📄 main.c
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//////////////////////////////
////////////////////////////// 22967为近似180度
#include <iom64v.h>
#include <macros.h>
#define PREVSONG BIT(2)
#define NEXTSONG BIT(3)
#define VOLDOWN BIT(4)
#define VOLUP BIT(5)
#define STOP BIT(6)
#define R_pwm0 BIT(4)
#define R_pwm1 BIT(5)
#define L_pwm0 BIT(6)
#define L_pwm1 BIT(7)
long ADCjohu=0;
int ms=0;
long xx=0;
//int adc=0;
#define REF 483
unsigned char lvbo=0;
long lvbo_num=0;
unsigned char pwm_pingjun=254;//平均速度
unsigned char Rpwm0=0;
unsigned char Rpwm1=0;
unsigned char Lpwm0=0;
unsigned char Lpwm1=0;
unsigned char all=0, a=0,b=0,c=0,d=0,e=0,f=0;
#define CIR 1
#define LINE 2
#define CLS 3
long jiaodu=0,juli=0;
int time=0;
unsigned char sec=0;
#define video_x 32
#define video_y 48
unsigned int v_num=0;
unsigned char v_temp[video_y][video_x],chang=0,hang=0, adc1=0;;
unsigned char x_adc;
unsigned char y_adc;
void port_init(void)
{
PORTA = 0x00;
DDRA = 0x00;
PORTB = 0x00;
DDRB = 0x00;
PORTC = 0x00; //m103 output only
DDRC = 0x00;
PORTD = 0x00;
DDRD = 0x00;
PORTE = 0x00;
DDRE = 0x00;
PORTF = 0x00;
DDRF = 0x00;
PORTG = 0x00;
DDRG = 0x00;
}
//call this routine to initialize all peripherals
void init_devices(void)
{
//stop errant interrupts until set up
CLI(); //disable all interrupts
XDIV = 0x00; //xtal divider
XMCRA = 0x00; //external memory
port_init();
//adc_init();
uart1_init();
MCUCR = 0x00;
EICRA = 0x0A; //extended ext ints
EICRB = 0x00; //extended ext ints
EIMSK = 0x03;
//TIMSK = 0x40; //timer interrupt sources
TIMSK = 0x00;
ETIMSK = 0x00; //extended timer interrupt sources
SEI(); //re-enable interrupts
//all peripherals are now initialized
}
//UART1 initialize
// desired baud rate:19200
// actual baud rate:19231 (0.2%)
void uart1_init(void)
{
UCSR1B = 0x00; //disable while setting baud rate
UCSR1A = 0x00;
UCSR1C = 0x06;
UBRR1L = 0x40; //set baud rate lo
UBRR1H = 0x00; //set baud rate hi
UCSR1B = 0x98;
}
#pragma interrupt_handler uart1_rx_isr:31
//cir+00100
void uart1_rx_isr(void)
{
//uart has received a character in UDR
if (all==CIR)
{
a=b;
b=c;
c=d;
d=e;
e=f;
f=UDR1;
if ((f<'0')||(f>'9'))return;
if (a=='+')//0x2b
{jiaodu=(b-48)*10000+(c-48)*1000+(d-48)*100+(e-48)*10+(f-48);
all=0;return;}
else if (a=='-')//0x2d
{jiaodu=-((b-48)*10000+(c-48)*1000+(d-48)*100+(e-48)*10+(f-48));
all=0;return;}
if (a!=0) {all=0;return;}
//PORTF=jiaodu;//while(1);
}
else if (all==LINE)
{
a=b;
b=c;
c=d;
d=e;
e=f;
f=UDR1;
if ((f<'0')||(f>'9'))return;
if (a=='+')
