基于視覺的移動機器人設計與分析

基于視覺的移動機器人設計與分析,基于視覺的移動機器人設計與分析,基于,視覺,移動,挪動,機器人,設計,分析 4-15 Pin Configuration PDIP/SOIC /VPP Features Compatible with MCS-51 Products 2K Bytes of Reprogrammable Flash Memory Endurance: 1,000 Write/Erase Cycles 2.7V to 6V Operating Range Fully Static Operation: 0 Hz to 24 MHz Two-Level Program Memory Lock 128 x 8-Bit Internal RAM 15 Programmable I/O Lines Two 16-Bit Timer/Counters Six Interrupt Sources Programmable Serial UART Channel Direct LED Drive Outputs On-Chip Analog Comparator Low Power Idle and Power Down Modes Description The AT89C2051 is a low-voltage, high-performance CMOS 8-bit microcomputer with 2K Bytes of Flash programmable and erasable read only memory (PEROM). The device is manufactured using Atmels high density nonvolatile memory technology and is compatible with the industry standard MCS-51 instruction set. By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Atmel AT89C2051 is a pow- erful microcomputer which provides a highly flexible and cost effective solution to many embedded control applications. The AT89C2051 provides the following standard features: 2K Bytes of Flash, 128 bytes of RAM, 15 I/O lines, two 16-bit timer/counters, a five vector two-level interrupt architecture, a full duplex serial port, a precision analog comparator, on-chip oscillator and clock circuitry. In addition, the AT89C2051 is designed with static logic for opera- tion down to zero frequency and supports two software selectable power saving modes. The Idle Mode stops the CPU while allowing the RAM, timer/counters, serial port and interrupt system to continue functioning. The Power Down Mode saves the RAM contents but freezes the oscillator disabling all other chip functions until the next hardware reset. 0368D-B12/97 8-Bit Microcontroller with 2K Bytes Flash AT89C2051 AT89C20514-16 Block Diagram AT89C2051 4-17 Pin Description V CC Supply voltage. GND Ground. Port 1 Port 1 is an 8-bit bidirectional I/O port. Port pins P1.2 to P1.7 provide internal pullups. P1.0 and P1.1 require exter- nal pullups. P1.0 and P1.1 also serve as the positive input (AIN0) and the negative input (AIN1), respectively, of the on-chip precision analog comparator. The Port 1 output buffers can sink 20 mA and can drive LED displays directly. When 1s are written to Port 1 pins, they can be used as inputs. When pins P1.2 to P1.7 are used as inputs and are externally pulled low, they will source current (I IL ) because of the internal pullups. Port 1 also receives code data during Flash programming and verification. Port 3 Port 3 pins P3.0 to P3.5, P3.7 are seven bidirectional I/O pins with internal pullups. P3.6 is hard-wired as an input to the output of the on-chip comparator and is not accessible as a general purpose I/O pin. The Port 3 output buffers can sink 20 mA. When 1s are written to Port 3 pins they are pulled high by the internal pullups and can be used as inputs. As inputs, Port 3 pins that are externally being pulled low will source current (I IL ) because of the pullups. Port 3 also serves the functions of various special features of the AT89C2051 as listed below: Port 3 also receives some control signals for Flash pro- gramming and verification. RST Reset input. All I/O pins are reset to 1s as soon as RST goes high. Holding the RST pin high for two machine cycles while the oscillator is running resets the device. Each machine cycle takes 12 oscillator or clock cycles. XTAL1 Input to the inverting oscillator amplifier and input to the internal clock operating circuit. XTAL2 Output from the inverting oscillator amplifier. Oscillator Characteristics XTAL1 and XTAL2 are the input and output, respectively, of an inverting amplifier which can be configured for use as an on-chip oscillator, as shown in Figure 1. Either a quartz crystal or ceramic resonator may be used. To drive the device from an external