asuro 020.c

020 Asuro小车示例源码 playing music!!!.rar

				//if tone-play duration reached max (specific interrupt limit (tone-play duration) reached
				if(gucTm2IntCnt==NUMOF_TIMER2_SYNTHESIZER1_INTERRUPTS){
					//clear tone-duration counter
					gucTm2IntCnt=0;
					//toggle all leds at random
					vToggleAllLedsAtRandom();
					//store random value into timer/counter0 reload value
					gucTm0CurRldVal=(unsigned char) random();
					//store random value into timer/counter1 reload value
					gucTm1CurRldVal=(unsigned char) random();
				}//if
			//end case
			break;	

			//playing mode selected
			case PLAY_MODE_SYNTHESIZER2:
				//if tone-play duration reached max (specific interrupt limit (tone-play duration) reached
				if(gucTm2IntCnt==NUMOF_TIMER2_SYNTHESIZER2_INTERRUPTS){
					//clear tone-duration counter
					gucTm2IntCnt=0;
					gucTm0CurRldVal++;
					if(gucTm0CurRldVal>=0xF0){
						gucTm0CurRldVal=0x00;
					}
					gucTm1CurRldVal--;
					if(gucTm1CurRldVal>=0xF0){
						gucTm1CurRldVal=0xF0;
					}
				}//if
			//end case
			break;	

			//if keyboard playing mode is selected
			case PLAY_MODE_KEYBOARD_PLAYING:
				//if tone-play duration reached max (specific interrupt limit (tone-play duration) reached
				if(gucTm2IntCnt==NUMOF_TIMER2_KEYBOARD_INTERRUPTS){
					//clear tone-duration counter
					//gucTm2IntCnt=0;
					//stop tone0
					vStopTone0();
					//stop tone1
					vStopTone1();
				}
			//end case
			break;	
		}//switch
}
//################################################################################
// interrupt handler, external interrupt int1 pin5
// enable bit: register GICR bit INT1
// modes  set: register MCUCR bits ISC11/ISC10
// #define SIG_INTERRUPT1 _VECTOR(2)
// pdf table 18, vector number decimal 03
//################################################################################
SIGNAL (SIG_INTERRUPT1){

	//disable any further external INT1 interrupts on pin5
	SFRX(GICR,INT1_L);
	
	//disable all interrupts except switches interrupt
	vDisableAllInterruptsExceptSwitchesInterrupt();
	
	//switch left engine off
	SFRX(PORTD,REV_LFT_H|FWD_LFT_H);
	
	//switch right engine off
	SFRX(PORTB,REV_RGT_H|FWD_RGT_H);

	//define switch interrupt pin as output
	SFRX(DDRGD,SWI_IAC_O);
	
	//define switch interrupt pin as high (to be pulled low by pressed switch)
	SFRX(PORTD,SWI_IAC_H);

	//wait 6 milliseconds (found by experiment) to stabilize junction signal (due to capacitor C7 = 4,7uF)
	vDelayXMilliSeconds(6);

	//select AVCC with external cap., select switches ad-converter ADC4, right justify          |
	SFRX(ADMUX,REFS1_L|REFS0_H|ADLAR_L|RESERVED|MUX3_L|MUX2_H|MUX1_L|MUX0_L);

	//clear any eventually pending AD-converter interrupt
	SFRX(ADCSRA,ADIF_H);
	
	//enable ad-converter 'conversion-finished' interrupt
	SFRX(ADCSRA,ADIE_H);
	
	//start ad-conversion (when ad-conversion is ready, an adc interrupt is generated)
	SFRX(ADCSRA,ADSC_H);
			
}
//################################################################################
// interrupt handler, ad-conversion finished
// enable bit: register ADCSRA bit ADIE
// #define SIG_ADC _VECTOR(14)
// pdf table 18, vector number decimal 15
//################################################################################
SIGNAL (SIG_ADC){

	//var
	unsigned char ucPrsKeyVal;
	unsigned int  uiMsrAdcVal;

	//disable any further ad-converter-ready interrupt (just for sure, may be superfluous)
	SFRX(ADCSRA,ADIE_L);

	//add low-value-byte and high-value-byte from AD-converter into single 16-bit integer
	uiMsrAdcVal=ADCL+(ADCH<<8);

	//convert measured value to byte value
	ucPrsKeyVal=(unsigned char)(((1024.0/(float)uiMsrAdcVal-1.0))*63.0+0.5);

	//set interrupt on raising edge, to avoid eventually new falling edge interrupt
	//when key is still pressed at this point then setting pin5 to input the high level
	//at the interrupt pin will go low and generate a new falling edge interrupt
	SFRX(MCUCR,ISC11_L|ISC10_L);

	//---prepair-switches-interrupt-input-for-new-key-presses---//

	//define switch interrupt pin as input
	SFRX(DDRGD,SWI_IAC_I);
	//disconnect pullup from interrupt pin (is needed because output was set high)
	SFRX(PORTD,SWI_IAC_N);
	//wait 2 millisecond to stabilize junction signal eventually going low by pressed key and generating an unwanted interrupt
	vDelayXMilliSeconds(2);

	//set interrupt back to falling edge
	SFRX(MCUCR,ISC11_H|ISC10_L);

	//enable further external INT1 interrupts on pin5
	SFRX(GICR,INT1_H);

