Roboter per Fernbedienung steuern

Ich will Roboter per Fernbedienung steuern.
Ich hab 2 Platinen:
1. für Fernbedienung mit Attiny13A
2. für steuerung von Motoren, LEDs, Sensoren, Mp3 Player usw. mit Atmega 328p

Pin PB4 von Attiny13A ist verbunden mit Pin PC1 von Atmega328p.

Wenn ich jetzt auf Fernbedienung die Taste 2 drücke soll auf der Atmega328p platine die blaue LED leuchten.
Statddesen leuchtet grünne LED, wenn ich nochmal 2 drücke leuchtet blaue LED.
Wenn ich jetzt Taste 4 drücke soll auf der Atmega328p gelbe LED leuchten, statddessen leuchtet rote also alles durcheinnader.

Hier ist das Program für Fernbedienung (Attiny13A):

#define F_CPU 9600000UL// Must stay at this speed

#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>
#include <stdbool.h>

#define IR_Input_Pin PORTB1
#define LED1_PIN PORTB0
#define Output PORTB4

bool IR_Code(uint32_t data); // Check the IR Code
void IR_Scan(); // Scan IR data
void IR_Setup(); // Setup mode

uint32_t IR_data_out = 0; // IR data store


int main(void) {
IR_Setup();

DDRB |= 1 << LED1_PIN;
DDRB |= 1 << Output;

DDRB &= ~(1 << IR_Input_Pin);
DDRB &= ~(1 << PORTB2);
DDRB &= ~(1 << PORTB3);
DDRB &= ~(1 << PORTB5);
PORTB = 0b101110;

while (1) {

if (IR_Code(0xFF18E7)) { // Taster 2 - geradeaus fahren
PORTB ^= (1<<LED1_PIN); // LED toggeln

PORTB ^= (1<<Output); //toggle Output 1x
}


if (IR_Code(0xFF10EF)) { // Taster 4 -links fahren
PORTB ^= (1<<LED1_PIN); // LED toggeln

PORTB ^= (1<<Output); //toggle Output 2x
PORTB ^= (1<<Output);
}

if (IR_Code(0xFF5AA5)) { // Taster 6 - rechts fahren
PORTB ^= (1<<LED1_PIN); // LED toggeln

PORTB ^= (1<<Output); //toggle Output 3x
PORTB ^= (1<<Output);
PORTB ^= (1<<Output);

}

if (IR_Code(0xFF38C7)) { // Taster 5 - STOP
PORTB ^= (1<<LED1_PIN); // LED toggeln

PORTB ^= (1<<Output); //toggle Output 4x
PORTB ^= (1<<Output);
PORTB ^= (1<<Output);
PORTB ^= (1<<Output);
}


if (IR_Code(0xFF4AB5)) { // Taster 8 - rückwärts fahren
PORTB ^= (1<<LED1_PIN); // LED toggeln

PORTB ^= (1<<Output); //toggle Output 5x
PORTB ^= (1<<Output);
PORTB ^= (1<<Output);
PORTB ^= (1<<Output);
PORTB ^= (1<<Output);
}

}
}

void IR_Setup() {
GIMSK |= (1 << INT0); // Enable the interrupt pin ( at PB1)
MCUCR = (1 << ISC00); // Set interrupt configuration in PB1 (see page 46 for any change mode)
sei();
TCCR0B |= ((1 << CS00) | (1 << CS02)); //set timer 0 with max scaler (F_CPU/1024)
}
bool IR_Code(uint32_t data) {
// Prettified IR data output code
uint8_t IR_data_byte[4];
IR_data_byte[0] = (IR_data_out >> 24);
IR_data_byte[1] = (IR_data_out >> 16);
IR_data_byte[2] = (IR_data_out >> 8);
IR_data_byte[3] = (IR_data_out);
// Prettified IR data input code
uint8_t data_byte[4];
data_byte[0] = (data >> 24);
data_byte[1] = (data >> 16);
data_byte[2] = (data >> 8);
data_byte[3] = (data);
if (IR_data_byte[0] == data_byte[0] || IR_data_byte[1] == data_byte[1]) { // If address data is =
if (IR_data_byte[2] == data_byte[2] || IR_data_byte[3] == data_byte[3]) { // If command data is =
IR_data_out = 0; // Clear IR data Output
return true;
}
}
return false;
}
ISR(INT0_vect) {
IR_Scan();
}

uint8_t time_high = 0;
uint8_t time_low = 0;