{juli=(b-48)*10000+(c-48)*1000+(d-48)*100+(e-48)*10+(f-48);
all=0;return;}
else if (a=='-')
{juli=-((b-48)*10000+(c-48)*1000+(d-48)*100+(e-48)*10+(f-48));
all=0;return;}
if (a!=0) {all=0;return;}
//PORTF=a;
}
else if (all==0)//(johu!=3)&&(johu!=5) //5:7-bit 3:8-bit
{
a=b;
b=c;
c=d;
d=UDR1;
if ((a=='c')&&(b=='i')&&(c=='r'))
{
all=CIR;
a=0;b=0;c=0;d=0;e=0;f=0;
return; }//RXlen=4;{johu=3;RXlen=3;return;}
else if ((a=='l')&&(b=='i')&&(c=='n')&&(d=='e'))
{
all=LINE;
a=0;b=0;c=0;d=0;e=0;f=0;
return; }//RXlen=4;{johu=5;RXlen=3;return;}
else if ((b=='c')&&(c=='l')&&(d=='s'))
{
xx=0;
jiaodu=0;
juli=0;
}
////////////////////////////////////////////////////////////////////
}
}
/*void number(unsigned char X,unsigned char Y,unsigned char LEN,int NUM,unsigned char BLACK)
{
char code[]={'0','1','2','3','4','5','6','7','8','9',};
if (NUM<0)
{LCD_write_String1(X,Y,"-");NUM=-NUM;}
else
{LCD_write_String1(X,Y,"+");}
X=X+6;
while(LEN--)
{
LCD_write_String1(X+LEN*6,Y,& code[NUM%10]);
NUM=NUM/10;
}
}*/
void number_uart1(long NUM,char huanhang)
{long n=0;
if (NUM<0){n=-NUM; while(!(UCSR1A&(1<<UDRE1))); UDR1='-';}
else {n=NUM;while(!(UCSR1A&(1<<UDRE1))); UDR1='+';}
while(!(UCSR1A&(1<<UDRE1)));
UDR1=(n/10000)%10+48;
while(!(UCSR1A&(1<<UDRE1)));
UDR1=(n/1000)%10+48;
while(!(UCSR1A&(1<<UDRE1)));
UDR1=(n/100)%10+48;
while(!(UCSR1A&(1<<UDRE1)));
UDR1=(n/10)%10+48;
while(!(UCSR1A&(1<<UDRE1)));
UDR1=n%10+48;
if (huanhang)
{
while(!(UCSR1A&(1<<UDRE1)));
UDR1=0x0d;
while(!(UCSR1A&(1<<UDRE1)));
UDR1=0x0a;
}
else
{
while(!(UCSR1A&(1<<UDRE1)));
UDR1=0x20;
while(!(UCSR1A&(1<<UDRE1)));
UDR1=0x20;
}
}
unsigned char shuliang=0;
unsigned char xuanze=0;
#pragma interrupt_handler int0_isr:2
void int0_isr(void)
{
//external interupt on INT0
x_adc=0;y_adc=0;
chang=1;
shuliang=ms;
ms=0;
}
#pragma interrupt_handler int1_isr:3
void int1_isr(void)
{//CLI();
//external interupt on INT1
/*while(x_adc<video_x)
{ v_temp[y_adc*video_x + x_adc] =0;x_adc++;}*/
if(xuanze++>5){xuanze=0;x_adc=0;y_adc++;}
x_adc=video_x+1;
//v_num=(v_num/video_x+1)*video_x;
ms++;
//hang=1;
//SEI();
}
//TIMER0 initialize - prescale:8
// WGM: Normal
// desired value: 2uSec
// actual value: 2.000uSec (0.0%)
void timer0_init(void)
{
TCCR0 = 0x00; //stop
ASSR = 0x00; //set async mode
TCNT0 = 0xFB; //set count
OCR0 = 0x05;
TCCR0 = 0x02; //start timer
}
#pragma interrupt_handler timer0_ovf_isr:17
void timer0_ovf_isr(void)
{
TCNT0 = 0xFB; //reload counter value
if ( (xuanze!=0) && (xuanze<2) )//滤波均值
