robot_function.c

以凌阳SPCE061A（61）系列单片机为基础的机器人程序。 加里森敢死队重现江湖 第一组： 杰克、开始、准备、跳舞、再来一曲 第二组： 开始、向前走、倒退、左转、右转 第三组：

#include "bsrSD.h"
#include "s480.h"
#include "robot.h"

void RobotSystemInit(void);
unsigned int IsFirstDownLoad(void);
void FormatFlash(void);
void TrainFiveCommand(void);
void SaveFiveCommand(unsigned int uiAddr);
void ImportFiveCommand(unsigned int uiAddr_Import);
unsigned int TrainWord(unsigned int WordID,unsigned int SndIndex);
void PlaySnd(unsigned int SndIndex);
void Robot_DanceAgain(unsigned int n);
void Robot_Dance(unsigned int n);
void Robot_Go(unsigned int n);
void Robot_Backup(unsigned int n);
void Robot_TurnLeft(unsigned int n);
void Robot_TurnRight(unsigned int n);
void Robot_HeadTurnLeft(unsigned int n);
void Robot_HeadTurnRight(unsigned int n);
void Robot_Shoot_Prepare(unsigned int n);
void Robot_Shoot2(unsigned int n);
void Robot_Shoot_Five(unsigned int n);

extern void SACM_S480_ServiceLoop();
extern unsigned int SACM_S480_Status();

extern void F_FlashErase(int);
extern void F_FlashWrite1Word(unsigned int,unsigned int);

extern void Delay(unsigned int n);
extern void Set_IOB_Bit(unsigned int,unsigned int,unsigned int
						,unsigned int,unsigned int);

void RobotSystemInit(void)
{
	*(unsigned int *)0x7012 = 1;
	Delay(500);
	*P_IOB_Data = 0xffff;
	*P_IOB_Attrib = 0xffff;
	*P_IOB_Dir = 0xffff;
	
	*P_IOB_Data = 0x0000;
	Delay(500);
}

unsigned int IsFirstDownLoad(void)
{
	unsigned int uiFlagFirst_Sub;
	unsigned int uiFlashData;
	unsigned int *p;
	
	p = (unsigned int *)0xfd00;
	uiFlashData = *p;
	if(uiFlashData == 0xffff)
	{
		uiFlagFirst_Sub = 1;
		return uiFlagFirst_Sub;		
	}
	else if(uiFlashData == 0xaaaa)
	{
		uiFlagFirst_Sub = 0;
		return uiFlagFirst_Sub;
	}
	else
	{
		uiFlagFirst_Sub = -1;
		return uiFlagFirst_Sub;
	}
}

void FormatFlash(void)
{
	F_FlashErase(0xF700);				//存储第一组命令的Flash空间
	F_FlashErase(0xF700+100);			//每条命令占用96个字,用函数导出占用100个字
	F_FlashErase(0xF700+200);
	F_FlashErase(0xF700+300);
	F_FlashErase(0xF700+400);
	
	F_FlashErase(0xF900);				//存储第一组命令的Flash空间
	F_FlashErase(0xF900+100);			//每条命令占用96个字,用函数导出占用100个字
	F_FlashErase(0xF900+200);
	F_FlashErase(0xF900+300);
	F_FlashErase(0xF900+400);
	
	F_FlashErase(0xFB00);				//存储第一组命令的Flash空间
	F_FlashErase(0xFB00+100);			//每条命令占用96个字,用函数导出占用100个字
	F_FlashErase(0xFB00+200);
	F_FlashErase(0xFB00+300);
	F_FlashErase(0xFB00+400);
}

void TrainFiveCommand(void)
{
	BSR_DeleteSDGroup(0);				//初始化存储器RAM
	PlaySnd(0);							//播放提示音1
	
	while(TrainWord(NAME_ID,0) != 0);
	while(TrainWord(Command_One_ID,1) != 0);
	while(TrainWord(Command_Two_ID,2) != 0);
	while(TrainWord(Command_Three_ID,3) != 0);
	while(TrainWord(Command_Four_ID,4) != 0);
}

void SaveFiveCommand(unsigned int uiAddr)
{
	unsigned int uiCommandID;
	unsigned int uiCount;
	unsigned int uiRes_Export;
	
	for(uiCommandID = 0x100;uiCommandID<0x105;uiCommandID++)
	{
		uiRes_Export = BSR_ExportSDWord(uiCommandID);
		while(uiRes_Export)
			uiRes_Export = BSR_ExportSDWord(uiCommandID);
		for(uiCount = 0;uiCount<100;uiCount++)
		{
			F_FlashWrite1Word(uiAddr,BSR_SDModel[uiCount]);
			*(unsigned int *)0x7012 = 1;
			uiAddr += 1;
		}
	}
}	

void ImportFiveCommand(unsigned int uiAddr_Import)
{
	unsigned int uiCommand_Import;
	unsigned int uiCount;
	unsigned int uiRes_Import;
	unsigned int *p_Import;
	