clock source, XTAL2 should be left unconnected while XTAL1 is driven as shown in Figure 2. There are no requirements on the duty cycle of the external clock signal, since the input to the internal clocking circuitry is through a divide-by-two flip-flop, but minimum and maxi- mum voltage high and low time specifications must be observed. Figure 1. Oscillator Connections Note: C1, C2 = 30 pF 10 pF for Crystals = 40 pF 10 pF for Ceramic Resonators Figure 2. External Clock Drive Configuration Port Pin Alternate Functions P3.0 RXD (serial input port) P3.1 TXD (serial output port) P3.2 INT0 (external interrupt 0) P3.3 INT1 (external interrupt 1) P3.4 T0 (timer 0 external input) P3.5 T1 (timer 1 external input) AT89C20514-18 Special Function Registers A map of the on-chip memory area called the Special Func- tion Register (SFR) space is shown in the table below. Note that not all of the addresses are occupied, and unoc- cupied addresses may not be implemented on the chip. Read accesses to these addresses will in general return random data, and write accesses will have an indetermi- nate effect. User software should not write 1s to these unlisted loca- tions, since they may be used in future products to invoke new features. In that case, the reset or inactive values of the new bits will always be 0. Table 1. AT89C2051 SFR Map and Reset Values 0F8H 0FFH 0F0H B 00000000 0F7H 0E8H 0EFH 0E0H ACC 00000000 0E7H 0D8H 0DFH 0D0H PSW 00000000 0D7H 0C8H 0CFH 0C0H 0C7H 0B8H IP XXX00000 0BFH 0B0H P3 11111111 0B7H 0A8H IE 0XX00000 0AFH 0A0H 0A7H 98H SCON 00000000 SBUF XXXXXXXX 9FH 90H P1 11111111 97H 88H TCON 00000000 TMOD 00000000 TL0 00000000 TL1 00000000 TH0 00000000 TH1 00000000 8FH 80H SP 00000111 DPL 00000000 DPH 00000000 PCON 0XXX0000 87H AT89C2051 4-19 Restrictions on Certain Instructions The AT89C2051 and is an economical and cost-effective member of Atmels growing family of microcontrollers. It contains 2K bytes of flash program memory. It is fully com- patible with the MCS-51 architecture, and can be pro- grammed using the MCS-51 instruction set. However, there are a few considerations one must keep in mind when utilizing certain instructions to program this device. All the instructions related to jumping or branching should be restricted such that the destination address falls within the physical program memory space of the device, which is 2K for the AT89C2051. This should be the responsibility of the software programmer. For example, LJMP 7E0H would be a valid instruction for the AT89C2051 (with 2K of mem- ory), whereas LJMP 900H would not. 1. Branching instructions: LCALL, LJMP, ACALL, AJMP, SJMP, JMP A+DPTR These unconditional branching instructions will execute correctly as long as the programmer keeps in mind that the destination branching address must fall within the physical boundaries of the program memory size (locations 00H to 7FFH for the 89C2051). Violating the physical space limits may cause unknown program behavior. CJNE ., DJNZ ., JB, JNB, JC, JNC, JBC, JZ, JNZ With these conditional branching instructions the same rule above applies. Again, violating the memory boundaries may cause erratic execution. For applications involving interrupts the normal interrupt service routine address locations of the 80C51 family archi- tecture have been preserved. 