마이크로프로세서 HOT아~~ 이놈의 서보모터

드뎌 찾았습니다.ㅋㅋㅋ 도움되시길....이건 8051 작품란에도 올려놓겠습니다.
동시에 여러개 RC서보 제어하는 방법은 빠라삐리뽀님 글을 찾으면 제가 답변해노은게 있습니다.

이것도 어딘가 소스가 있을텐데.ㅠㅠ


/*

8051을 이용해 IR리모콘으로 RC서보모터 제어

8051을 이용해서 IR리모콘(TV리모콘과 같은)로 RC서보모터를 원격조정하는 것입니다...
만들당시 회로는 너무 간단해서 회로도는 그리지 않았습니다.;;
사진은 차후에 올려드리겠습니다.
작성자 :   아크마

 작성일 : 2004년 12월 8일
 VERSION : 0.1

*/

// 컴파일러 : 마이크로비젼 7.0

#include <at89x52.h>
 /*
645
1382
2119
18432
*/

#define TIME_SEC    20000
#define RATE_8952   0.000001085069444
#define PULS_LEFT       900
#define PULS_MID       2000
#define PULS_RIGHT      5000
#define PULS_OFF        18432
#define SPEED_1        1
#define SPEED_2        2
#define SPEED_3       3
#define SPEED_4       4
#define SPEED_5       5
#define SPEED_6       6
#define SPEED_20      20

#define TIMER0_ON  TR0 = 1
#define TIMER0_OFF   TR0 = 0
#define TIMER1_ON       TR1 = 1
#define TIMER1_OFF   TR1 = 0
#define TIMER_IT0_ENABLE ET0 = 1
#define TIMER_IT0_DISALBE ET0 = 0
#define TIMER_IT1_ENABLE ET1 = 1
#define TIMER_IT1_DISABLE ET1 = 0
#define IT_ENABLE  EA = 1
#define IT_DISABLE   EA = 0
#define SERVO_PORT  P2_7
#define TRUE    1
#define FALSE    0  

#define REMOCON_RIGHT  P1_4                         
#define REMOCON_DOWN  P1_3                         
#define REMOCON_STOP  P1_2                         
#define REMOCON_UP   P1_1                         
#define REMOCON_LEFT  P1_0  

#define REMOCON_TEST  P1_5                      

char old_right=1;
char old_down=1;
char old_stop=1;
char old_up=1;
char old_left=1;

typedef unsigned int  word;
typedef unsigned char  byte;
typedef char   bool;

byte flag = 0;
word speed;
word rate= PULS_MID;//PULS_MID;
word angle  = PULS_MID;
word target = PULS_MID;
bool chat_flag = FALSE;

long delay_count =0;
long delay_count_h=0;
int led_num = 0;

void delay_s(unsigned int iSec)
{
 int iCnt;
 
 while(iSec)
 {
  for(iCnt=0; iCnt < TIME_SEC; iCnt++);
         iSec--;
 }
}
  
void delay_t(unsigned int iTime)
{
 while(iTime--);
}
 

//타이머 초기화
bool InitTimer(void)
{    

    TMOD = 0x11;  // TMOD 1(16bit timer/counter) setting - use TH, TL, [hgigh : M1 = 0, M0 = 1]  [low : M1 = 0, M0 = 1]

 TH0 = 0x4C;
   TL0 = 0x00;
 TH1 = 0x4c;
 TL1 = 0x00;
       
    TIMER_IT0_ENABLE;
    TIMER_IT1_ENABLE;
 
 TIMER0_ON;
 IT_ENABLE;
 
    return 1;

}

//인터럽트 초기
bool InitInt()
{

 PX0 = 1 ;  
 IT0 = 1 ; 
 EX0 = 1 ;  
 EX1 = 1 ;
 IT_ENABLE;

}

// 서보 이동속도 설
void SetSpeed(word s)
{
 speed = s;
}
void test()
{
 char cnt;

 for(cnt=0;cnt<3;cnt++)
 {
 REMOCON_TEST = 1;
 delay_s(1);
 REMOCON_TEST = 0;
 delay_s(1);
 }
 }

int main(void)
{

 char flag_h = 0;

 delay_t(1);
    delay_s(1);
      
    InitTimer();
 InitInt();

 SetSpeed(SPEED_3);
    rate = 92;
    
 P0_3 = 0;
    
 while(1)
 {

  chat_flag = TRUE;

  if(old_left!=REMOCON_LEFT)
  {
   old_left = REMOCON_LEFT; 
  /*
   if(REMOCON_LEFT==0)
   {
    if(target-100 >= PULS_LEFT)
     target-=100;  
   }
   */
    if(REMOCON_LEFT==0)
   {
    target=PULS_LEFT;  
   }else
   {
    target  = angle;
    }

  }

  
  if(old_right!=REMOCON_RIGHT)
  {
   old_right = REMOCON_RIGHT;

   if(REMOCON_RIGHT==0)
   {
    target=PULS_RIGHT;  
   }else
   {
    target  = angle;
    }
    }

  
  if(old_up!=REMOCON_UP)
  {
   old_up = REMOCON_UP;

   if(REMOCON_UP==0)
   {
    if(speed < SPEED_20)
    {
     speed+=3;
    }  
   }
  }

  
  if(old_down!=REMOCON_DOWN)
  {
   old_down = REMOCON_DOWN;

   if(REMOCON_DOWN==0)
   {
    if(speed > SPEED_1)
    {
     speed-=3;
    }
   }
  }

  delay_count++;
  if(delay_count>40000)
  {
   delay_count = 0;

   switch(led_num)
   {
    case 0:
     P0_0 = 0;
     P0_1 = 1;
     P0_2 = 1;
     break;
    case 1:
     P0_0 = 1;
     P0_1 = 0;
     P0_2 = 1;
     break;
    case 2:
        P0_0 = 1;
     P0_1 = 1;
     P0_2 = 0;
     break;
   }

   led_num++;
   if(led_num > 2)
    led_num = 0;
    }
  
 
    delay_count_h++;
  if(delay_count_h>3000)
  {
   delay_count_h=0;
   if(angle >= PULS_MID-100 && angle <= PULS_MID+100)
     {
    if(flag_h)
     P0_3 = 0;
    else
     P0_3 = 1;
 
      flag_h = ~flag_h;
     }else
     {
       P0_3 = 0;
     }
  }

      /* target = PULS_MID;

     delay_s(15);

     target = PULS_MID + 300;

     delay_s(15);
 
     target = PULS_MID - 500;

      delay_s(15);
  */
 }      
}

void T0_int (void) interrupt 1
{

 TIMER0_OFF;         

     if(flag == 0)
     {
      flag = 1;
        SERVO_PORT = 0;
  rate = PULS_OFF - angle; // low level time
     }
    
     else
     {
  flag = 0;
       SERVO_PORT = 1;
  rate = angle;
 }
   
     if(angle + speed < target)
      angle += speed;
     else if(angle - speed > target)
      angle -= speed;
     else
      angle = target;
    
     TH0 = ~(byte)((0xff00 & rate) >> 8);
     TL0 = ~(byte)(0x00ff & rate);

    TIMER0_ON;
}

void ext_int(void) interrupt 0
{
 IT_DISABLE;
/*
 if(chat_flag)
 {//채터링처리
  if(target+100 <= PULS_RIGHT)
   target+=100;
  else
   target = PULS_LEFT;
 }else
     chat_flag = FALSE;
*/
 IT_ENABLE;