bool interrupter1 = false;
bool interrupter2 = false;
bool one_time = false;

int conter = -1;

uint8_t TCNT0_buffer = 0;
uint8_t time_span = 0;

void IR_Scan() {
// Timer unit = 106.666 µs
if (TCNT0 >= TCNT0_buffer) // If timer doesn't overflow
time_span = TCNT0 - TCNT0_buffer; // Get span time
else //if timer overflow
time_span = (256 - TCNT0_buffer) + TCNT0; // Get span time

if ((PINB & (1 << IR_Input_Pin)) == 0)
time_high = time_span; // Get the time low
else
time_low = time_span; // Get the time high

if ((time_low >= 78) && (time_low <= 91)) // Low for 9ms
interrupter1 = true; // Enable the first interrupter

if ((time_high >= 36 && time_high <= 49) && (interrupter1 == true)) { // High time 4.5ms
IR_data_out = 0; // Clear data
conter = -1; // Restart counter variable
interrupter2 = true; // Enable the second interrupter (start condition is true)
}
if (conter == 32) { // Check if data send is over
interrupter1 = interrupter2 = false; // Restart interrupters
conter = -1; // Restart conter variable
}

if (interrupter2 == true) { // See if start condition is true

if (one_time == true) { // Enter one time in two loops
if (conter != -1) { // Over enter in the first time
if (time_high > time_low * 2) // Means we read logic 1
IR_data_out |= 0x80000000 >> conter; // Put the logic 1 in high significant bit and shift it to the right every loop
}
// else
// IR_data_out=0; // Clear data
conter++; // Up counter
}
one_time = !one_time; // Reverse state
}
TCNT0_buffer = TCNT0; // Scan timer
}



und hier für Atmega328p:

#define F_CPU 16000000UL

#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>

#define Input_Pin PORTC1

volatile uint8_t i=0;
volatile uint8_t l=0;

// Interrupt Service Routine fuer Timer0
ISR(TIMER0_OVF_vect) {
TCNT0 = 0x00; //Zaehlregister mit Vorladewert vorladen / Berechnung: siehe unten
i++;

if(i==60) //16000000/1024/256 - 1 sek
{
i=0;

switch(l){
case 1:
PORTD ^= (1<<PD1); //LED Blau toggeln - Taster 2
l=0;
break;

case 2:
PORTD ^= (1<<PD2); //LED Gelb toggeln - Taster 4
l=0;
break;

case 3:
PORTD ^= (1<<PD3); //LED Grunn toggeln - Taster 6
l=0;
break;

case 4:
PORTC ^= (1<<PC3); //LED Rot toggeln - Taster 5
l=0;
break;

case 5:
PORTC ^= (1<<PC0); //LED Weiss toggeln - Taster 8
l=0;
break;

default:
l=0;
break;

}


}
}




ISR(PCINT1_vect) //Fernbedienung
{
l++ ;

}

int
main(void)
{
cli();

DDRB = 0b000000; //PB0-PB5 Ausgang
PORTB = 0b111111; // Pullup 1

DDRC = 0b00001001; // PC0,PC3 LED, PC1 eingang Fernbedienung
DDRC &= ~(1 << Input_Pin);
PORTC = 0b11110110;

DDRD = 0b00001110; //PD0 Eingang, PD1-PD3 Ausgang LED
PORTD = 0b11110001;

PCICR |= (1<<PCIE1); //Pin Change Interrupt Enable 1
PCMSK1 |= (1<<PCINT9); //Pin Change Mask Register 1

TCCR0B|= ((1<<CS02)|(1<<CS00)); // Start Timer 0 with prescaler 1024
TIMSK0|= (1<<TOIE0); // Enable Timer 0 overflow interrupt
TCNT0 = 0xFF; //Zaehlregister vorladen mit FF zum Sofortstart

sei(); // Set the I-bit in SREG


/* --- loop --- */

while (1) {




}

return 0;
}

Kann mir bitte jemand helfen ?

Grüß Dich abebok75,
willkommen im Forum.

Zitat:

---

Zitat von abebok75

.. Roboter per Fernbedienung .. also alles durcheinnader .. Program für Fernbedienung (Attiny13A) ..

