📄 main.c~
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/*****************************************************
This program was produced by the
CodeWizardAVR V1.25.6c Professional
Automatic Program Generator
?Copyright 1998-2006 Pavel Haiduc, HP vula_adcfoTech s.r.l.
http://www.hp vula_adcfotech.com
Project : 小车
Version : 0.00
Date : 2007-8-30
Author : momo
Company : zhong bei da xue
Comments:
Chip type : ATmega16L
Program type : Application
Clock frequency : 1.000000 MHz
Memory model : Small
External SRAM size : 0
Data Stack size : 256
*****************************************************/
#include "config.h"
#define startCPA TCCR1A|=0X40
#define startCPB TCCR1A|=0X10
#define stopCPA TCCR1A&=0XBF
#define stopCPB TCCR1A&=0XEF
#define MBgo PORTD.0=0
#define MBback PORTD.0=1
#define MAgo PORTD.1=0
#define MAback PORTD.1=1
/****************************************************
全局变量声明
*****************************************************/
volatile unsigned char flage=0X00;
volatile unsigned char Timer[3]={0,0,0};
volatile unsigned char write;
volatile unsigned char BalanceTime=0;
unsigned char vula_adc;
flash char *step[5]={ "stepA","stepB","stepC","back ","over "} ;
flash char *mode[3]={"normal","advanc","demo "};
flash char *display[5]={"frist","sec ","tree ","four ","five "};
/******************************************************
系统中断 （显示，蜂鸣）
*******************************************************/
interrupt [TIM0_COMP ] void tim0_comp_isr(void)
{
static unsigned char buzz;
switch ( flage )
{
case 0X04:
Timer[0]=Read_sec( );
if( Timer[0]==Timer[2] )
;
else
{
BalanceTime++;
LCD_write_char( 13 , 1 , ( BalanceTime%10)+'0' );
LCD_write_char( 12 , 1 , ( BalanceTime/10)+'0' );
Timer[2]=Timer[0] ;
}
goto j1;
break;
case 0X84:
Timer[0]=Read_sec( );
if( Timer[0]==Timer[2] )
;
else
{
BalanceTime++;
LCD_write_char( 13 , 1 , ( BalanceTime%10)+'0' );
LCD_write_char( 12 , 1 , ( BalanceTime/10)+'0' );
Timer[2]=Timer[0] ;
}
case 0X80:
if( (++buzz) == 10 )
{
buzz=0;
PORTC.2=1;
flage -=0x80;
}
j1:
case 0X00:
Timer[0]=Read_sec( );
write=Timer[0];
LCD_write_char( 11 , 0 , (write& 0x0f)+ '0' );
LCD_write_char( 10 , 0 , ( (write>>4)&0x07) + '0' );
Timer[1]=Read_miu( );
write=Timer[1];
LCD_write_char( 4 , 0 , (write& 0x0f)+'0');
break;
default: break;
}
}
/*****************************************************************************
系统中断T2 (寻线校正)
*****************************************************************************/
interrupt [TIM2_COMP ] void tim2_comp_isr(void)
{
if(PORTD.1==1)
{
if(PIND.6==1)
startCPA;
else
stopCPA;
if(PIND.7==1)
startCPB;
else
stopCPB;
}
else
{
if(PIND.2==1)
startCPA;
else
stopCPA;
if(PIND.3==1)
startCPB;
else
stopCPB;
}
}
/**********************************************************
读取ad值
***********************************************************/
unsigned char get_ad(void) {
unsigned char i;
ADMUX = 0x60; /*基准AVCC、左对齐、通道0*/
ADCSRA = 0xC2;
/*使能、开启、4分频*/
while(!(ADCSRA & (1 << ADIF))); /*等待*/
i = ADCH;
ADCSRA &= ~(1 << ADIF); /*清标志*/
ADCSRA &= ~(1 << ADEN); /*关闭转换*/
return i;
}
/*********************************************************************
蜂鸣器函数
*********************************************************************/
void beep( void )
{
PORTC.2=0;
delay_ms(500);
PORTC.2=1;
}
/**********************************************************************
根据ad值选择平衡调整模式
**********************************************************************/
unsigned char output( void )
{
if( vula_adc>=0X7D && vula_adc<=0X80 )
return 0;
if( vula_adc>=0X7C && vula_adc<=0X81 )
return 1 ;
if( vula_adc>=0X7B && vula_adc<=0X82 )
return 2 ;
if( vula_adc>=0X7A && vula_adc<=0X83)
return 3 ;
