📄 kit06.c
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/*======================================*/
/* Include declarations */
/*======================================*/
#include <machine.h>
#include "h8_3048.h"
/*======================================*/
/* Symbol definitions */
/*======================================*/
/* Constants */
#define TIMER_CYCLE 3071 /* Timer cycle: 1 ms */
/* When /8 is used, */
/* /8 = 325.5 ns */
/* 亪TIMER_CYCLE = */
/* 1[ms] / 325.5[ns] */
/* = 3072 */
#define PWM_CYCLE 49151 /* PWM cycle: 16 ms */
/* 亪PWM_CYCLE = */
/* 16[ms] / 325.5[ns] */
/* = 49152 */
#define SERVO_CENTER 4730//4460//4560 /* Servo sensor value */
#define HANDLE_STEP 26 /* Value for 1 */
/* Mask value setting: : Masked (disabled) O: Not masked (enabled) */
#define MASK2_2 0x66 /* */
#define MASK2_0 0x60 /* */
#define MASK0_2 0x06 /* */
#define MASK3_3 0xe7 /* */
#define MASK0_3 0x07 /* */
#define MASK3_0 0xe0 /* */
#define MASK4_0 0xf0 /* */
#define MASK0_4 0x0f /* */
#define MASK4_4 0xff /* */
/*======================================*/
/* Prototype declarations */
/*======================================*/
void init( void );
void timer( unsigned long timer_set );
int check_crossline( void );
int check_rightline( void );
int check_leftline( void );
unsigned char sensor_inp( unsigned char mask );
unsigned char dipsw_get( void );
unsigned char pushsw_get( void );
unsigned char startbar_get( void );
void led_out( unsigned char led );
void speed( int accele_l, int accele_r );
void handle( int angle );
char unsigned bit_change( char unsigned in );
/*======================================*/
/* Global variable declarations */
/*======================================*/
unsigned long cnt0; /* For the timer functions */
unsigned long cnt1; /* Used in main() */
int pattern; /* Pattern number */
/************************************************************************/
/* Main Program */
/************************************************************************/
void main( void )
{
int i;
/* Microcontroller function initialization */
init(); /* Initialization */
set_ccr( 0x00 ); /* Enable all interrupts */
/* Micom car state initialization */
handle( 0 );
speed( 0, 0 );
while( 1 ) {
switch( pattern ) {
/*****************************************************************
Notes on patterns
0: Wait for switch input
1: Check whether or not the start bar is open
11: Normal trace
12: Check for the end of a wide turn to right
13: Check for the end of a wide turn to left
21: Processing for when the first crossline is detected
22: Read and jump over the second
23: Detect a trace or sharp turn after a crossline
31: Left sharp turn clear processing: Wait briefly until clear
32: Left sharp turn clear processing: Check that the end of the turn has been reached
41: Right sharp turn clear processing: Wait briefly until clear
42: Right sharp turn clear processing: Check that the end of the turn has been reached
51: Processing when the first right half-line has been detected
52: Read and jump over the second
53: Trace following a right half line
54: Check that the right lane change has completed
61: Processing when the first left half-line has been detected
62: Read and jump over the second
63: Trace following a left half line
64: Check that the left lane change has completed
*****************************************************************/
case 0:
/* Wait for switch input */
if( pushsw_get() ) {
pattern = 1;
cnt1 = 0;
break;
}
if( cnt1 < 100 ) { /* Processing for LED blinking */
led_out( 0x1 );
} else if( cnt1 < 200 ) {
led_out( 0x2 );
} else {
cnt1 = 0;
}
break;
case 1:
/* Check whether or not the start bar is open */
if( !startbar_get() ) {
/* Start!! */
led_out( 0x0 );
pattern = 11;
cnt1 = 0;
break;
}
if( cnt1 < 50 ) { /* Processing for LED blinking */
led_out( 0x1 );
} else if( cnt1 < 100 ) {
led_out( 0x2 );
} else {
cnt1 = 0;
}
break;
case 11:
/* Normal trace */
if( check_crossline() ) { /* Also check the crossline during large turns. */
pattern = 21;
break;
}
if( check_rightline() ) { /* Right half line check */
pattern = 51;
break;
}
if( check_leftline() ) { /* Left half line check */
pattern = 61;
break;
}
switch( sensor_inp(MASK3_3) ) {
case 0x00:
/* Center straight */
handle( 0 );
speed(85 ,85 );
break;
case 0x04:
/* Move slightly to the left turn slightly to the right */
handle( 8 );
speed( 90 ,80 );
break;
case 0x06:
/* Move somewhat to the left turn somewhat to the right */
handle( 15 );
speed( 80 ,65 );
break;
case 0x07:
/* Move a medium amount to the left turn a medium amount to the right */
handle( 20 );
speed( 70 ,20 );
break;
case 0x03:
/* Move significantly to the left turn significantly to the right */
handle( 28 );
speed( 65 ,40 );
pattern = 12;
