📄 main.c
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#define P_IOA_Data (volatile unsigned int *)0x7000
#define P_IOA_Buffer (volatile unsigned int *)0x7001
#define P_IOA_Dir (volatile unsigned int *)0x7002
#define P_IOA_Attrib (volatile unsigned int *)0x7003
#define P_IOA_Latch (volatile unsigned int *)0x7004
#define P_IOB_Data (volatile unsigned int *)0x7005
#define P_IOB_Buffer (volatile unsigned int *)0x7006
#define P_IOB_Dir (volatile unsigned int *)0x7007
#define P_IOB_Attrib (volatile unsigned int *)0x7008
#define P_Watchdog_Clear (volatile unsigned int *)0x7012
#define P_SystemClock (volatile unsigned int *)0x7013
#include "bsrsd.h"
#include "hardware.h"
#define NAME_ID 0x100
#define COMMAND_ONE_ID 0x101
#define COMMAND_TWO_ID 0x102
#define COMMAND_THREE_ID 0x103
#define COMMAND_FORE_ID 0x104
#define COMMAND_FIVE_ID 0x105
#define COMMAND_SIX_ID 0x106
#define COMMAND_SEVEN_ID 0x107
#define RSP_INTR 0
#define RSP_NAME 1
#define RSP_FIRE 2
#define RSP_GUARD 3
#define RSP_AGAIN 4
#define RSP_NOVOICE 5
#define RSP_NAMEDIFF 6
#define RSP_CMDDIFF 7
#define RSP_STAR 8
#define RSP_MASTER 9
#define RSP_HERE 10
#define RSP_GUNSHOT 0
#define RSP_PATROL 11
#define RSP_READY 12
#define RSP_COPY 13
#define RSP_NOISY 14
extern unsigned int BSR_SDModel[100];
unsigned int commandID;
unsigned int g_Ret;
//..................全程变量....................
int gActivated = 0; //该变量用于检测是否有触发命令，当有识别出语句
//为触发名称则该位置1
int gTriggerRespond[] = {RSP_MASTER, RSP_HERE, RSP_MASTER};
int gComm2Respond[] = {RSP_PATROL, RSP_READY, RSP_COPY};
extern void ClearWatchDog();
int PlayFlag = 0;
unsigned int uiSpeed=0;
//unsigned int *ClearWatchdog = 0x7012;
void PlayRespond2(int Result)
{
BSR_StopRecognizer();
SACM_A2000_Initial(1);
SACM_A2000_Play(Result, 3, 3);
while((SACM_A2000_Status()&0x0001) != 0)
{
SACM_A2000_ServiceLoop();
ClearWatchDog();
}
SACM_A2000_Stop();
BSR_InitRecognizer(BSR_MIC);
BSR_EnableCPUIndicator();
}
void PlayRespond(int Result)
{
BSR_StopRecognizer();
SACM_S480_Initial(1);
SACM_S480_Play(Result, 3, 3);
while((SACM_S480_Status()&0x0001) != 0)
{
SACM_S480_ServiceLoop();
ClearWatchDog();
}
SACM_S480_Stop();
BSR_InitRecognizer(BSR_MIC);
BSR_EnableCPUIndicator();
}
int TrainWord(int WordID, int RespondID)
{
int res;
PlayRespond(RespondID);
while(1)
{
res = BSR_Train(WordID,BSR_TRAIN_TWICE);
if(res == 0) break;
switch(res)
{
case -1: //没有检测出声音
PlayRespond(5);
return -1;
case -2: //需要重新训练一遍
PlayRespond(4);
break;
case -3: //环境太吵
PlayRespond(5);
return -1;
case -4: //数据库满
return -1;
case -5: //检测出声音不同
if(WordID == NAME_ID) PlayRespond(5);//两次输入名称不同
else PlayRespond(5);//两次输入命令不同
return -1;
case -6: //序号错误
return -1;
}
}
return 0;
}
void F_GoAheadCtr(int n) //前进
{
int i,j ;