	BSR_DeleteSDGroup(0);					//清除内存
	
	p_Import = (unsigned int *)uiAddr_Import;
	for(uiCommand_Import = 0;uiCommand_Import < 5;uiCommand_Import++)
	{
		for(uiCount = 0;uiCount < 100;uiCount++)
		{
			uiRes_Import = *p_Import;
			BSR_SDModel[uiCount] = uiRes_Import;
			p_Import += 1;
			*(unsigned int *)0x7012 = 1;
		}
		uiRes_Import = BSR_ImportSDWord();
		while(uiRes_Import)
			uiRes_Import = BSR_ImportSDWord();
		*(unsigned int *)0x7012 = 1;
	}
}

unsigned int TrainWord(unsigned int WordID,unsigned int SndIndex)
{
	unsigned int uiRes_Train;
	PlaySnd(SndIndex);
	while(1)
	{
		uiRes_Train = BSR_Train(WordID,BSR_TRAIN_TWICE);
		if(uiRes_Train == 0)
			break;
		
		switch(uiRes_Train)
		{
			case -1:					//没有检测出声音
				PlaySnd(HOO);
				return -1;
			case -2:					//需要重新训练一遍
				PlaySnd(HOO);
				break;
			case -3:					//环境太吵
				PlaySnd(HOO);
				return -1;
			case -4:					//数据库满
				return -1;
			case -5:					//检测出声音不同
				PlaySnd(HOO);
				return -1;
			case -6:					//序号错误
				PlaySnd(HOO);
				return -1;									
		}
	}
	return 0;
}

void PlaySnd(unsigned int SndIndex)
{
	BSR_StopRecognizer();
	SACM_S480_Initial(1);
	SACM_S480_Play(SndIndex,3,3);
	while((SACM_S480_Status()&0x0001) != 0)
	{
		SACM_S480_ServiceLoop();
		*(unsigned int *)0x7012 = 1;
	}
	SACM_S480_Stop();
	BSR_InitRecognizer(BSR_MIC);
	BSR_EnableCPUIndicator();
}

void Robot_Light(unsigned int n)
{
	unsigned int uiP_IOB_Data;
	unsigned int uiP_IOB_Dir;
	unsigned int uiP_IOB_Attrib;
	
	*(unsigned int *)0x7012 = 1;
	
	uiP_IOB_Dir = *P_IOB_Dir;					//读回IOB口的状态值
	uiP_IOB_Attrib = *P_IOB_Attrib;
	uiP_IOB_Data = *P_IOB_Data;
	
	uiP_IOB_Dir |= 0x1000;						//改变IOB12位
	uiP_IOB_Attrib |= 0x1000;
	uiP_IOB_Data |= 0x1000;
	
	*P_IOB_Dir = uiP_IOB_Dir;					//设置IOB12为高电平输出
	*P_IOB_Attrib = uiP_IOB_Attrib;				//其它IO口不变
	*P_IOB_Data = uiP_IOB_Data;
	
	Delay(n);
		
	uiP_IOB_Dir = *P_IOB_Dir;					//读回IOB口的状态值
	uiP_IOB_Attrib = *P_IOB_Attrib;
	uiP_IOB_Data = *P_IOB_Data;
	
	uiP_IOB_Dir |= 0x1000;						//改变IOB12位
	uiP_IOB_Attrib |= 0x1000;
	uiP_IOB_Data &= 0xefff;
	
	*P_IOB_Dir = uiP_IOB_Dir;					//设置IOB12为低电平输出
	*P_IOB_Attrib = uiP_IOB_Attrib;				//其它IO口不变
	*P_IOB_Data = uiP_IOB_Data;
}

void Robot_DanceAgain(unsigned int n)
{
	unsigned int uiCount;
	unsigned int uiP_IOB_Data;
	unsigned int uiP_IOB_Dir;
	unsigned int uiP_IOB_Attrib;
	
