main.c

一个带CANBUS的倒车雷达源码！希望大家能用的上！

/***********************************************************************
	  program Information	
		Project	                 : Cuckoo Rear Radar System
		IC                       : PIC18F2480
		XTAL                     : exteral crystal 4MHZ
		software environment     : Maplab 7.60 & MCC3.0
		Frist programer	         : jackey
		create data	             : 2007-9-21 11:07
		next programer           : 
		Company	                 : BYD 15th division 
/************************************************************************/
#define IN_Main
#include "config.h"

uchar SpeedCnt;
uchar Speed600ms;
uchar TimeTemp[6][2];
uchar LastDist[6];

uchar CANData_Addr_L,CANData_Addr_H;
uchar CANDiagnose_Addr_L,CANDiagnose_Addr_H;

union  
{
  struct
  {
    unsigned FrontLeft  :  1;
    unsigned FrontRight :  1;
    unsigned BackLeft   :  1;
    unsigned BackRight  :  1;
    unsigned BackMiddle :  1;
    unsigned            :  3;						 
  }Bit;                          
  uchar Byte;             	
}SensorAbnormal;             

union  
{
  struct
  {
    unsigned RemainRing :  1;         //长鸣
    unsigned Slow       :  1;         //2Hz
    unsigned Quick      :  1;         //4Hz	
    unsigned NoSensor   :  1;         //无探头标志
    unsigned NoBlock    :  1;         //无障碍物标志			
    unsigned flag125ms  :  1;
    unsigned flag250ms  :  1;	
    unsigned Canflag50ms:  1;
  }Bit;                          
  uchar Byte;             	
}Alarm;  

union
{
  struct
  {
    unsigned backflag   :  1;         //flag to indicate back flag	
    unsigned SpeedFlag  :  1;	
    unsigned backalarm  :  1;
    unsigned            :  5;
  }Bit;
  uchar Byte;
}CarStatus;

#pragma config OSC = XT,WDT = OFF,LVP = OFF
#pragma code high_vector_section = 0x000008   
void	high_vector(void)
{
  _asm
    goto HighIntServe 		//跳到中断程
  _endasm
}
#pragma code

void	main( void )   
{   
	uchar i,j,k,x,y; 
	
  CANData_Addr_L = 0xD0;
  CANData_Addr_H = 0x01;
  
  CANDiagnose_Addr_L = 0x00;
  CANDiagnose_Addr_H = 0x00;
	
  InitPort(  );
  InitCan(  );
  CarStatus.Bit.backalarm = 1;
  
	while(1)
	{
		ClrWdt( );
		CheckState(  );
//		CheckSpeed(  );
		
		j = 2;
	  x = 12;
	  y = 7;
		
		if( CarStatus.Bit.backflag ) //有倒车信号则转到倒车状态处理
		{	  
				while( j-- )
				{		
					i = 6;		
					while( i-- )			//i--
					{
					  switch( i )
					  {
					  	case 5:
								       FrontLSend40k( y );
								       ReadFront( i, j );
								       SentCan(  );
								       break;
								
							case 4:
							  	     FrontRSend40k( y );
								       ReadFront( i, j );
								       SentCan(  );
								       break;
					
							case 3:							
								       BackLSend40k( y );
								       ReadFront( i, j );
								       SentCan(  );
								       break;							

							case 2:															                                    								
								       BackRSend40k( y );    
							         ReadFront( i,j );     
							         SentCan(  );         
								       break;                            
								                                           
							case 1:
								       BackLMSend40k( x );
								       ReadBack( i, j );
							         SentCan(  );
								       break;
						
							case 0:
								       BackRMSend40k( x );
								       ReadBack( i, j );
							         SentCan(  );
								       break;

							default:
								       break;
			  		     }
					}
		  	}
		}	
				
		else//((!SensorAbnormal.Bit.SpeedFlag)&& (SensorAbnormal.Bit.SpeedFlag))            //驻车通道发射和接受,
		{
		    CarStatus.Bit.backalarm = 1;			
				while( j-- )
				{
					i=6; 	
					while( i-- > 4 )			//i--
					{
					//	PORTA=(PORTA&0XDF)|0X10;
						switch( i )
						{
						  case 5:
                      FrontLSend40k( y );
                      ReadFront( i, j );
                      SentCan(  );
                      break;
						  case 4:
                      FrontRSend40k( y );
                      ReadFront( i, j );
                      SentCan(  );
                      break;
              default:
                      break;
						}//switch
					}//while( i-- )
		  	}//while( j-- )
		}//else	  		
	  //	else  //车速超过10km/h,雷达不工作,只是检测车速
	 // 	{
	//	  	;
		  	
	//	 }
	  Calculate(  );
	 // SentBee();
	}
}