for(j=0;j<n;j++)
{
ClearWatchDog();
i=i&0x00c0;
i=i|0x2800;
*P_IOB_Data=i;
F_Delay(90);
i=i&0x00c0;
i=i|0x0000;
*P_IOB_Data=i;
F_Delay(60);
}
}
void F_BackUpCtr(int n) //倒退
{
int i,j ;
ClearWatchDog();
for(j=0;j<n;j++)
{
i=i&0x00c0;
i=i|0x1400;
*P_IOB_Data=i;
F_Delay(90);
i=i&0x00c0;
i=i|0x0000;
*P_IOB_Data=i;
F_Delay(60);
}
}
void F_TurnLeftCtr(int n) //左转
{
int i,j ;
ClearWatchDog();
for(j=0;j<n;j++)
{
i=i&0x00c0;
i=i|0x2400;
*P_IOB_Data=i;
F_Delay(90);
i=i&0x00c0;
i=i|0x0000;
*P_IOB_Data=i;
F_Delay(60);
}
}
void F_TurnRightCtr(int n) //右转
{
int i,j ;
ClearWatchDog();
for(j=0;j<n;j++)
{
i=i&0x00c0;
i=i|0x1800;
*P_IOB_Data=i;
F_Delay(90);
i=i&0x00c0;
i=i|0x0000;
*P_IOB_Data=i;
F_Delay(60);
}
}
void F_StopCtr() //停止
{
int i,j ;
ClearWatchDog();
i=i&0x00c0;
i=i|0x0000;
}
void F_ShunCtr() //壁障
{
int i;
i=*P_IOB_Data;
i=i&0x00c0;
switch(i)
{
case 0x00c0:
F_GoAheadCtr(50);
break;
case 0x0000:
F_BackUpCtr(500);
F_TurnRightCtr(200);
break;
case 0x0040:
F_TurnLeftCtr(200);
F_BackUpCtr(100);
F_TurnLeftCtr(200);
F_BackUpCtr(100);
F_TurnLeftCtr(200);
F_BackUpCtr(100);
F_TurnLeftCtr(200);
F_BackUpCtr(100);
break;
case 0x0080:
F_TurnRightCtr(200);
F_BackUpCtr(100);
F_TurnRightCtr(200);
F_BackUpCtr(100);
F_TurnRightCtr(200);
F_BackUpCtr(100);
F_TurnRightCtr(200);
F_BackUpCtr(100);
break;
}
}
int main()
{
int res,jk,k, timeCnt=0, random_no=0,iMoveFlag=0xffff,BS_Flag=0,iMoveFlagBS=0,iCarState=0,iCarSpeed=14;
int uiIOB,i,ulAddr,Ret,free,*p;
// unsigned int *p;
p=0xef00;
BS_Flag=*p;
ClearWatchDog();
SP_Init_IOB(0xff00,0x0000,0xff00);
SP_Init_IOA(0x0000,0x0000,0x0000);
BSR_DeleteSDGroup(0); // 初始化存储器RAM
if(BS_Flag==0xffff)
{
PlayRespond(0); //播放开始训练的提示音
//..........训练名称..............................
while(TrainWord(NAME_ID,0) != 0) ;
//..........训练第一条命令.......................
while(TrainWord(COMMAND_ONE_ID,1) != 0) ;
//..........训练第二条命令.......................
while(TrainWord(COMMAND_TWO_ID,2) != 0) ;
//..........训练第三条命令.......................
while(TrainWord(COMMAND_THREE_ID,3) != 0) ;
//..........训练第四条命令.......................
while(TrainWord(COMMAND_FORE_ID,4) != 0) ;
BS_Flag=0xaaaa;
F_FlashWrite1Word(0xef00,0xaaaa);
F_FlashErase(0xe000);
F_FlashErase(0xe100);
F_FlashErase(0xe200);
ulAddr=0xe000;//********
for(commandID=0x100;commandID<0x105;commandID++)
{
g_Ret=BSR_ExportSDWord(commandID);
while(g_Ret!=0)
g_Ret=BSR_ExportSDWord(commandID);//
for(i=0;i<100;i++)
{
F_FlashWrite1Word(ulAddr,BSR_SDModel[i]);
ulAddr+=1;
}
} //***********************
}
if(BS_Flag==0xaaaa)
{
BSR_DeleteSDGroup(0);
p=0xe000;
for(jk=0;jk<5;jk++)
{
for(k=0;k<100;k++)
{
Ret=*p;
BSR_SDModel[k]=Ret;
p+=1;
}
g_Ret=BSR_ImportSDWord();
while(g_Ret!=0)
g_Ret=BSR_ImportSDWord();
}
}
//..........开始识别命令.........................
