debug (host debugger).

Ch rng cc task h thng khc c th c to ra trong qu trnh

khi to, ph thuc vo cc thnh phn c trong Kernel.

Hnh 8: Cc trng thi ca mt Task.

1.3.2 Cc trng thi ca mt Task:

Trng thi ca mt Task:

Ti bt k mt thi im, mi task tn ti mt trong s nhng

trng thi nh bao gm: Sn sng (Ready), ang thc thi (Running),

hoc Kha (Blocked). Khi mt h thng nhng thi gian thc chy,

mi task thay i t trng thi ny n trng thi khc theo quy lut

logic ca mt trng thi hu hn n gin (Finite state machine

(FSM)).

V c bn, 3 trng thi chnh c s dng trong hu ht cc

h thng Kernel s dng phng php lch trnh thay th.

(preemptive scheduling).


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1.3.3 Cu trc ca mt Task:

Hnh 9: Hin thc cu trc ca mt Task

Chy n kt thc Task (Run to completion Task)

Mt v d ca Run to completion Task l Task khi to

cp ng dng (application level). Task khi to c nhim v khi

to ng dng v to ra cc dch v, Tasks, v mt s i tng ca

Kernel.

Vng v tn Task (Enless-Loop Task)

Mt cu trc Enless-Loop Task bao gm c phn code khi

to nhng phn khi to ch cn mt ln, sau s l vng lp v

tn.

Mt thnh phn khng th thiu ca vng lp v tn l mt

hay nhiu blocking call nm trong vng lp. Nhng blocking call

ny cho php cc Task c u tin thp hn c th chy c.

2. Tm hiu v SWI

2.1 nh ngha SWI

SWI (software interrupt) l mt ngt gy ra bi phn mm, thng l

bng mt chng trnh trong ch ngi dng.

2.2 u tin SWI trong h thng


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Hnh 10: u tin SWI trong h thng

CPU ch thc hin mt lnh mt thi im nn n ch c th tm ngng vic thc thi mt tin trnh ang chy thc thi mt tin trnh khc ri sau quay tr v thc thi tip tin trnh ang b tm ngng.

Khi mt ngt xut hin, vic thc thi trng trnh chnh tm thi b dng v CPU thc hin r nhnh n trnh phc v ngt ISR. Ta c th ni chng trnh chnh c thc thi mc nn cn ISR c thc thi mc ngt.

Mi mt nguyn nhn dn n ngt phi c thng qua thanh ghi cho php ngt IE (interrupt enable).

u tin ngt: Cc ngt c mc u tin cao hn s c phc v trc nh thanh ghi IP (interrupt priority).

2.3 Quy tc lp lch trnh (Scheduling Rules)

Hnh 11: Quy tc lp lch trnh

Biu di y cho thy u tin c sp xp theo th t tng dn t

di ln trn vi Hwi c u tin cao nht.

Trong hnh trn SWI c 2 qu trnh, swi_a (p1) v swi_b (p2) c u tin

cao hn.

Idle Task SWI HWI

Thi gian x l linh hot Thng t l khung hnh Chu k l mini giy Mc u tin


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Khi u swi_a ang trng thi running v sau Hwi yu cu mt ngt

swi_post (swi_b). Khi nhn c yu cu ngt t Hwi th lp tc swi_b t trng

thi ready chuyn sang trng thi running. Trong khi swi_a ang hng i

sn sng, khi tin trnh swi_b kt thc th swi_a s quay v trng thi running.

Hnh 12: K thut FIFO

Chin lc FIFO: CPU c cp pht cho tin trnh u tin trong danh

sch sn sng c yu cu, v ch c gii phng khi tin trnh t nguyn

hoc c mt yu cu xut nhp.

Sau khi Hwi gi yu cu ngt swi_post (swi_b) th CPU c tr li cho

swi_a (p1), trong khi swi_b vn trng thi ready v ch n khi swi_a thc

hin xong th swi_b mi chuyn sang trng thi running.

2.4 Cc bc x l trong h thng

Hnh 13: Cc bc x l trong h thng 3. ng c bc

3.1 Khi nim

ng c bc l mt thit b c - in dng bin i xung in mt chiu thnh chuyn ng quay c hc ri rc. Gc quay v tc quay tng ng vi s xung v tn s xung in cp cho ng c.

Mi vng quay ca trc ng c c thit lp bi mt s lng hu hn cc gc bc, l gc quay ca roto mi khi stato b o cc tnh.

3.2 Cu to

ng c bc c th c coi l tng hp ca hai loi ng c: ng c mt chiu khng tip xc v ng c ng b gim tc cng sut nh.

ng c bc c th c m t nh l mt ng c in khng dung chuyn mch.

INT! Hard R/T Process

Post Swi

Cleanup, RET

Swi Ready

Continue Processing


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C th, cc mu trong ng c l rotor v stato l cc nam chm vnh cu hoc trong trng hp ca ng c bin t tr n l nhng khi rng lm bng vt liu nh c t tnh, cho php chng quay kh nhanh v vi mt m iu khin thch hp cho php chng khi ng v dng li bt k v tr no ta mun mt cch d dng.

