【正文】 of robotics and automation for scholars. Robot petitions are active worldwide and expanded. Based on the petition requirements and rules of 2008 AsiaPacific Robot Contest， the control software of the petition robot is designed in this paper. In the control system， the AVR single chip puter and Clanguage are used to achieve the DC motor control， rudder servo control， and path planning of the robot. From an overall perspective， the structure of the program is clear and could meet the control requirements of the petition robot. The program can also meet the expected function.Keywords robot； control software； AVR SCM； path planningI. INTRODUCTION Robot is the highest manifestation of artificial intelligence and product of the development of automation technology. Robot petitions are active worldwide and expanded. This article is based on the 2008 AsiaPacific Robot Contest launched on robotics research. The task of the robot petition requirements and rules of the game is that the robot track on the path line to snatch at the object which is put on the top on the pillars. This design39。當12_/24=1時，24小時制；當12_/24=0時，12小時制。：16腳的DIP封裝，SD2405API為工業(yè)級型號。，并具有兩個中斷標志位.(時間范圍最長設至100年)，年、月、日、星期、時、分、秒報警共有96 種組合方式，并有單事件報警和周期性報警兩種中斷輸出模式.：從32768Hz～1/16Hz……1秒共十五種方波脈沖.，可選的4種時鐘源(4096HZ、64HZ、1HZ、1/60HZ)。6. 性價比高。設置為計數(shù)器模式時，外部事件計數(shù)脈沖由T0或T1引腳輸入到計數(shù)器。其輸出緩沖器具有對稱的驅動特性，可以輸出和吸收大電流。ATmega8515具有一整套的編程與系統(tǒng)開發(fā)工具，包括：C語言編譯器、宏匯編、程序調試器/軟件仿真器、仿真器及評估板。但目前市場上各式各樣的LCD數(shù)字電子鐘大多數(shù)用全硬件電路實現(xiàn)，電路結構復雜，功率損耗大等缺點。數(shù)字時鐘是其小巧，價格低廉，走時精度高，使用方便，功能多，便于集成化而受廣大消費的喜愛，因此得到了廣泛的使用。設計合理的硬件電路來實現(xiàn)所需要的功能，其中包括光電血樣掃描電路的設計，單片機（51）系統(tǒng)的設計，掃描步進機驅動電路的設計，鍵盤、顯示部分設計等。完成Atmega8515讀取SD2405內容的C語言編程。編譯并調試程序達到預期效果。編寫針對該日歷時鐘的控制程序。關鍵字：ATmega8515單片機；SD2405日歷芯片；LED數(shù)碼管ABSTRACTGrowing emphasis on modern life played a concept of time， time and money can be said to equate. For those times very strict and accurate grasp of people and things， time will bring inaccuracies very big trouble， so as to display digital clock Analog clock ratio showed a great advantage. Digital display of time reading simple and fast， accurate time display to the second. The mechanical dependent on the crystal oscillator， may cause errors.This article from ATmega8515 chip and SD2405 calendar chip built smart calendar clock， calendar chip readout the year， month， day， week， hours， minutes， seconds. In this design， we use LED digital tube display year， month， day， week， hours， minutes， seconds. In this design， the circuit has a display time of their principal function， but also can be achieved on time adjustments. Digital Clock is its pact， inexpensive， travel time and high precision， easy to use， multifunction， easy integration and loved by the majority of consumption， so it has been widely used.Key words：ATmega8515 microcontroller；SD2405 calendar chip；LED digital tube目　　錄第一章　　緒論 1　引言 1　選題背景 1　本設計的主要任務 1　　第二章　　整體設計方案硬件介紹 3　Atmega8515單片機簡介 3　Atmega8515概述 3　ATmega8515引腳說明 3　ATmega8515單片機最小系統(tǒng) 5　AVR單片機與MCS51單片機相比的優(yōu)點 6　SD2405芯片簡介 6　SD2405概述 6　SD2405特性 7　SD2405管腳說明 8　電路連接圖 9第三章　　基于Atmega8515日歷時鐘軟件電路的設計 13　IIC總線 13　串行IIC接口 13　數(shù)據(jù)/指令傳輸格式 14　SD2405寄存器 17　程序流程圖 18　　第四章　　總結與展望 20　　參考文獻 21　　附錄 22　　外文資料　　中文譯文　　致　　謝1華南理工大學畢業(yè)設計（論文）第一章　　緒論　引言單片機就是將中央處理器、隨機存儲器、中斷系統(tǒng)、定時器、計數(shù)器以及I/O接口電路等各個部件集成到一個芯片上，單片機就是以此而得名。因此有必要對數(shù)字時鐘進行改進。　ATmega8515引腳說明圖21 ATmega8515引腳VCC：數(shù)字電路的電源。作為輸入使用時，若內部上拉電阻使能，則端口被外部電路拉低時將輸出電流。在每個機器周期的S5P2期間采樣T0、T1引腳電平。在高性能的前提下，并沒有增加芯片的價格，價格可以和51相比，而功能確是51不可以比的。，可通過程序來調整走時的快慢?！D2405管腳說明圖23　　SD2405管腳圖表21　　SD2405AP 管腳功能表腳號名稱功能特征16NC沒有與芯片內部連接懸空或接地2TEST內部電池電壓測試腳，其電池通過100K 電阻輸出到該腳懸空(不可與其它腳相連，僅用于測試)8GND負電源(GND)9SDA串行數(shù)據(jù)輸入/輸出腳，此管腳通常用一電阻上拉至VDD，并與其它漏極開路或集電器開路輸出的器件通過線與方式連接.N 溝道開路輸出， CMOS 輸入；當芯片由內部后備充電電池供電時，該引腳功能被禁止.10SCL串行時鐘輸入腳，由于在SCL 上升/下降沿處理信號，要特別注意SCL 信號的上升/下降升降時間，應嚴格遵守說明書。12小時制時，H20為AM/PM 指示位，H20=0為AM，H20=1為PM， 見下表：(位H20H10H8H4H2H1)當讀取小時數(shù)據(jù)時，要屏蔽掉小時的最高位12_/24，否則在24小時制時會因為12_/24=1而顯示不對.分數(shù)據(jù)[01地址](00~59)秒數(shù)據(jù)[00H地址](00~59)例如：設時間為2006年12月20日星期三18點19分20秒(24小時制)，則寄存器00～07H的賦值應分別為20h、19H、98h、03h、20h、12h、06h。s control request in the standard site is that the robot can track the signal line steady and fast， arrives at specified location according to the predetermined way and realizes the snatch and so on a series of movements assigned [1]. Robot control system itself is plex. This article mainly involves software control. The whole control system is divided into the following tasks： DC motor control， multichannel rudder control， path planning and so on.II. DC MOTOR CONTROLA. The choice of control schemeThis design uses two DC motor as a system driver to control the movement of the robot left and right wheels. MCU control methods for motor are generally two types： analog control and digital control methods. Digital control method is to issue specific instructions to the motor control unit directly through the serial port of MCU in order to achieve the corresponding control requirements. The motors currently on the market are equipped with appropriate professional control module. The control module is one that contains the instruction decoding， PID adjustment， photoelectric encoder and other modules， with good antiinterference and control advantages of high accuracy[2]. Because of conditions， such as restrictions on the system board， considered from the stability and reliability of the overall system， this design chooses the digital control method.B. MCU serial munication theory and flowThe motor control mands are stored in a one dimensional array. Each time one controls the motor， which is to send an array of characters to the corresponding work is pleted by the AVR controlling universal synchronous and asynchronous serial receiver and transponder (USART) of chip. In this process， the control chip and motor control units use the way of asyn