if( vula_adc>=0X79 && vula_adc<=0X84)
return 4 ;
if( vula_adc>=0X78 && vula_adc<=0X85)
return 5 ;
if( vula_adc>=0X77 && vula_adc<=0X86)
return 6 ;
if( vula_adc>=0X76 && vula_adc<=0X87)
return 7 ;
if( vula_adc>=0X75 && vula_adc<=0X88)
return 8 ;
if(vula_adc >=0X74 && vula_adc<= 0X89)
return 9;
}
/**************************************************************************************************
平衡驱动控制函数
**************************************************************************************************/
void mortorgo( unsigned char high , unsigned char low, unsigned int go_time, unsigned int back_time )
{
OCR1AH=high;
OCR1AL = low; //new
OCR1BH=high;
OCR1BL= low;
if( vula_adc<0x7F)
{
MAgo;
MBgo;
}
else
{
MAback;
MBback;
}
startCPA ;
startCPB ;
delay_ms( go_time ) ;
stopCPA ;
stopCPB;
if( vula_adc<0x7F)
{
MAback;
MBback;
}
else
{
MAgo;
MBgo;
}
startCPA ;
startCPB ;
delay_ms( back_time ) ;
stopCPA ;
stopCPB;
}
void Findbenlen( void )
{
unsigned char Flage_balan=1;
unsigned char Flage_select;
unsigned char count=0;
do{
vula_adc = get_ad ( );
Flage_select = output( ) ;
switch ( output( ) ) {
case 0 :
stopCPA ;
stopCPB;
if(count<=9)
count++;
else
Flage_balan=0;
break;
case 1 :
count=0;
mortorgo( 0x03,0xFF , 400, 350 ) ;
break;
case 2 :
count=0;
mortorgo( 0x02,0xFF , 800, 700 ) ;
break;
case 3 :
count=0;
mortorgo( 0x02,0xFF , 900, 800 ) ;
break;
case 4 :
count=0;
mortorgo( 0x02,0xFF , 900, 700 ) ;
break;
case 5 :
count=0;
mortorgo( 0x02,0xFF , 900, 650 ) ;
break;
case 6 :
count=0;
mortorgo( 0x02,0xFF , 900,600 ) ;
break;
case 7 :
count=0;
mortorgo( 0x02,0xFF , 1000, 700 ) ;
break;
case 8 :
count=0;
mortorgo( 0x02,0xFF , 1000,600 ) ;
break;
case 9 :
count=0;
mortorgo( 0x02,0xFF , 1000,500) ;
break;
default:
count=0;
mortorgo( 0x02,0xFF , 1000,500) ;
break;
};
delay_ms(200);
}
while( Flage_balan );
}
unsigned char SelectMode ( void )
{
unsigned char temp=0;
LCD_write_str( 0 , 0 ,"press START key");
LCD_write_str( 0 , 1 ,"zhong bei da xue ");
while( PINC.6 ==1 );
while(PINC.6 ==0);
LCD_clear( );
LCD_write_str( 0 , 0 ,"mode:");
LCD_write_str( 0 , 1 ,"select mode");
LCD_write_str( 6 , 0 ,mode[0]);
delay_ms( 1000 );
do
{
if( PINC.7==0 )
{
while(PINC.7==0);
++temp;
if(temp==3)
temp=0;
LCD_write_str( 6 , 0 ,mode[temp]);
}
}
while(PINC.6==1);
while(PINC.6==0);
LCD_clear( );
return(temp);
}
/*******************************************************
基本要求部分
*******************************************************/
void nomal ( void )
{
/*****************************************************
显示时钟，初始设置
*****************************************************/
LCD_write_str( 0 , 0 ,"minc: sec: ");
LCD_write_str( 0 , 1 , step[0] );
delay_ms(1000);
beep( );
start_PCF( );
/********************************************************
小车动作初始化
********************************************************/
MBgo ;
MAgo;
OCR1AH=0x02;
OCR1AL =0xFF; //new
OCR1BH=0x02;
OCR1BL=0xFF;
startCPA ;
startCPB ;
delay_ms(2000);
OCR1AH=0x01;
OCR1AL =0xFF; //new
OCR1BH=0x01;
OCR1BL=0xFF;
TCCR2 = 0x0A; //自动寻线开
SEI( ); //全局中断开
/**********************************************
第一阶段
**********************************************/
while ( Timer[0] != 0X14 ) ;
LCD_write_str( 0 , 1 , step[1] );
CLI( );
beep( );
start_PCF( );
SEI( );
/************************************************
寻找平衡
************************************************/
TCCR2 = 0x00; //寻线关
Findbenlen( );
PORTC.2=0;
flage+=0x80; //开启蜂鸣，中断关闭
/************************************************
找到平衡
************************************************/
CLI( );
start_PCF( ); //需要改动
LCD_write_str( 0 , 1 , step[2] );
LCD_write_str( 6 , 1 , "Balan:" );
flage+=0x04; //显示平衡
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