BSR_InitRecognizer(BSR_MIC); //辨识器初始化
//BSR_EnableCPUIndicator();
PlayRespond(0); // 播放开始辨识的提示音
PlayRespond(0);
//Interrupt();
iMoveFlag=0;
while(1)
{
// ClearWatchdog = 0x0001;
random_no ++;
if(random_no >= 3) random_no = 0;
res = BSR_GetResult();
if(res > 0) //识别出命令
{
if(gActivated)
{
timeCnt = 0;
switch(res)
{
case NAME_ID:
PlayFlag = 0;
ClearWatchDog();
F_StopCtr();
iMoveFlag=1;
iMoveFlagBS=0;
break;
case COMMAND_ONE_ID:
PlayRespond(1);
ClearWatchDog();
F_GoAheadCtr(600);
iMoveFlag=0;
iMoveFlagBS=0;
gActivated = 0;
F_StopCtr();
iCarState=0x2800;
break;
case COMMAND_TWO_ID:
PlayRespond(2);
ClearWatchDog();
F_BackUpCtr(650);
PlayFlag = 0;
iMoveFlag=0;
iCarState=0x1400;
iMoveFlagBS=0;
ClearWatchDog();
gActivated = 0;
F_StopCtr();
break;
case COMMAND_THREE_ID:
PlayRespond(3);
F_TurnLeftCtr(450);
F_GoAheadCtr(100);
F_TurnLeftCtr(350);
F_GoAheadCtr(100);
F_TurnLeftCtr(350);
F_GoAheadCtr(100);
F_TurnLeftCtr(350);
F_GoAheadCtr(100);
iMoveFlag=0;
iMoveFlagBS=0;
iCarState=0;
ClearWatchDog();
gActivated = 0;
F_StopCtr();
break;
case COMMAND_FORE_ID:
PlayRespond(4);
F_TurnRightCtr(450);
F_GoAheadCtr(100);
F_TurnRightCtr(350);
F_GoAheadCtr(100);
F_TurnRightCtr(350);
F_GoAheadCtr(100);
F_TurnRightCtr(350);
F_GoAheadCtr(100);
iMoveFlag=0;
iMoveFlagBS=0;
iCarState=0;
ClearWatchDog();
gActivated = 0;
F_StopCtr();
break;
}
}
else
{
// gActivated = 1;
if(res == NAME_ID)
{
ClearWatchDog();
PlayRespond(0);
iMoveFlag=1;
iMoveFlagBS=0;
gActivated = 1;
timeCnt = 0;
}
}
}
else if (gActivated)
{
if (++timeCnt > 450) //超出定时
{
ClearWatchDog();
gActivated = 0;
timeCnt = 0;
}
}
if(iMoveFlagBS==13&&iMoveFlag==0)
{
i=*P_IOB_Data;//**
i=i&0x00c0;//**
ClearWatchDog();
if(i==0x0080||i==0x0040||i==0x0000) free=0;//F_ShunCtr();//free=0; // //F_ShunCtr();//**
else
{
i=i&0x00c0;
i=i|iCarState;
//*P_IOB_Data=i;
ClearWatchDog();
}
}
if(iMoveFlagBS==iCarSpeed&&iMoveFlag==0)
{
i=i&0x00c0;
i=i|0x0000;
*P_IOB_Data=i;
iMoveFlagBS=0;
ClearWatchDog();
}
iMoveFlagBS++;
i=*P_IOA_Data;//**
i=i&0x0007;//**
if(i==0x0003) iCarSpeed++;
i=i&0x0004;
if(i==0x0004) F_FlashErase(0xef00);
}
}
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