|
|
楼主 |
发表于 2009-1-11 16:22:34
|
显示全部楼层
程序由四路避障程序修改而成,连变量名称都没改.前,左,后避障传感器现在对应中,右,左三路寻线传感器.
#include <stdio.h>
#include <intrins.h>
#include "STC12C5410AD.H"
#include "sio.h"
#define MIN9MS 0x0120 //9ms中心是0x0159
#define MAX9MS 0x01a0
#define MIN45MS 0x0090 //4.5ms中心是0x00ac
#define MAX45MS 0x00d0
#define MIN225MS 0x0040 //2.25ms中心是0x0056
#define MAX225MS 0x0080
#define MIN056MS 0x000e //0.56ms中心是0x0015
#define MAX056MS 0x001b
#define MIN168MS 0x0020 //1.68ms中心是0x0040
#define MAX168MS 0x0060
sfr ISP_CUNTR = 0xE7;
sbit LED1 = P1^1;
sbit LED2 = P1^2;
sbit IR_FRONT = P3^3;
sbit IR_LEFT = P3^4;
sbit IR_RIGHT = P3^5;
sbit IR_BACK = P1^3;
sbit IR_OUT = P1^0;
sbit PWM0 = P3^7;
sbit MOTO_IN_A1 = P1^7;
sbit MOTO_IN_A2 = P1^6;
sbit MOTO_IN_B1 = P1^5;
sbit MOTO_IN_B2 = P1^4;
bit power_stat;
static unsigned char car_stat; //小车状态:0,停止;1,前进;2,后退;3,左转;4,右转;ff,自控寻线模式
static unsigned char code led_mod_table[3][20] = {
{1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
{1,0,0,0,1,0,0,0,1,0,0,0,1,0,0,0,1,0,0,0},
{1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0}
};
unsigned char idata led_mod = 0;
static unsigned char idata led_tick = 0;
static unsigned char idata led_ptr = 0;
#define IR_SIGNAL_TOTAL 21
#define IR_SIGNAL_VALID 18
static unsigned char code ir_table[IR_SIGNAL_TOTAL] = {
1,1,1,0,0,0,0,0,0,1,1,1,1,0,0,0,0,0,0,0,0
};
static unsigned char code ir_check_table[IR_SIGNAL_TOTAL] = {
0,0,0,0,1,1,1,0,0,0,0,0,0,1,1,1,1,0,0,0,0
};
static unsigned char idata ir_ptr = 0;
static unsigned char idata front_signal = 0;
static unsigned char idata back_signal = 0;
static unsigned char idata left_signal = 0;
static unsigned char idata right_signal = 0;
static bit front_obj = 0, back_obj = 0, left_obj = 0, right_obj = 0;
static void delay(unsigned long v) {
while (v--) {
}
}
/*
* PCA中断计数,根据位置判断信号区域和定义,位置0表示初始,1代表引导码信号,2表示引导码间隔,
* 3表示第一个bit的信号,4表示第一个bit的间隔,以次类推...
* 更具体见对应的红外线协议.