2. MOVX-related instructions, Data Memory: The AT89C2051 contains 128 bytes of internal data mem- ory. Thus, in the AT89C2051 the stack depth is limited to 128 bytes, the amount of available RAM. External DATA memory access is not supported in this device, nor is exter- nal PROGRAM memory execution. Therefore, no MOVX . instructions should be included in the program. A typical 80C51 assembler will still assemble instructions, even if they are written in violation of the restrictions men- tioned above. It is the responsibility of the controller user to know the physical features and limitations of the device being used and adjust the instructions used correspond- ingly. Program Memory Lock Bits On the chip are two lock bits which can be left unpro- grammed (U) or can be programmed (P) to obtain the addi- tional features listed in the table below: Lock Bit Protection Modes (1) Note: 1. The Lock Bits can only be erased with the Chip Erase operation. Idle Mode In idle mode, the CPU puts itself to sleep while all the on- chip peripherals remain active. The mode is invoked by software. The content of the on-chip RAM and all the spe- cial functions registers remain unchanged during this mode. The idle mode can be terminated by any enabled interrupt or by a hardware reset. P1.0 and P1.1 should be set to 0 if no external pullups are used, or set to 1 if external pullups are used. It should be noted that when idle is terminated by a hard- ware reset, the device normally resumes program execu- tion, from where it left off, up to two machine cycles before the internal reset algorithm takes control. On-chip hardware inhibits access to internal RAM in this event, but access to the port pins is not inhibited. To eliminate the possibility of an unexpected write to a port pin when Idle is terminated by reset, the instruction following the one that invokes Idle should not be one that writes to a port pin or to external memory. Power Down Mode In the power down mode the oscillator is stopped, and the instruction that invokes power down is the last instruction executed. The on-chip RAM and Special Function Regis- ters retain their values until the power down mode is termi- nated. The only exit from power down is a hardware reset. Reset redefines the SFRs but does not change the on-chip RAM. The reset should not be activated before V CC is restored to its normal operating level and must be held active long enough to allow the oscillator to restart and sta- bilize. P1.0 and P1.1 should be set to 0 if no external pullups are used, or set to 1 if external pullups are used. Program Lock Bits LB1 LB2 Protection Type 1 U U No program lock features. 2 P U Further programming of the Flash is disabled. 3 P P Same as mode 2, also verify is disabled. AT89C20514-20 Programming The Flash The AT89C2051 is shipped with the 2K bytes of on-chip PEROM code memory array in the erased state (i.e., con- tents = FFH) and ready to be programmed. The code mem- ory array is programmed one byte at a time. Once the array is programmed, to re-program any non-blank byte, the entire memory array needs to be erased electrically. Internal Address Counter: The AT89C2051 contains an internal PEROM address counter which is always reset to 000H on the rising edge of RST and is advanced by apply- ing a positive going pulse to pin XTAL1. Programming Algorithm: To program the AT89C2051, the following sequence is recommended. 1. Power-up sequence: Apply power between V CC and GND pins Set RST and XTAL1 to GND 2. Set pin RST to H Set pin P3.2 to H 3. Apply the appropriate combination of H or L logic levels to pins P3.3, P3.4, P3.5, P3.7 to select one of the programming operations shown in the PEROM Pro- gramming Modes table. To Program and Verify the Array: 4. Apply data for Code byte at location 000H to P1.0 to P1.7. 5. Raise RST to 12V to enable programming. 6. Pulse P3.2 once to program a byte in the PEROM array or the lock bits. The byte-write cycle is self-timed and typically takes 1.2 ms. 7. To verify the programmed data, lower RST from 12V to logic H level and set pins P3.3 to P3.7 to the appropiate levels. Output data can be read at the port P1 pins. 8. To program a byte at the next address location, pulse XTAL1 pin once to advance the internal address counter. Apply new data to the port P1 pins. 9. Repeat steps 5 through 8, changing data and advancing the address counter for the entire 2K bytes array or until the end of the object file is reached. 