v_temp[y_adc][x_adc]=v_temp[y_adc][x_adc]/4+ADC/4;
else /**/
v_temp[y_adc][x_adc]=ADC>>1;
}
#define PWM_ON DDRB|= R_pwm0 | R_pwm1 | L_pwm0 | L_pwm1;
#define PWM_OFF DDRB&= ~(R_pwm0 | R_pwm1 | L_pwm0 | L_pwm1);
main()
{int n;
unsigned char n_jiaodu=0,n_juli=0;
unsigned char n_sec=0;
unsigned int v_num_now=0;//x_now,y_now;
unsigned char xv,yv;
init_devices();
PORTD|=0x03;//外部中断
DDRD&=~03;
//while(1);
DDRE|=0x38;//while(1);
/////////LCD
/* DDRB = 0xBF; //SI输入，SO，SCK，SS输出
SPCR = 0x50; //setup SPI
SPSR = 0x01; //setup SPI*/
/*while(!(UCSR0A&(1<<UDRE0)));
UDR0='a';while(!(UCSR0A&(1<<UDRE0)));
UDR0='a';while(!(UCSR0A&(1<<UDRE0)));
UDR0='a';while(!(UCSR0A&(1<<UDRE0)));
UDR0='a';*/
delay_ms(3000);
number_uart1(1010,1);
number_uart1(xx,0);
number_uart1(ADCjohu,1);
delay_ms(3000);
xx=0;
//LCD_Init();
//LCD_clear();
DDRE &= ~0x7c;//if (!(PORTE & STOP)) if (!(PORTE & VOLDOWN)) if (!(PORTE & VOLUP)) if (!(PORTE & NEXTSONG)) if (!(PORTE & PREVSONG))
PORTE |=0x7c;
DDRE=0x00;PORTE=0xff;
while(1)
{
//for(xv=0;xv<video_x;xv++)
ADMUX = 0x01; // A/D converter input pin number = 0
ADCSRA = 0xc0;//|ADATE; // single A/D conversion, fCK/32, conversion now started
//for(y_adc=0;y_adc<video_y;y_adc++)
//while(PINE!=0xff)
if (xuanze==0)
{
for(x_adc=0;x_adc<video_x;x_adc++)
{
do
{
//PORTE=~PORTE;
} while(!(ADCSRA&(1<<ADIF)));// ADSC // Wait for A/D conversion to finish
/*count = 6;
do // Customize this loop to 66 cycles !!
{
} while(--count);*/ // wait some cycles
ADCSRA |= 0x40; // start new A/D conversion
//write_to_flash(ADC-0x1D5); // read data, convert to 8 bit and store in flash
if ( (xuanze!=0) && (xuanze<2) )//滤波均值
v_temp[y_adc][x_adc]=v_temp[y_adc][x_adc]/4+ADC/4;
else /**/
v_temp[y_adc][x_adc]=ADC>>1;
}
}
ADCSRA = 0x00; // disable AD converter
/*if (adc1>0)
{//if (n_sec++>1000)
{
v_temp[v_num++]=ADC;
adc1=0;
if (v_num>1023)v_num=0;
n_sec=0;
}
adc1=0;
}*/
if (!(PINE & NEXTSONG))//( v_num_now!=v_num )
{
for(yv=0;yv<video_y;yv++)
{
for(xv=0;xv<video_x;xv++)
{ //SEI();
while(!(UCSR1A&(1<<UDRE1)));
UDR1=v_temp[yv][xv];//CLI();
}
while(!(UCSR1A&(1<<UDRE1)));
UDR1=50;
while(!(UCSR1A&(1<<UDRE1)));
UDR1=2;
}
while(!(UCSR1A&(1<<UDRE1)));
UDR1=100;
while(!(UCSR1A&(1<<UDRE1)));
UDR1=4;
}
if (!(PINE & PREVSONG))
//if (chang==1)
{number_uart1(shuliang,0);
number_uart1(shuliang,0);
number_uart1(shuliang,1);
chang=0;
ms=0;
}
/*if (!(PINE & NEXTSONG))
{
//CLI();
number_uart1(xx,0);
number_uart1(ADCjohu,1);
delay_ms(20);
//SEI();
}
ms=0;*/
}
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