*/
static unsigned char idata pca_tick;
static unsigned char idata pca_int_count;
static unsigned char data pca_int_total; /* 根据引导头确定总长度 */
static unsigned int idata period; /* 红外信号占或空周期计数 */
static unsigned char idata data_buf[6]; /* 红外线协议数据缓冲区 */
static unsigned int idata ccap1; //PCA0上一次的的计数
static unsigned char idata frame_dog; //红外帧看门狗,限定时间未接收完成清除工作
void time0_isr() interrupt 1
{
unsigned char tmp;
if (ir_table[ir_ptr++]) {
IR_OUT = 0;
} else {
IR_OUT = 1;
}
ir_ptr %= IR_SIGNAL_TOTAL;
tmp = ir_check_table[ir_ptr];
if ((!IR_FRONT && tmp) || (IR_FRONT && !tmp))
front_signal++;
if ((!IR_LEFT && tmp) || (IR_LEFT && !tmp))
left_signal++;
if ((!IR_RIGHT && tmp) || (IR_RIGHT && !tmp))
right_signal++;
if ((!IR_BACK && tmp) || (IR_BACK && !tmp))
back_signal++;
if (ir_ptr == 0) {
// com_putchar(front_signal);
if (front_signal>= IR_SIGNAL_VALID)
front_obj = 1;
else
front_obj = 0;
if (back_signal>= IR_SIGNAL_VALID)
back_obj = 1;
else
back_obj = 0;
if (left_signal>= IR_SIGNAL_VALID)
left_obj = 1;
else
left_obj = 0;
if (right_signal>= IR_SIGNAL_VALID)
right_obj = 1;
else
right_obj = 0;
front_signal = 0;
back_signal = 0;
left_signal = 0;
right_signal = 0;
}
}
void time0_initialize(void)
{
TMOD &= ~0x0F; /* clear timer 0 mode bits */
TMOD |= 0x02; /* put timer 0 into MODE 2 */
TH0 = 0x5C; /* 256 - XTAL*dur/T1_12/1000000, dur=定时器的周期,以us为单位*/
TL0 = 0x5C; /* 100us */
PT0 = 0; /* 时钟0中断低优先级 */
TR0 = 1;
ET0 = 1;
}
static void wakeup (void) interrupt 2
{
}
static void pca_isr (void) interrupt 6
{
unsigned char i, j;
if (CCF1) {
CCF1 = 0; //清PCA1中断标志
LED1 = IR_RIGHT;
LED2 = IR_RIGHT;
if (!pca_int_count) { //第一次收到信号
if (!IR_RIGHT) {
ccap1 = pca_tick * 256 + CCAP1H;
pca_int_count++;
}
} else { //已经收到一些信号
period = pca_tick * 256 + CCAP1H - ccap1;
ccap1 = pca_tick * 256 + CCAP1H;
//com_putchar(period / 256);
//com_putchar(period % 256);
if (pca_int_count == 1) {
if (period < MIN9MS || period> MAX9MS) { //9ms
pca_int_count = 0;
frame_dog = 0;
} else
pca_int_count++;
} else if (pca_int_count == 2) {
if (period> MIN225MS && period < MAX225MS) { //2.25ms
pca_int_total = 3;
pca_int_count++;
} else if (period> MIN45MS && period < MAX45MS) { //4.5ms
pca_int_total = 67;
pca_int_count++;
} else {
pca_int_count = 0;
frame_dog = 0;
}
} else {
if (IR_RIGHT) {
if (period> MIN056MS && period < MAX056MS) { //0.56ms
if (pca_int_count>= pca_int_total) { //帧接收完毕,下面进行有效性分析.
if (pca_int_total == 67) { //完整信号,含有引导信号,设备码8bit,设备反码8bit,命令字8bit,命令字反码8bit
if ((data_buf[0] ^ data_buf[1] == 0xff) && (data_buf[2] ^ data_buf[3] == 0xff)) {
com_putchar(data_buf[0]);
com_putchar(data_buf[2]);
if (data_buf[0] == 0x40) {
switch (data_buf[2]) {
case 0x5F: //左
car_stat = 3;
break;
case 0x5B: //右
car_stat = 4;
break;
case 0x5A: //上
car_stat = 1;
break;
case 0x5E: //下
car_stat = 2;
break;
case 0x56: //菜单
car_stat = 0;
