📄 camel.c
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//ICC-AVR application builder : 2008-8-15 14:27:08
// Target : M16
// Crystal: 12.0000Mhz
//
/*=============================================================================================================================================================================================================
20080815WB 建立一个骆驼机器人骑手程序
20080815CNL 修改了王斌的程序。
20080815_1CNL 去掉了密码模块
20080815_3CNL 能够正常编译的程序
20081017_1CNL 修改程序为GSM模块的程序。
=================================================================================================================================================================================================*/
#define vuchar volatile unsigned char
#define vuint volatile unsigned int
#define uchar unsigned char
#define uint unsigned int
#include <avr/io.h>
#include <avr/interrupt.h>
#define clear_interrupt() cli() //禁止所有中断b
#define set_interrupt() sei() //开全局中断
vuchar uartTemp;
#define statusLedOn() (PORTC &= ~(1<<4))
#define statusLedOff() (PORTC |= (1<<4))
//按键输入端口利用PA口的PA3-PA6口，PA3口最为低位，PA6口为高位
#define keyPress() ((PIND&0x10)==0x10)
uchar keyLevel=0; //按键控制信号断口电平标记
uchar KeyFlag=0; //按键按下标志位
uchar KeyNum=0; //按下的按键编号
//#define key0() ((PINC&0X0F)==0x00)
#define key1() ((PINC&0X0F)==0x01)
#define key2() ((PINC&0X0F)==0x02)
#define key3() ((PINC&0X0F)==0x03)
#define key4() ((PINC&0X0F)==0x04)
#define key5() ((PINC&0X0F)==0x05)
#define key6() ((PINC&0X0F)==0x06)
#define key7() ((PINC&0X0F)==0x07)
#define key8() ((PINC&0X0F)==0x08)
#define key9() ((PINC&0X0F)==0x09)
#define key10() ((PINC&0X0F)==0x0A)
#define key11() ((PINC&0X0F)==0x0B)
#define key12() ((PINC&0X0F)==0x0C)
//马达控制定义
uchar MotorCounter=0; //电机脉宽寄存器
uchar motortime=0;
#define motortime1 2 //电机控制信号从高到低的转折时间
#define motortime2 4 //电机控制信号的波形周期
#define MotorStart() (PORTD=PORTD|(1<<5))
#define MotorStop() (PORTD=PORTD&~(1<<5)) //用PC口的PC0口为电机的控制端口
//声音模块定义
#define speakerSetPlay() (PORTB&=~(1<<2))
#define speakerResetPlay() (PORTB|=(1<<2))
#define speakerSetREC() (PORTB&=~(1<<1))
#define speakerResetREC() (PORTB|=(1<<1))
//#define speakerBusyReceive() (PINB&(1<<1))
#define speak_Sound1() (PORTB= (((PORTB&~(1<<3))&~(1<<4))&~(1<<5)))
#define speak_Sound2() (PORTB= (((PORTB|(1<<3))&~(1<<4))&~(1<<5)))
#define speak_Sound3() (PORTB= (((PORTB&~(1<<3))|(1<<4))&~(1<<5)))
#define speak_Sound4() (PORTB= (((PORTB|(1<<3))|(1<<4))&~(1<<5)))
#define speak_Sound5() (PORTB= (((PORTB&~(1<<3))&~(1<<4))|(1<<5)))
#define speak_Sound6() (PORTB= (((PORTB|(1<<3))&~(1<<4))|(1<<5)))
#define speak_Sound7() (PORTB= (((PORTB&~(1<<3))|(1<<4))|(1<<5)))
#define speak_Sound8() (PORTB= (((PORTB|(1<<3))|(1<<4))|(1<<5)))
volatile uchar speakerPlayInitSet=0; //喇叭初始设置标志
volatile uchar speakerRecInitSet=0;
volatile uchar speakerTimes = 0; //声音触发次数
volatile uint speakerRecTemp = 0; //延时计数
volatile uint speakerPlayTemp=0;
volatile uchar speakerBusy=0; //正在播放，忙信号
volatile uchar speakerPlayflag=0;
volatile uchar speakerRecflag=0;
#define speaker_first 0
#define speaker_Enable 1
#define speaker_Set 2
#define speaker_Reset 3
//手机模块相关定义
vuchar GSMTimerCounter=0; //时钟计数器
#define GSMPressOn() (PORTC=PORTC|(1<<5)) //模拟摘机开通，使用PA7端口
#define GSMPressOff() (PORTC=PORTC&(~(1<<5))) //模拟摘机关闭，使用PA7端口
vuchar GSMtemp=0;
uchar GSMReceiveTemp[100];
uchar GSMATConnectTest[4]={'A','T','\r','\n'}; //AT通讯测试
uchar GSMATConnectOk[4]={'O','K','\r','\n'}; //正常接听
uchar GSMATAcceceptMode[8]={'A','T','S','0','=','3','\r','\n'}; //接听模式设置
uchar GSMATOnLineTest[9]={'A','T','+','C','P','A','S','\r','\n'}; //接听模式设置
vuchar GSMTalkingFlag=0; //是否是通话状态
vuchar GSMTalkingCounter=0; //通话状态检测定时器