	*(unsigned int *)0x7012 = 1;
	
	for(uiCount = 0;uiCount < n;uiCount++)
	{
		uiP_IOB_Dir = *P_IOB_Dir;					//读回IOB口的状态值
		uiP_IOB_Attrib = *P_IOB_Attrib;
		uiP_IOB_Data = *P_IOB_Data;
	
		uiP_IOB_Dir |= 0x2900;						//改变IOB8、IOB11、IOB13位
		uiP_IOB_Attrib |= 0x2900;
		uiP_IOB_Data |= 0x2900;
	
		*P_IOB_Dir = uiP_IOB_Dir;					//设置IOB8、IOB11、IOB13为高电平输出
		*P_IOB_Attrib = uiP_IOB_Attrib;				//其它IO口不变
		*P_IOB_Data = uiP_IOB_Data;
		
		PlaySnd(D24);
		RobotSystemInit();
		
		
		uiP_IOB_Dir = *P_IOB_Dir;					//读回IOB口的状态值
		uiP_IOB_Attrib = *P_IOB_Attrib;
		uiP_IOB_Data = *P_IOB_Data;
	
		uiP_IOB_Dir |= 0x4600;						//改变IOB9、IOB10、IOB14位
		uiP_IOB_Attrib |= 0x4600;
		uiP_IOB_Data |= 0x4600;
	
		*P_IOB_Dir = uiP_IOB_Dir;					//设置IOB9、IOB10、IOB14为高电平输出
		*P_IOB_Attrib = uiP_IOB_Attrib;				//其它IO口不变
		*P_IOB_Data = uiP_IOB_Data;
		
		PlaySnd(D25);
		RobotSystemInit();
		
		
		uiP_IOB_Dir = *P_IOB_Dir;					//读回IOB口的状态值
		uiP_IOB_Attrib = *P_IOB_Attrib;
		uiP_IOB_Data = *P_IOB_Data;
	
		uiP_IOB_Dir |= 0x0900;						//改变IOB8、IOB11位
		uiP_IOB_Attrib |= 0x0900;
		uiP_IOB_Data |= 0x0900;
	
		*P_IOB_Dir = uiP_IOB_Dir;					//设置IOB8、IOB11为高电平输出
		*P_IOB_Attrib = uiP_IOB_Attrib;				//其它IO口不变
		*P_IOB_Data = uiP_IOB_Data;
		
		PlaySnd(D26);
		RobotSystemInit();
		
		
		uiP_IOB_Dir = *P_IOB_Dir;					//读回IOB口的状态值
		uiP_IOB_Attrib = *P_IOB_Attrib;
		uiP_IOB_Data = *P_IOB_Data;
	
		uiP_IOB_Dir |= 0x0a00;						//改变IOB9、IOB11位
		uiP_IOB_Attrib |= 0x0a00;
		uiP_IOB_Data |= 0x0a00;
	
		*P_IOB_Dir = uiP_IOB_Dir;					//设置IOB9、IOB11为高电平输出
		*P_IOB_Attrib = uiP_IOB_Attrib;				//其它IO口不变
		*P_IOB_Data = uiP_IOB_Data;
		
		PlaySnd(D24);
		RobotSystemInit();
		
		
		uiP_IOB_Dir = *P_IOB_Dir;					//读回IOB口的状态值
		uiP_IOB_Attrib = *P_IOB_Attrib;
		uiP_IOB_Data = *P_IOB_Data;
	
		uiP_IOB_Dir |= 0x0500;						//改变IOB8、IOB10位
		uiP_IOB_Attrib |= 0x0500;
		uiP_IOB_Data |= 0x0500;
	
		*P_IOB_Dir = uiP_IOB_Dir;					//设置IO8、IOB10为高电平输出
		*P_IOB_Attrib = uiP_IOB_Attrib;				//其它IO口不变
		*P_IOB_Data = uiP_IOB_Data;
		
		PlaySnd(D25);
		RobotSystemInit();
		
		
		uiP_IOB_Dir = *P_IOB_Dir;					//读回IOB口的状态值
		uiP_IOB_Attrib = *P_IOB_Attrib;
		uiP_IOB_Data = *P_IOB_Data;
	
		uiP_IOB_Dir |= 0x0a00;						//改变IOB9、IOB11位
		uiP_IOB_Attrib |= 0x0a00;
		uiP_IOB_Data |= 0x0a00;
	
		*P_IOB_Dir = uiP_IOB_Dir;					//设置IOB9、IOB11为高电平输出
		*P_IOB_Attrib = uiP_IOB_Attrib;				//其它IO口不变
		*P_IOB_Data = uiP_IOB_Data;
		