break;
case 0x0: //数字0
car_stat = 0xff;
break;
case 0x12: //POWER
// power_stat = ~power_stat;
break;
default:
break;
}
}
}
} else { //重复信号,仅含有引导信号
}
pca_int_count = 0;
frame_dog = 0;
} else {
pca_int_count++;
}
} else {
pca_int_count = 0;
frame_dog = 0;
}
} else {
j = (pca_int_count - 3) / 2;
i = j / 8;
j = j % 8;
if (period> MIN168MS && period < MAX168MS) { //1.68ms
// com_putchar(0x01);
data_buf |= (0x01 << j);
pca_int_count++;
} else if (period> MIN056MS && period < MAX056MS) { //0.56ms
// com_putchar(0x00);
data_buf &= ~(0x01 << j);
pca_int_count++;
} else {
pca_int_count = 0;
frame_dog = 0;
}
}
}
}
}
if (CF) { //PCA计数溢出中断,19.6608MHZ晶体大约6.7ms溢出
CF = 0;
pca_tick++;
if (led_tick++>= 10) {
led_tick = 0;
if (led_mod_table[led_mod][led_ptr++]) {
LED1 = 0;
LED2 = 0;
} else {
LED1 = 1;
LED2 = 1;
}
led_ptr %= 20;
}
if (pca_int_count) {
frame_dog++;
if (frame_dog>= 15) { //100ms后重新开始分析新的红外线数据包
pca_int_count = 0;
frame_dog = 0;
}
}
}
}
void auto_power_down() {
delay(30000);
ISP_CUNTR = 0x20; //从AP复位并从AP执行
}
void main (void)
{
unsigned char i;
unsigned long j;
MOTO_IN_A1 = 0;
MOTO_IN_A2 = 0;
MOTO_IN_B1 = 0;
MOTO_IN_B2 = 0;
P1M1 = 0xf0; //P1.7~P1.4 强推挽输出
EA = 0;
power_stat = 0;
time0_initialize();
com_initialize (); /* initialize interrupt driven serial I/O */
com_baudrate (4800); /* setup for 1200 baud */
/*
CMOD = 0x01; // #00000000B,PCA空闲计数,PCA计数源=Fosc/12,PCA溢出中断(做一个定时器使用)
CCON = 0x00; //PCA中断标志清0,PCA停止计数
CL = 0x0;
CH = 0x0;
CCAPM1 = 0x31; //PCA1上升下降沿捕获
*/
CMOD = 0x03; /* #00000010B,PCA空闲计数,PCA计数源=fosc/2,PCA溢出中断 */
CCON = 0x00; //PCA中断标志清0,PCA停止计数
CL = 0x0;
CH = 0x0;
CCAPM1 = 0x31; //PCA1上升下降沿捕获
CCAPM0 = 0x42; //PCA0工作模式:8位pwm
PCA_PWM0 = 0x00;
CCAP0L = 0x20;
CCAP0H = 0x20;
EPCA_LVD = 1; //允许PCA和低压检测中断
car_stat = 0;
pca_tick = 0;
pca_int_count = 0;
frame_dog = 0;
EA = 1; /* Enable Interrupts */
CR = 1; //启动PCA计数
while (1)
{
if (power_stat) {
// auto_power_down();
}
if (left_obj || right_obj || front_obj || back_obj) {
LED1 = 0;
LED2 = 0;
}
switch (car_stat) {
case 0:
MOTO_IN_A1 = 0;
MOTO_IN_A2 = 0;
MOTO_IN_B1 = 0;
MOTO_IN_B2 = 0;
break;
case 0xff:
if (!front_obj) { //中线传感器检测到黑线
MOTO_IN_A1 = 1;
MOTO_IN_A2 = 0;
MOTO_IN_B1 = 1;
MOTO_IN_B2 = 0;
j = 50000;
while (j) {
j--;
if (front_obj)
break;
}
} else {
TURNLEFT:
MOTO_IN_A1 = 0;
MOTO_IN_A2 = 1;
MOTO_IN_B1 = 1;
MOTO_IN_B2 = 0;
j = 1000000;
while (1) {
j--;
if (!front_obj) {
goto EXIT;
}
if (!left_obj)
goto TURNLEFT;
if (!back_obj)
goto TURNRIGHT;
if (j == 0)
goto EXIT;
}
TURNRIGHT:
MOTO_IN_A1 = 1;
MOTO_IN_A2 = 0;
MOTO_IN_B1 = 0;
MOTO_IN_B2 = 1;
j = 1000000;
while (j) {
j--;
if (!front_obj)
goto EXIT;
if (!back_obj)
goto TURNRIGHT;
if (!left_obj)
goto TURNLEFT;
}
}
EXIT:
/*
MOTO_IN_A1 = 0;
MOTO_IN_A2 = 0;
MOTO_IN_B1 = 0;
MOTO_IN_B2 = 0;
delay(5000);
*/
break;
default:
break;
}
PCON |= 0x01;
}
} |
|
发表于 2009-1-11 16:19:37