Hnh 14: Cu to ng c bc

3.3 Phn loi

ng c bc c th c phn loi da theo cu trc hoc cch qun cc cun dy trn stator. Da theo cu trc rotor, ng c bc c chia thnh 3 loi:

- ng c bc t tr bin thin. - ng c bc nam chm vnh cu. - ng c bc lai.

Da theo cc qun dy trn stator, ng c bc c chia thnh 2 loi: - ng c bc n cc. - ng c bc lng cc.

Ngoi ra, cc loi ny cn ri vo mt trong hai phng php cu to. Trong phng php th nht, rotor c cc rng bnh thng. Stator c cc rng tng t gi cc cun dy. Trong phng php th hai, mt rng ca rotor v stator c nhiu rng nh hn. u im ca rng nh ny l to ra cc gc bc nh hn.

3.4 u im v nhc im

u im: - Khi dng ng c bc khng cn mch phn hi cho iu khin v tr

v vn tc. - Thch hp vi cc thit b iu khin s vi kh nng iu khin s trc

tip. - D dng iu khin khi ng, dng v o chiu quay. - Khng c chi than nn lm vic tin cy.

Nhc im - Cng hng s xy ra khi iu khin khng ng cch. - Cng sut thp.


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4. Gii thiu v Kit Launchpad dng vi iu khin TivaC

Tiva C Series TM4C123G LaunchPad Evaluation Board l nn tng

dnh cho ARM Cortex-M4F. S dng chip TM4C123GH6PMI vi tnh

nng h tr USB 2.0, ch ng ng, module iu xung (MC PWM). Trn kit

c cc nt nhn, LED RGB, d dng np v debug chng trnh vi CCS hoc

IAR.

Mt s tnh nng c bn:

Chuyn ng kim sot PWM USB micro-ab kt ni:

Thit b ch cu hnh mc nh. My ch/OTG ch supportable.

Rgb dn ngi s dng. Hai ngi s dng cc thit b chuyn mch (ng dng/Wake) C sn I/O a ra tiu trn mt 0.1-in (2,54-mm) li Chuyn i-la chn ngun in:

ICDI

Thit b USB Chuyn i thit lp li Ci t sn rgb QuickStart ng dng c h tr bi Tivaware C lot phn mm bao gm th vin USB v

driver cc thit b ngoi vi. Tiva C lot TM4C123G b phng Boosterpack xl giao din, c tnh nng

Stackable tiu m rng kh nng ca cc Tiva C lot b phng nn tng pht trin.

Hnh 15: KIT Tiva C Launchpad


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II. Thit k

1. S khi

Hnh 16. S khi

2. Kt ni phn cng

KEY ni t port PA2 n PA5 ca Kit Tiva C. LED N ni t port PC4 n PC7 ca Kit Tiava C.

T KIT TIVA C ni t port PD0 n PD3 vi u vo MCH BO V (PC817).

u ra MCH BO V ni t chn 1 n chn 4 ca ULN2803 (mch m dng).

Chn 15 n chn 18 ca ULN2803 ni vi MOTOR BC.

3. Thit k phn cng

3.1 Phm nhn

Hnh 17. Khi phm nhn


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Chc nng:

A1 quay thun mt vng.

A2 quay nghch mt vng.

A3 quay nghch 900.

A4 quay thun 1800.

3.2 Led n

Hnh 18. Khi hin th

S dng 4 led n c tnh theo m nh phn hin th s vng quay ca motor bc. V d:

0001: gi tr mc nh. 0010: hin th m nh phn gi tr l 2. 0011: hin th m nh phn gi tr l 3.


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3.3 Mch bo v

Hnh 19. Khi mch bo v

Chc nng: bo v kit Tiva C.

3.4 Mch m dng

Hnh 20. Khi m dng

Chc nng: m dng cho motor bc.


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4. Phn mm CCS

Hnh 21. Giao din CCS (Code Composer Studio)

III. Code iu khin

/*

* ======== empty.c ========

*/

/* XDCtools Header files */

#include

#include

#include

/* BIOS Header files */

#include

/* TI-RTOS Header files */

#include

// #include

// #include

// #include

// #include

// #include


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/* Board Header file */

#include "Board.h"

// TivaWare Header Files

//------------------------------------------

#include

#include

#include "inc/hw_types.h"

#include "inc/hw_memmap.h"

#include "driverlib/sysctl.h"

#include "driverlib/gpio.h"

#include "inc/hw_ints.h"

#include "driverlib/interrupt.h"

#include "driverlib/timer.h"

#include "string.h"

//----------------------------------------

// Prototypes

//----------------------------------------

void hardware_init(void);

void quay(void);

void Timer_ISR(void);