		PlaySnd(D26);
		RobotSystemInit();
		
		
		uiP_IOB_Dir = *P_IOB_Dir;					//读回IOB口的状态值
		uiP_IOB_Attrib = *P_IOB_Attrib;
		uiP_IOB_Data = *P_IOB_Data;
	
		uiP_IOB_Dir |= 0x2200;						//改变IOB9、IOB13位
		uiP_IOB_Attrib |= 0x2200;
		uiP_IOB_Data |= 0x2200;
	
		*P_IOB_Dir = uiP_IOB_Dir;					//设置IOB9、IOB13为高电平输出
		*P_IOB_Attrib = uiP_IOB_Attrib;				//其它IO口不变
		*P_IOB_Data = uiP_IOB_Data;
		
		PlaySnd(D27);
		RobotSystemInit();
		
		
		uiP_IOB_Dir = *P_IOB_Dir;					//读回IOB口的状态值
		uiP_IOB_Attrib = *P_IOB_Attrib;
		uiP_IOB_Data = *P_IOB_Data;
	
		uiP_IOB_Dir |= 0x4800;						//改变IOB11、IOB14位
		uiP_IOB_Attrib |= 0x4800;
		uiP_IOB_Data |= 0x4800;
	
		*P_IOB_Dir = uiP_IOB_Dir;					//设置IOB11、IOB14为高电平输出
		*P_IOB_Attrib = uiP_IOB_Attrib;				//其它IO口不变
		*P_IOB_Data = uiP_IOB_Data;
		
		PlaySnd(D28);
		RobotSystemInit();
		
		
		uiP_IOB_Dir = *P_IOB_Dir;					//读回IOB口的状态值
		uiP_IOB_Attrib = *P_IOB_Attrib;
		uiP_IOB_Data = *P_IOB_Data;
	
		uiP_IOB_Dir |= 0x0200;						//改变IOB9位
		uiP_IOB_Attrib |= 0x0200;
		uiP_IOB_Data |= 0x0200;
	
		*P_IOB_Dir = uiP_IOB_Dir;					//设置IOB9为高电平输出
		*P_IOB_Attrib = uiP_IOB_Attrib;				//其它IO口不变
		*P_IOB_Data = uiP_IOB_Data;
		
		PlaySnd(D29);
		RobotSystemInit();
	}
	RobotSystemInit();
}

void Robot_Dance(unsigned int n)
{
	unsigned int uiCount;
	
	*(unsigned int *)0x7012 = 1;
	
	for(uiCount = 0;uiCount < n;uiCount++)
	{
		Set_IOB_Bit(11,1,1,1,1);
		PlaySnd(MUSIC1);
		Set_IOB_Bit(11,1,1,0,0);
		Set_IOB_Bit(9,1,1,1,1);
		*(unsigned int *)0x7012 = 0x0001;
		PlaySnd(MUSIC2);
		Set_IOB_Bit(9,1,1,0,0);
		Set_IOB_Bit(11,1,1,1,1);
		Set_IOB_Bit(9,1,1,1,1);
		*(unsigned int *)0x7012 = 0x0001;
		PlaySnd(MUSIC3);
		Set_IOB_Bit(11,1,1,0,0);
		Set_IOB_Bit(9,1,1,0,0);
		Set_IOB_Bit(13,1,1,1,1);
    	*(unsigned int *)0x7012 = 0x0001;
		PlaySnd(MUSIC4);
		Set_IOB_Bit(13,1,1,0,0);
		Set_IOB_Bit(14,1,1,1,1);
		Set_IOB_Bit(9,1,1,1,1);
		*(unsigned int *)0x7012 = 0x0001;
		PlaySnd(MUSIC4);
		Set_IOB_Bit(9,1,1,0,0);
		Set_IOB_Bit(8,1,1,1,1);
		Set_IOB_Bit(11,1,1,1,1);
		Set_IOB_Bit(14,1,1,1,1);
    	*(unsigned int *)0x7012 = 0x0001;
    	Delay(400);
    	RobotSystemInit();
	}
	RobotSystemInit();
}