10.Power-off sequence: set XTAL1 to L set RST to L Turn V CC power off Data Polling: The AT89C2051 features Data Polling to indicate the end of a write cycle. During a write cycle, an attempted read of the last byte written will result in the com- plement of the written data on P1.7. Once the write cycle has been completed, true data is valid on all outputs, and the next cycle may begin. Data Polling may begin any time after a write cycle has been initiated. Ready/Busy: The Progress of byte programming can also be monitored by the RDY/BSY output signal. Pin P3.1 is pulled low after P3.2 goes High during programming to indi- cate BUSY. P3.1 is pulled High again when programming is done to indicate READY. Program Verify: If lock bits LB1 and LB2 have not been programmed code data can be read back via the data lines for verification: 1. Reset the internal address counter to 000H by bringing RST from L to H. 2. Apply the appropriate control signals for Read Code data and read the output data at the port P1 pins. 3. Pulse pin XTAL1 once to advance the internal address counter. 4. Read the next code data byte at the port P1 pins. 5. Repeat steps 3 and 4 until the entire array is read. The lock bits cannot be verified directly. Verification of the lock bits is achieved by observing that their features are enabled. Chip Erase: The entire PEROM array (2K bytes) and the two Lock Bits are erased electrically by using the proper combination of control signals and by holding P3.2 low for 10 ms. The code array is written with all “1”s in the Chip Erase operation and must be executed before any non- blank memory byte can be re-programmed. Reading the Signature Bytes: The signature bytes are read by the same procedure as a normal verification of locations 000H, 001H, and 002H, except that P3.5 and P3.7 must be pulled to a logic low. The values returned are as follows. (000H) = 1EH indicates manufactured by Atmel (001H) = 21H indicates 89C2051 Programming Interface Every code byte in the Flash array can be written and the entire array can be erased by using the appropriate combi- nation of control signals. The write operation cycle is self- timed and once initiated, will automatically time itself to completion. All major programming vendors offer worldwide support for the Atmel microcontroller series. Please contact your local programming vendor for the appropriate software revision. AT89C2051 4-21 Flash Programming Modes Notes: 1. The internal PEROM address counter is reset to 000H on the rising edge of RST and is advanced by a positive pulse at XTAL 1 pin. 2. Chip Erase requires a 10-ms PROG pulse. 3. P3.1 is pulled Low during programming to indicate RDY/BSY. Figure 3. Programming the Flash Memory Figure 4. Verifying the Flash Memory Mode RST/VPP P3.2/PROG P3.3 P3.4 P3.5 P3.7 Write Code Data (1)(3) 12V L H H H Read Code Data (1) HHLLHH Write Lock Bit - 1 12V H H H H Bit - 2 12V H H L L Chip Erase 12V H L L L Read Signature Byte H H L L L L (2) PP AT89C20514-22 Flash Programming and Verification Characteristics T A = 0C to 70C, V CC = 5.0 10% Note: 1. Only used in 12-volt programming mode. Flash Programming and Verification Waveforms Symbol Parameter Min Max Units V PP Programming Enable Voltage 11.5 12.5 V I PP Programming Enable Current 250 A t DVGL Data Setup to PROG Low 1.0 s t GHDX Data Hold After PROG 1.0 s t EHSH P3.4 (ENABLE) High to V PP 1.0 s t SHGL V PP Setup to PROG Low 10 s t GHSL V PP Hold After PROG 10 s t GLGH PROG Width 1 110 s t ELQV ENABLE Low to Data Valid 1.0 s t EHQZ Data Float After ENABLE 01.0 s t GHBL PROG High to BUSY Low 50 ns t WC Byte Write Cycle Time 2.0 ms t BHIH RDY/BSY to Increment Clock Delay 1.0 s t IHIL Increment Clock High 200 ns AT89C2051 4-23 Absolute Maximum Ratings* DC Characteristics T A = -40C to 85C, V CC = 2.0V to 6.0V (unless otherwise noted) Notes: 1. Under steady state (non-transient) conditions, I OL must be externally limited as follows: Maximum I OL per port pin: 20 mA Maximum total I OL for all output pins: 80 mA If I OL exceeds the test condition, V OL may exceed the related specification. Pins are not guaranteed to sink current greater than the listed test conditions. 