//---------------------------------------

// Globals

//---------------------------------------

unsigned char code[]={0x08,0x0b,0x02,0x06,0x04,0x05,0x01,0x0a};

int i, k;

unsigned char key;

uint8_t ReadData;


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uint8_t ReadData2;

uint8_t ReadData3;

uint8_t ReadData4;

uint8_t ReadData5;

//---------------------------------------------------------------------------

// main()

//---------------------------------------------------------------------------

void main(void)

{

hardware_init(); // init hardware via Xware

BIOS_start();

}

//---------------------------------------------------------------------------

// hardware_init()

//

// inits GPIO pins for toggling the LED

//---------------------------------------------------------------------------

void hardware_init(void)

{

//Set CPU Clock to 40MHz. 400MHz PLL/2 = 200 DIV 5 = 40MHz

SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_XTAL_

16MHZ|SYSCTL_OSC_MAIN);

// setup PORT D 0,1,2,3 lam output motor

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);

GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE,

GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);

//pa

SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);

//pa2


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GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_2); // Khai bao

chan PF4 la Input

GPIOPadConfigSet(GPIO_PORTA_BASE, GPIO_PIN_2,

GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);

//pa3


chan PF4 la Input



//pa4


chan PF4 la Input



//pa5


chan PF4 la Input



//timer for 500ms

uint32_t ui32Period;

SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2); // enable Timer 2

periph clks

TimerConfigure(TIMER2_BASE, TIMER_CFG_PERIODIC); // cfg Timer 2

mode - periodic

ui32Period = (SysCtlClockGet() /2); // period = CPU clk div 2 (500ms)

TimerLoadSet(TIMER2_BASE, TIMER_A, ui32Period); // set Timer 2 period

TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT); // enables

Timer 2 to interrupt CPU

TimerEnable(TIMER2_BASE, TIMER_A); // enable Timer 2

}


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void quay(){

//Semaphore_pend(LEDSem, BIOS_WAIT_FOREVER); // wait for Sem from

ISR

ReadData2 = GPIOPinRead(GPIO_PORTA_BASE, GPIO_PIN_2); // Doc gia

tri chan PA


tri chan PA


tri chan PA


tri chan PA

if ((ReadData2&0x04)==0) //quay thuan 1 vong

{

for(i=0;i0;i--){

int st=i%8;

GPIOPinWrite(GPIO_PORTD_BASE, 0x0f,code[st]&0x0f);

SysCtlDelay(80000);

}

}

else if ((ReadData4&0x10)==0)//quay thuan 1/2 vong

{

for(i=200;i>0;i--){

int st=i%8;



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SysCtlDelay(80000);

}

}

else if ((ReadData5&0x20)==0)//quay thuan 1/4 vong

{

for(i=100;i>0;i--){

int st=i%8;


SysCtlDelay(80000);

}

}

}

void Timer_ISR(void)

{

TimerIntClear(TIMER2_BASE, TIMER_TIMA_TIMEOUT); // must clear

timer flag FROM timer

Swi_post(mtstep);

}

Cc thnh phn:

HWI l Timer to xung 500ms post SWI.

SWI khi c gi th c cc ng vo. Xt iu kin cho motor quay.


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IV. Kt qu nh gi

1. Kt qu t c

Mch iu khin ng c bc hot ng tt, hon thnh yu cu ti t ra.

2. u im v hn ch:

u im:

Phn cng c thit k theo dng module nn d kim tra li.

Mch hot ng nhanh v chnh xc.

Hn ch:

Lp trnh trn phn mm CCS cn hn ch.

Phn cng cha ti u.

3. ngh

Cn nhiu thi gian hn tm hiu v ngn ng CCS trn Kit Tiva C

cng nh hot ng ca ng c bc v cc cch kt ni cn thit iu

khin c ng c bc.

CM N

Nhm xin chn thnh cm n s hng dn nhit tnh ca Thy Nguyn

Khc Nguyn hng dn tn tnh v gip nhm chng em trong qu trnh

thc hin n. Nhm cng xin cm n cc bn trong lp ng gp kin

v gii thch nhng ch cha hiu thc hin n ny.

TI LIU THAM KHO

http://www.ti.com/tool/ek-tm4c123gxl

http://www.ti.com/tool/CCSTUDIO

http://www.payitforward.edu.vn/wordpress/tutorials/arm-cortex-m4/


25

BNG CNG VIC CA CC THNH VIN

BUI Thnh vin trong nhm

L Trng Giang Tng V Hi Nguyn Trng Minh

1 C C C

2 C C C

3 C C C

4 C C C

5 C C C

6 C C C

7 C C C

8 C C C

9 C C C

10 C C C

11 C C C

12 C C C

Thit k mch v lm mch thc t: Nguyn Trng Minh + Tng V Hi

Thuyt trnh: L Trng Giang

Bi bo co: Tng V Hi + L Trng Giang

Powerpoint: Nguyn Trng Minh

Vit code CCS: C nhm

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