break;
case 0x20:
/* Move slightly to the right turn slightly to the left */
handle( -8 );
speed( 80,90 );
break;
case 0x60:
/* Move somewhat to the right turn somewhat to the left */
handle( -15 );
speed( 65 ,80 );
break;
case 0xe0:
/* Move a medium amount to the right turn a medium amount to the left */
handle( -20 );
speed( 50 ,70 );
break;
case 0xc0:
/* Move significantly to the right turn significantly to the left */
handle( -28 );
speed( 40 ,65 );
pattern = 13;
break;
default:
break;
}
break;
case 12:
/* Check for completion of a large turn to the right. */
if( check_crossline() ) { /* Also check the crossline during large turns. */
pattern = 21;
break;
}
if( check_rightline() ) { /* Check for right half line. */
pattern = 51;
break;
}
if( check_leftline() ) { /* Check for left half line. */
pattern = 61;
break;
}
if( sensor_inp(MASK3_3) == 0x06 ) {
pattern = 11;
}
switch( sensor_inp(MASK4_4) ) {
case 0x04:
/* Move slightly to the right turn slightly to the left */
handle( 16 );
speed( 70 ,60 );
break;
case 0x07:
/* Move a medium amount to the right turn a medium amount to the left */
handle(24 );
speed( 65 ,45 );
break;
case 0x03:
/* Move significantly to the right turn significantly to the left */
handle( 32 );
speed( 60 ,40 );
break;
case 0x83:
case 0x81:
handle(36);
speed(55,30);
break;
case 0xc1:
case 0xc3:
handle(40);
speed(55,20);
default:
break;
}
break;
case 13:
/* Check for completion of a large turn to the left. */
if( check_crossline() ) { /* Also check the crossline during large turns. */
pattern = 21;
break;
}
if( check_rightline() ) { /* Check for right half line. */
pattern = 51;
break;
}
if( check_leftline() ) { /* Check for left half line. */
pattern = 61;
break;
}
if( sensor_inp(MASK3_3) == 0x60 ) {
pattern = 11;
}
switch( sensor_inp(MASK4_4) ) {
case 0x20:
/* Move slightly to the left turn slightly to the right */
handle( -16 );
speed( 60 ,70 );
break;
case 0xe0:
/* Move a medium amount to the left turn a medium amount to the right */
handle( -24 );
speed( 45 ,65 );
break;
case 0xc0:
/* Move significantly to the left turn significantly to the right */
handle( -32 );
speed( 40 ,60 );
break;
case 0xc1:
case 0x81:
handle(-36);
speed(30,55);
break;
case 0x83:
case 0xc3:
handle(-40);
speed(25,45);
default:
break;
}
break;
case 21:
/* Processing when the first crossline is detected */
led_out( 0x3 );
handle( 0 );
speed( 0 ,0 );
pattern = 22;
cnt1 = 0;
break;
case 22:
/* Read and ignore the second line. */
if( cnt1 > 110 ) {
pattern = 23;
cnt1 = 0;
}
break;
case 23:
/* Detection of a trace, sharp turn after a crossline */
if( sensor_inp(MASK4_4)==0xf8 || sensor_inp(MASK4_4)==0xf0 ) {
/* If a left sharp turn recognized proceed to left sharp turn clear processing */
led_out( 0x1 );
handle( -40 ); //handle( -38 );
speed( 18,55);
pattern = 31;
cnt1 = 0;
break;
}
if( sensor_inp(MASK4_4)==0x1f ||sensor_inp(MASK4_4)==0x0f ) {
/* If a right sharp turn recognized proceed to right sharp turn clear processing */
led_out( 0x2 );
handle( 40 ); //handle( 38 );
speed(55 ,35 );
pattern = 41;
cnt1 = 0;
break;
}
switch( sensor_inp(MASK3_3) ) {
case 0x00:
/* Center straight */
handle( 0 );
speed( 40 ,40 );
break;
case 0x04:
case 0x06:
case 0x07:
case 0x03:
/* Move left turn right */
handle( 10 ); //handle( 8 );
speed( 40 ,30 );
break;
case 0x20:
case 0x60:
case 0xe0:
case 0xc0:
/* Move right turn left */
handle( -10 ); //handle( -8 );
speed( 30 ,40 );
break;
}
break;
case 31:
/* Left sharp turn clear processing - wait briefly until stable */
if( cnt1 > 150 ) {
pattern = 32;
cnt1 = 0;
}
break;
case 32:
/* Left sharp turn clear processing - check for completion of the turn */
if( sensor_inp(MASK3_3) == 0x60 || sensor_inp(MASK3_3) == 0x30 ) {
led_out( 0x0 );
pattern = 11;
cnt1 = 0;
}
break;
case 41:
/* Right sharp turn clear processing - wait briefly until stable */
if( cnt1 > 150 ) {
pattern = 42;
cnt1 = 0;
}
break;
case 42:
/* Right sharp turn clear processing - check for completion of the turn */
if( sensor_inp(MASK3_3) == 0x06||sensor_inp(MASK3_3) == 0x0c ) {
led_out( 0x0 );
pattern = 11;
cnt1 = 0;
}
break;
case 51:
/* Processing when the first right half line is detected */
if( check_crossline() ) { /* Also check the crossline during large turns. */
pattern = 21;
break;
}
led_out( 0x2 );
handle( 0 );
speed( 0 ,0 );
pattern = 52;
cnt1 = 0;
break;
case 52:
/* Read and ignore the second line. */
if( check_crossline() ) { /* Also check the crossline during large turns. */
pattern = 21;
break;
}
if( cnt1 > 80 ) {
pattern = 53;
cnt1 = 0;
}
break;
case 53:
/* Trace, lane change after a right half line */
if( sensor_inp(MASK4_4) == 0x00 ) {
handle( 15 );
speed( 40 ,20 );//speed( 50 ,35 );
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