	//if same key is pressed again
	if(ucPrsKeyVal==gucPrvKeyPrs){
		//if current play mode is a normal play mode
		if(gucCurPlyMod!=PLAY_MODE_ALL_OFF){
			//just stop playing
			gucNewPlyMod=PLAY_MODE_ALL_OFF_INIT;
			//exit fuction
			return;
		}//if
		//if current play mode is the 'play stopped' mode
		else{
			//if key 1,4 or 5 pressed
			if(ucPrsKeyVal&(KEY1|KEY4|KEY5)){
				//toggle sound pitch eight octaves
				vToggleSoundPitchEightOctaves();
			}
		}
	}
	//if another key is pressed 
	else{
		//remember last (will be previous later) pressed key
		gucPrvKeyPrs=ucPrsKeyVal;
		//if current play mode is a normal play mode
		if(gucCurPlyMod!=PLAY_MODE_ALL_OFF){
			//just stop playing
			gucNewPlyMod=PLAY_MODE_ALL_OFF_INIT;
			//exit fuction
			return;
		}//else
		//if current play mode is the 'play stopped' mode
		else{
			//set timer0 to range 3 (low range)
			SFRX(TCCR0 ,CS00_H);
			//set timer1 to range 3 (low range)
			SFRX(TCCR1B,CS10_H);
		}
	}
	//program passes here 
	// - if same key is pressed in stop mode
	// - if another key is pressed in stop omde
	//remember last (will be previous later) pressed key
	gucPrvKeyPrs=ucPrsKeyVal;
	//analyse pressed key
	switch(ucPrsKeyVal){
		//----------key-1----------//
		//switch on 1st position from left/front pressed
		case KEY1:
			//define selected play mode as new play mode
			gucNewPlyMod=PLAY_MODE_SONG_PLAYING_INIT;
		//exit case
		break;
		//----------key-2----------//
		//switch on 2nd position from left/front pressed
		case KEY2:
			//switch track led on
			SFRX(PORTD,TRK_LED_H);
			//define selected play mode as new play mode
			gucNewPlyMod=PLAY_MODE_TRACK_SENSORS_INIT;
		//exit case
		break;
		//----------key-3----------//
		//switch on 3rd position from left/front pressed
		case KEY3:
			//switch green system led on
			SFRX(PORTB,SLD_GRN_H);
			//switch red system led on
			SFRX(PORTD,SLD_RED_H);
			//define selected play mode as new play mode
			gucNewPlyMod=PLAY_MODE_ODO_SENSORS_INIT;
		//exit case
		break;
		//----------key-4----------//
		//switch on 4th position from left/front pressed
		case KEY4:
			//define selected play mode as new play mode
			gucNewPlyMod=PLAY_MODE_SYNTHESIZER1_INIT;
		//exit case
		break;
		//----------key-5----------//
		//switch on 5th position from left/front pressed
		case KEY5:
			//switch red system led on
			SFRX(PORTD,SLD_RED_H);
			//define selected play mode as new play mode
			gucNewPlyMod=PLAY_MODE_SYNTHESIZER2_INIT;
		//exit case
		break;
		//----------key-6----------//
		//switch on 6th position from left/front pressed
		case KEY6:
			//switch green system led on
			SFRX(PORTB,SLD_GRN_H);
			//define selected play mode as new play mode
			gucNewPlyMod=PLAY_MODE_KEYBOARD_PLAYING_INIT;
		//exit case
		break;
		//more than one keypress at-one-tie detected
		//default:
			//toggle red led
			//SFRT(PORTD,SLD_RED);
	}//switch
}
//################################################################################
// interrupt handler, uart receive complete
// enable bit: register UCSRB bit RXCIE
// #define SIG_UART_RECV _VECTOR(11)
// pdf table 18, vector number decimal 12
//################################################################################
SIGNAL(SIG_UART_RECV){
	//var
	unsigned char ucRcvDat;
	unsigned char uci;
	//toggle green system led
	SFRT(PORTB,SLD_GRN);
	//toggle red system led
	SFRT(PORTD,SLD_RED);
	//----------handle-receive-errors----------//
	//if there is a frame error in the receive character
	if(UCSRA&FE_H){
		//just exit function
		return;
	}
	//----------get-received-character----------//
	//read received byte from i/o register (this will clear the interrupt flag)
	ucRcvDat=UDR;
	//----------handle-hyperterminal-'q'-and'1'-keys----------//
	//analyse received character
	switch(ucRcvDat){
		//hyperterminal key 'q' pressed
		case 'q':
			//if timer0 range 3 is set (low range)
			if(SFRS(TCCR0,CS00_H)){
				//toggle dual-tone mode
				gbDuaTonMod=!gbDuaTonMod;
			}
			//exit function
			return;
		//exit case
		break;
		//if '1' character received
		case '1':
			//toggle sound pitch eight octaves
			vToggleSoundPitchEightOctaves();
			//exit function
			return;
		//exit case
		break;
	}//switch
	//----------find-keypress-corresponding-tone-code-and-start-playing-tone----------//
	//clear keyboard code search index
	uci=0;
	//for all keyboard codes do...
	for(;;){
		//if all keyboard codes in list are searched
		if(gucKeyBrdTonKey[uci]==0){
			//key not found, store no-play tone-code for use by interrupt2
			gucNewKbdPlyTon=0;
			//exit case
			break;
		}
		//not all keyboard codes searched in list
		else{
			//if received keybord code found in keyboard code list
			if(gucKeyBrdTonKey[uci]==ucRcvDat){