#define GSMTalkingYes 1
#define GSMTalkingNo 0
/////////////////////////////////////////////////////////
void SpeakerPlay(void)
{
if(speakerPlayInitSet==0)
{
if(speakerPlayflag==speaker_first)
{
speakerResetPlay();
speakerPlayflag=speaker_Enable;
speakerPlayTemp=0;
}
else if(speakerPlayflag==speaker_Enable)
{
speakerPlayTemp++;
if(speakerPlayTemp<20)
{
speakerSetPlay();
}
else
{
speakerResetPlay();
speakerPlayflag=speaker_first;
speakerPlayInitSet=1;
}
}
}
}
void SpeakerRec(void)
{
if(speakerRecInitSet==0)
{
if(speakerRecflag==speaker_first)
{
speakerResetREC();
speakerRecflag=speaker_Enable;
speakerRecTemp=0;
}
else if(speakerRecflag==speaker_Enable)
{
speakerRecTemp++;
if(speakerRecTemp<20)
{
speakerSetREC();
}
else
{
speakerResetREC();
speakerRecflag=speaker_first;
speakerRecInitSet=1;
}
}
}
}
void checkKey(void)
{
//在可以检测的状态下，假如键盘状态有电平输出
if((keyLevel==0)&&keyPress())
{
//修改电平状态，直到客户放开按钮
keyLevel=1;
if(key1())
{
KeyFlag=1;KeyNum=1;
}
else if(key2())
{
KeyFlag=1;KeyNum=2;
}
else if(key3())
{
KeyFlag=1;KeyNum=3;
}
else if(key4())
{
KeyFlag=1;KeyNum=4;
}
else if(key5())
{
KeyFlag=1;KeyNum=5;
}
else if(key6())
{
KeyFlag=1;KeyNum=6;
}
else if(key7())
{
KeyFlag=1;KeyNum=7;
}
else if(key8())
{
KeyFlag=1;KeyNum=8;
}
else if(key9())
{
KeyFlag=1;KeyNum=9;
}
else if(key10())
{
KeyFlag=1;KeyNum=10;
}
else if(key11())
{
KeyFlag=1;KeyNum=11;
}
else if(key12())
{
KeyFlag=1;KeyNum=12;
}
}
//没有状态输出
else if(keyPress()==0)
{
keyLevel=0;
}
}
//数据发送程序
#define sendBufferSize 100
vuchar sendBuffer[sendBufferSize]; //发送临时寄存器
vuchar sendBufferReader=0; //发送数据读个数
vuchar sendBufferCounter=0; //发送数据个数
SIGNAL(SIG_UART_TRANS)
{
//UDR = 0x55;
if(--sendBufferCounter)
{
UDR=sendBuffer[++sendBufferReader];
}
else
{
sendBufferReader=0;
}
}
//发送程序，参数为要发送的字符指针以及要发送的字符数量
void sendData(uchar *sendPtr,uchar sendCounter)
{
uchar sendTemp=0;
sendBufferCounter=sendCounter;
sendBufferReader=0;
for(sendTemp=0;sendTemp<sendCounter;sendTemp++)
{
sendBuffer[sendTemp]=*(sendPtr+sendTemp);
}
UDR = sendBuffer[sendBufferReader];
}
//数据接收程序
#define receiveBufferSize 100
vuchar receiveBuffer[receiveBufferSize];
vuchar receiveBufferWriter=0;
vuchar receiveBufferCounter=0;
SIGNAL(SIG_UART_RECV)
{
receiveBuffer[receiveBufferCounter++]=UDR;
if (receiveBufferCounter >= receiveBufferSize) receiveBufferCounter=0;
}
//接收程序，参数为要放置数据的地址,最大的接收量
void receiveData(uchar *receivePtr,uchar receiveCounter)
{
uchar receiveTemp=0;
while(receiveBufferWriter!=receiveBufferCounter)
{
*(receivePtr+receiveTemp)=receiveBuffer[receiveBufferWriter];
receiveTemp++;
if(receiveTemp>=receiveCounter)
{break;}
receiveBufferWriter++;
if (receiveBufferWriter >= receiveBufferSize)
{receiveBufferWriter=0;}
}
}
SIGNAL(SIG_OVERFLOW1)
{
//TIMER1 has overflowed
TCNT1H = 0xCF;
TCNT1L = 0x2C;//初始值
//手机时钟计数器
GSMTimerCounter++;
//通话检测定时器
GSMTalkingCounter++;
/*
//声音控制程序
if(VoiceCounter>0)
{
VoiceTime++;
if(VoiceTime<VoiceTime1) //VoiceTime1是脉冲从高电平到低电平的转折点
{
SpeakerSignalUp();
}
else if(VoiceTime<VoiceTime2) // VoiceTime2是脉冲周期
{
SpeakerSignalDown();
}
else
{
VoiceTime=0;
VoiceCounter--;
}
}
*/
//马达控制程序
if(MotorCounter>0)
{
motortime++;
if(motortime<motortime1) //motortime1是电机开启到关闭的时间点
{
MotorStart();
}
else if(motortime<motortime2) // motortime2是时间周期
{
MotorStop();
}
else
{
motortime=0;
MotorCounter--;
}
}
}
//按键按一下机器人甩一甩鞭子
void hit1(void)
{
MotorCounter=5; // 计数值确定甩鞭子的时间长短
}
//按键按一下机器人甩几下鞭子
void hit2(void)
{
MotorCounter=20; // 计数值确定甩鞭子的时间长短
}
//放出录音芯片内声音，按一下键放一次声
void voice1(void)
{
//VoiceCounter=1;
speak_Sound1();
}
//放出远程控制人员的语音信号
void voice3(void)
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