---

Ich bin leider kein geeigneter Softwareberater, aber allein beim Lesen Deines codes tu ich mir schon schwer. Da sind highlights drin wie:
........if ((time_low >= 78) && (time_low <= 91)) // Low for 9ms

und die durchgängig linksbündige Textdarstellung erschwert die Lesbarkeit ziemlich. Leider eben auch ein "..alles durcheinander..". Im Editor gibts für Programmcode die Möglichkeit, den in einem entsprechenden Fenster formatiert vorzustellen. Dieses Fenster wird mit dem Button [#] generiert. Man KÖNNTE das auch händisch machen in der folgenden Art

[.CODE,,]Hier mein Codetext[./.CODE] <<< dann in diesen Klammern KEINE Leerzeichen; die sind hier nur dazu da, um den Formatierungautomatismus auszutricksen...

und dann den Text zwischen die "CODE"-Tags einfügen.

Diese Darstellungsvariante hab ich mal für Dich hier reingestellt und hoffe dass die Softwarefreaks Dir jetzt besser/leichter helfen können.

Hier ist das Program für Fernbedienung (Attiny13A):

Code:

---

#define F_CPU 9600000UL// Must stay at this speed

#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>
#include <stdbool.h>

#define IR_Input_Pin PORTB1
#define LED1_PIN PORTB0
#define Output PORTB4

bool IR_Code(uint32_t data); // Check the IR Code
void IR_Scan(); // Scan IR data
void IR_Setup(); // Setup mode

uint32_t IR_data_out = 0; // IR data store


int main(void) {
    IR_Setup();

    DDRB |= 1 << LED1_PIN;
    DDRB |= 1 << Output;

    DDRB &= ~(1 << IR_Input_Pin);
    DDRB &= ~(1 << PORTB2);
    DDRB &= ~(1 << PORTB3);
    DDRB &= ~(1 << PORTB5);
    PORTB = 0b101110;

    while (1) {

        if (IR_Code(0xFF18E7)) { // Taster 2 - geradeaus fahren
            PORTB ^= (1<<LED1_PIN); // LED toggeln

            PORTB ^= (1<<Output); //toggle Output 1x
        }


        if (IR_Code(0xFF10EF)) { // Taster 4 -links fahren
            PORTB ^= (1<<LED1_PIN); // LED toggeln

            PORTB ^= (1<<Output); //toggle Output 2x
            PORTB ^= (1<<Output);
        }

        if (IR_Code(0xFF5AA5)) { // Taster 6 - rechts fahren
            PORTB ^= (1<<LED1_PIN); // LED toggeln

            PORTB ^= (1<<Output); //toggle Output 3x
            PORTB ^= (1<<Output);
            PORTB ^= (1<<Output);

        }

        if (IR_Code(0xFF38C7)) { // Taster 5 - STOP
            PORTB ^= (1<<LED1_PIN); // LED toggeln

            PORTB ^= (1<<Output); //toggle Output 4x
            PORTB ^= (1<<Output);
            PORTB ^= (1<<Output);
            PORTB ^= (1<<Output);
        }


        if (IR_Code(0xFF4AB5)) { // Taster 8 - rückwärts fahren
            PORTB ^= (1<<LED1_PIN); // LED toggeln

            PORTB ^= (1<<Output); //toggle Output 5x
            PORTB ^= (1<<Output);
            PORTB ^= (1<<Output);
            PORTB ^= (1<<Output);
            PORTB ^= (1<<Output);
        }

    }
}

void IR_Setup() {
    GIMSK |= (1 << INT0); // Enable the interrupt pin ( at PB1)
    MCUCR = (1 << ISC00); // Set interrupt configuration in PB1 (see page 46 for any change mode)
    sei();
    TCCR0B |= ((1 << CS00) | (1 << CS02)); //set timer 0 with max scaler (F_CPU/1024)
}
bool IR_Code(uint32_t data) {
    // Prettified IR data output code
    uint8_t IR_data_byte[4];
    IR_data_byte[0] = (IR_data_out >> 24);
    IR_data_byte[1] = (IR_data_out >> 16);
    IR_data_byte[2] = (IR_data_out >> 8);
    IR_data_byte[3] = (IR_data_out);
    // Prettified IR data input code
    uint8_t data_byte[4];
    data_byte[0] = (data >> 24);
    data_byte[1] = (data >> 16);
    data_byte[2] = (data >> 8);
    data_byte[3] = (data);
    if (IR_data_byte[0] == data_byte[0] || IR_data_byte[1] == data_byte[1]) { // If address data is =
        if (IR_data_byte[2] == data_byte[2] || IR_data_byte[3] == data_byte[3]) { // If command data is =
            IR_data_out = 0; // Clear IR data Output
            return true;
        }
    }
    return false;
}
ISR(INT0_vect) {
    IR_Scan();
}

