main__.c

小车源程序工程,由pcf8565单片机控制

/*****************************************************
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"
	#ifndef __SLEEP_DEFINED__
	#define __SLEEP_DEFINED__
	.EQU __se_bit=0x40
	.EQU __sm_mask=0xB0
	.EQU __sm_powerdown=0x20
	.EQU __sm_powersave=0x30
	.EQU __sm_standby=0xA0
	.EQU __sm_ext_standby=0xB0
	.EQU __sm_adc_noise_red=0x10
	.SET power_ctrl_reg=mcucr
	#endif


#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
    SEI( );

    do
       {
        if( Timer[0]==0X05 )
            {
                         flage -=0x04;
                         CLI( );
                         start_PCF( );
                         SEI( );
            }
       }
   while ( (flage==0X04 )|| ( flage==0X84  ) );


   /***************************************************
   改变速度