void Robot_Go(unsigned int n)
{
	unsigned int uiCount;
	for(uiCount = 0;uiCount < n;uiCount++)
	{
		Set_IOB_Bit(9,1,1,1,1);
		PlaySnd(WALK);
		Set_IOB_Bit(9,1,1,0,0);
		Set_IOB_Bit(11,1,1,1,1);
		Delay(2000);
		*(unsigned int *)0x7012 = 0x0001;
		PlaySnd(WALK);
		Set_IOB_Bit(9,1,1,1,1);
		Set_IOB_Bit(11,1,1,0,0);
		Delay(2000);
		*(unsigned int *)0x7012 = 0x0001;
		PlaySnd(WALK);
		Set_IOB_Bit(9,1,1,0,0);
		Set_IOB_Bit(11,1,1,1,1);
		Delay(2000);
		*(unsigned int *)0x7012 = 0x0001;
		PlaySnd(WALK);
		Set_IOB_Bit(9,1,1,1,1);
		Set_IOB_Bit(11,1,1,0,0);
		Delay(2000);
		*(unsigned int *)0x7012 = 0x0001;
		PlaySnd(WALK);
		Set_IOB_Bit(9,1,1,0,0);
		Set_IOB_Bit(11,1,1,1,1);
		Delay(2000);
		*(unsigned int *)0x7012 = 0x0001;
		PlaySnd(WALK);
		Set_IOB_Bit(9,1,1,1,1);
		Set_IOB_Bit(11,1,1,0,0);
		Delay(2000);
		*(unsigned int *)0x7012 = 0x0001;
		PlaySnd(WALK);
		Set_IOB_Bit(9,1,1,0,0);
		Set_IOB_Bit(11,1,1,1,1);
		Delay(2000);
		*(unsigned int *)0x7012 = 0x0001;
		RobotSystemInit();
	}
	RobotSystemInit();
}

void Robot_Backup(unsigned int n)
{
	unsigned int uiCount;
	for(uiCount = 0;uiCount < n;uiCount++)
	{
		Set_IOB_Bit(8,1,1,1,1);
		PlaySnd(WALK);
		Set_IOB_Bit(8,1,1,0,0);
		Set_IOB_Bit(10,1,1,1,1);
		Delay(2000);
		PlaySnd(WALK);
		Set_IOB_Bit(8,1,1,1,1);
		Set_IOB_Bit(10,1,1,0,0);
		Delay(2000);
		PlaySnd(WALK);
		Set_IOB_Bit(8,1,1,0,0);
		Set_IOB_Bit(10,1,1,1,1);
		Delay(2000);
		RobotSystemInit();
	}
	RobotSystemInit();
}

void Robot_TurnRight(unsigned int n)
{
	unsigned int uiCount;
	for(uiCount = 0;uiCount < n;uiCount++)
	{
		Set_IOB_Bit(9,1,1,1,1);
		Set_IOB_Bit(10,1,1,1,1);
		PlaySnd(WALK);
		Delay(2000);
		RobotSystemInit();
	}
}

void Robot_TurnLeft(unsigned int n)
{
	unsigned int uiCount;
	
	for(uiCount = 0;uiCount < n;uiCount++)
	{
		Set_IOB_Bit(8,1,1,1,1);
		Set_IOB_Bit(11,1,1,1,1);
		PlaySnd(WALK);
		Delay(2000);
		RobotSystemInit();
	}
}

void Robot_HeadTurnLeft(unsigned int n)
{
	unsigned int uiCount;
	for(uiCount = 0;uiCount < n; uiCount++)
	{
		Set_IOB_Bit(13,1,1,1,1);
		PlaySnd(TURNHEAD);
		Delay(200);
		RobotSystemInit();
	}
}

void Robot_HeadTurnRight(unsigned int n)
{
	unsigned int uiCount;
	for(uiCount = 0;uiCount < n;uiCount++)
	{
		Set_IOB_Bit(14,1,1,1,1);
		PlaySnd(TURNHEAD);
		Delay(200);
		RobotSystemInit();
	}
}

void Robot_Shoot_Prepare(unsigned int n)
{
	unsigned int uiCount;
	
	Set_IOB_Bit(7,1,1,1,1);
	for(uiCount = 0;uiCount < n;uiCount++)
	{
		PlaySnd(SHOOT);
		Delay(200);
	}
}

void Robot_Shoot2(unsigned int n)
{
	unsigned int uiCount;
	for(uiCount = 0;uiCount < n;uiCount++)
	{
		Set_IOB_Bit(15,1,1,1,1);
		PlaySnd(GUN);
		Delay(200);
	}
	RobotSystemInit();
}

void Robot_Shoot_Five(unsigned int n)
{
	unsigned int uiCount1;
	unsigned int uiCount2;
	for(uiCount1 = 0;uiCount1 < n;uiCount1++)
	{
		for(uiCount2 = 0;uiCount2 < 5;uiCount2++)
		{
			Set_IOB_Bit(15,1,1,1,1);
			PlaySnd(GUN);
			Delay(200);
		}
	}
	RobotSystemInit();
}