uint8_t time_high = 0;
uint8_t time_low = 0;

bool interrupter1 = false;
bool interrupter2 = false;
bool one_time = false;

int conter = -1;

uint8_t TCNT0_buffer = 0;
uint8_t time_span = 0;

void IR_Scan() {
    // Timer unit = 106.666 µs
    if (TCNT0 >= TCNT0_buffer) // If timer doesn't overflow
    time_span = TCNT0 - TCNT0_buffer; // Get span time
    else //if timer overflow
    time_span = (256 - TCNT0_buffer) + TCNT0; // Get span time

    if ((PINB & (1 << IR_Input_Pin)) == 0)
    time_high = time_span; // Get the time low
    else
    time_low = time_span; // Get the time high

    if ((time_low >= 78) && (time_low <= 91)) // Low for 9ms
    interrupter1 = true; // Enable the first interrupter

    if ((time_high >= 36 && time_high <= 49) && (interrupter1 == true)) { // High time 4.5ms
        IR_data_out = 0; // Clear data
        conter = -1; // Restart counter variable
        interrupter2 = true; // Enable the second interrupter (start condition is true)
    }
    if (conter == 32) { // Check if data send is over
        interrupter1 = interrupter2 = false; // Restart interrupters
        conter = -1; // Restart conter variable
    }

    if (interrupter2 == true) { // See if start condition is true

        if (one_time == true) { // Enter one time in two loops
            if (conter != -1) { // Over enter in the first time
                if (time_high > time_low * 2) // Means we read logic 1
                IR_data_out |= 0x80000000 >> conter; // Put the  logic 1 in high significant bit and shift it to the right every loop
            }
            // else
            // IR_data_out=0; // Clear data
            conter++; // Up counter
        }
        one_time = !one_time; // Reverse state
    }
    TCNT0_buffer = TCNT0; // Scan timer
}

---

und hier für Atmega328p:

Code:

---

#define F_CPU 16000000UL

#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>

#define Input_Pin PORTC1

volatile uint8_t i=0;
volatile uint8_t l=0;

// Interrupt Service Routine fuer Timer0
ISR(TIMER0_OVF_vect)  {
    TCNT0 = 0x00;    //Zaehlregister mit Vorladewert vorladen / Berechnung: siehe unten
    i++;

    if(i==60)  //16000000/1024/256 - 1 sek
    {
        i=0;

        switch(l){
            case 1:
            PORTD ^= (1<<PD1);    //LED Blau toggeln - Taster 2
            l=0;
            break;

            case 2:
            PORTD ^= (1<<PD2);    //LED Gelb toggeln -  Taster 4
            l=0;
            break;

            case 3:
            PORTD ^= (1<<PD3);    //LED Grunn toggeln -  Taster 6
            l=0;
            break;

            case 4:
            PORTC ^= (1<<PC3);    //LED Rot toggeln -  Taster 5
            l=0;
            break;

            case 5:
            PORTC ^= (1<<PC0);    //LED Weiss toggeln -  Taster 8
            l=0;
            break;

            default:
            l=0;
            break;

        }


    }
}




ISR(PCINT1_vect) //Fernbedienung
{
    l++ ;

}

int
main(void)
{
    cli();

    DDRB = 0b000000; //PB0-PB5 Ausgang
    PORTB = 0b111111;  // Pullup 1

    DDRC = 0b00001001;  // PC0,PC3 LED, PC1 eingang Fernbedienung
    DDRC &= ~(1 << Input_Pin);
    PORTC = 0b11110110;

    DDRD = 0b00001110; //PD0 Eingang, PD1-PD3 Ausgang LED
    PORTD = 0b11110001;

    PCICR |= (1<<PCIE1);    //Pin Change Interrupt Enable 1
    PCMSK1 |= (1<<PCINT9); //Pin Change Mask Register 1

    TCCR0B|= ((1<<CS02)|(1<<CS00));      // Start Timer 0 with prescaler 1024
    TIMSK0|= (1<<TOIE0);                // Enable Timer 0 overflow interrupt
    TCNT0 = 0xFF;        //Zaehlregister vorladen mit FF zum Sofortstart

    sei();                            // Set the I-bit in SREG


    /* --- loop --- */

    while (1) {




    }

    return 0;
}

---

Ansonsten viel Erfolg mit dem Projekt.