2. Minimum V CC for Power Down is 2V. Operating Temperature . -55C to +125C *NOTICE: Stresses beyond those listed under “Absolute Maximum Ratings” may cause permanent dam- age to the device. This is a stress rating only and functional operation of the device at these or any other conditions beyond those indicated in the operational sections of this specification is not implied. Exposure to absolute maximum rating conditions for extended periods may affect device reliability. Storage Temperature . -65C to +150C Voltage on Any Pin with Respect to Ground .-1.0V to +7.0V Maximum Operating Voltage. 6.6V DC Output Current. 25.0 mA Symbol Parameter Condition Min Max Units V IL Input Low Voltage -0.5 0.2 V CC - 0.1 V V IH Input High Voltage (Except XTAL1, RST) 0.2 V CC + 0.9 V CC + 0.5 V V IH1 Input High Voltage (XTAL1, RST) 0.7 V CC V CC + 0.5 V V OL Output Low Voltage (1) (Ports 1, 3) I OL = 20 mA, V CC = 5V I OL = 10 mA, V CC = 2.7V 0.5 V V OH Output High Voltage (Ports 1, 3) I OH = -80 A, V CC = 5V 10% 2.4 V I OH = -30 A075 V CC V I OH = -12 A 0.9 V CC V I IL Logical 0 Input Current (Ports 1, 3) V IN = 0.45V -50 A I TL Logical 1 to 0 Transition Current (Ports 1, 3) V IN = 2V, V CC = 5V 10% -750 A I LI Input Leakage Current (Port P1.0, P1.1) 0 V IN V CC 10 A V OS Comparator Input Offset Voltage V CC = 5V 20 mV V CM Comparator Input Common Mode Voltage 0V CC V RRST Reset Pulldown Resistor 50 300 K C IO Pin Capacitance Test Freq. = 1 MHz, T A = 25C 10 pF I CC Power Supply Current Active Mode, 12 MHz, V CC = 6V/3V 15/5.5 mA Idle Mode, 12 MHz, V CC = 6V/3V P1.0 Load Capacitance = 80 pF) Symbol Parameter 12 MHz Osc Variable Oscillator Units Min Max Min Max t XLXL Serial Port Clock Cycle Time 1.0 12t CLCL s t QVXH Output Data Setup to Clock Rising Edge 700 10t CLCL -133 ns t XHQX Output Data Hold After Clock Rising Edge 50 2t CLCL -117 ns t XHDX Input Data Hold After Clock Rising Edge 0 0 ns t XHDV Clock Rising Edge to Input Data Valid 700 10t CLCL -133 ns Shift Register Mode Timing Waveforms AC Testing Input/Output Waveforms (1) Note: 1. AC Inputs during testing are driven at V CC - 0.5V for a logic 1 and 0.45V for a logic 0. Timing measure- ments are made at V IH min. for a logic 1 and V IL max. for a logic 0. Float Waveforms (1) Note: 1. For timing purposes, a port pin is no longer float- ing when a 100 mV change from load voltage occurs. A port pin begins to float when 100 mV change frothe loaded V OH /V OL level occurs. AT89C20514-26 Notes: 1. XTAL1 tied to GND for I CC (power down) 2. P.1.0 and P1.1 = V CC or GND 3. Lock bits programmed AT89C2051 TYPICAL ICC - ACTIVE (85C) 0 5 10 15 20 0 6 12 18 24 FREQUENCY (MHz) I C C m A Vcc=6.0V Vcc=5.0V Vcc=3.0V AT89C2051 TYPICAL ICC - IDLE (85C) 0 1 2 3 036912 FREQUENCY (MHz) I C C m A Vcc=6.0V Vcc=5.0V Vcc=3.0V AT89C2051 TYPICAL ICC vs. VOLTAGE- POWER DOWN (85C) 0 5 10 15 20 3.0V 4.0V 5.0V 6.0V Vcc VOLTAGE I C C A AT89C2051 4-27 Ordering Information Speed (MHz) Power Supply Ordering Code Package Operation Range 12 2.7V to 6.0V AT89C2051-12PC AT89C2051-12SC 20P3 20S Commercial (0C to 70C) AT89C2051-12PI AT89C2051-12SI 20P3 20S Industrial (-40C to 85C) AT89C2051-12PA AT89C2051-12SA 20P3 20S Automotive (-40C to 105C) 24 4.0V to 6.0V AT89C2051-24PC AT89C2051-24SC 20P3 20S Commercial (0C to 70C) AT89C2051-24PI AT89C2051-24SI 20P3 20S Industrial (-40C to 85C) Package Type 20P3 20 Lead, 0.300” Wide, Plastic Dual In-line Package (PDIP) 20S 20 Lead, 0.300” Wide, Plastic Gull Wing Small Outline (SOIC)