remote_car._c

单片机开发资料光盘-双龙-686M.zip

#include <io8515v.h>
#include <macros.h>
#include <sl3010.c>

//声控起动遥控车程序，未起动时，PA口的8 LED 呈广告灯效果（霓虹灯）
//声控起动后，机器人开始动作
//遥控器无按键，机器人直行
//按住 < A > 键，机器人右转，同时演奏右转指示音乐；
//按住 < B > 键，机器人后退，同时演奏后退指示音乐；
//按住 < C > 键，机器人停止，同时演奏停止指示音乐；
//按住 < D > 键，机器人左转，同时演奏左转指示音乐；
//释放遥控器按键，音乐停止
//连续 按住 < C > 键时间超过 10s，遥控机器人复位，等待声控重新起动

/*	  		    音阶表				*/	
const unsigned int TONETABLE[15]={DO,RE,MI,FA,SO,LA,TI,DO_H,
			    	 	RE_H,MI_H,FA_H,SO_H,LA_H,TI_H,DO_HH};
/*			  音阶重装常数			*/						
unsigned int toneconst;								  							   						 				 	 	 
unsigned int sound_add=0;
unsigned int delay_time1,delay_time2,led_delayms=600;
unsigned char temp,temp1;
unsigned char pa,pb,pc,pd,remote_in,timers,cny_in,cny_times,rst_time,cds,pd_select,remote_select;
unsigned char gzsl,t0_times;
unsigned char sound_1,sound_2;

const unsigned char led_data[]=
    {//设置LED广告灯数据表
     0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f,0xbf,0xdf,0xef,0xf7,0xfb,0xfd,
     0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f,0xbf,0xdf,0xef,0xf7,0xfb,0xfd,
     0x00,0x18,0x3c,0x7e,0xff,0x7e,0x3c,0x18,
     0x00,0x18,0x3c,0x7e,0xff,0x7e,0x3c,0x18,
     0xf8,0xf1,0xe3,0xc7,0x8f,0x1f,0x8f,0xc7,0xe3,0xf1,
     0xf8,0xf1,0xe3,0xc7,0x8f,0x1f,0x8f,0xc7,0xe3,0xf1,
     0xfe,0xfc,0xf8,0xf0,0xe0,0xc0,0x80,0x00,0x80,0xc0,0xe0,0xf0,0xf8,0xfc,
     0xfe,0xfc,0xf8,0xf0,0xe0,0xc0,0x80,0x00,0x80,0xc0,0xe0,0xf0,0xf8,0xfc,
     0xff,0xe7,0xdb,0xbd,0x7e,0xbd,0xdb,0xe7,
     0xff,0xe7,0xdb,0xbd,0x7e,0xbd,0xdb,0xe7,
     0xff,0x00,0xff,0x00,0xff,0x00,0xff,0x00,
	 
     0x0a,0x0a
    };

const unsigned char sound_none[]={0x28,0x27,0x36,0x16,0x45,0x47,0x46,0x46,0x46,0x23,0x25,0x46,0x4a,0x39,0x18,0x27,
	  		   0x28,0x48,0x48,0x28,0x27,0x36,0x16,0x45,0x27,0x26,0x46,0x46,0x46,0x46,0x46,0x46,0x00,0x00};
const unsigned char sound_right[]={0x23,0x25,0x46,0x4a,0x39,0x18,0x27,0x28,0x48,0x48,0x48,
	  		   0x28,0x27,0x36,0x16,0x45,0x47,0x46,0x46,0x46,0x00,0x00};
const unsigned char sound_back[]={0x2a,0x2c,0x4d,0x4d,0x4d,0x2a,0x2c,0x49,0x49,0x49,0x2a,0x2c,0x2d,0x4f,
	  		   0x2d,0x4c,0x1d,0x18,0x2a,0x49,0x49,0x49,0x00,0x00};
const unsigned char sound_stop[]={0x23,0x24,0x25,0x44,0x45,0x24,0x23,0x22,0x42,0x40,0x40,0x23,0x22,0x21,0x41,0x28,
	  		   0x48,0x23,0x25,0x45,0x40,0x40,0x00,0x00};
const unsigned char sound_left[]={0x68,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x41,0x41,0x23,0x25,
	  		   0x28,0x48,0x28,0x29,0x2a,0x29,0x26,0x45,0x45,0x45,0x00,0x00};

//TIMER0 initialisation - prescale:1024
// desired value: 25mSec
// actual value: 24.960mSec (0.2%)
void timer0_init(void)
{
 TCCR0 = 0x00; //stop timer
 TCNT0 = 0x3D; //set count value
 TCCR0 = 0x05; //start timer
}

#pragma interrupt_handler timer0_ovf_isr:iv_TIMER0_OVF
void timer0_ovf_isr(void)
{
 TCNT0 = 0x3D; //reload counter value
 t0_times++;
 if(gzsl == 0x88)
   {
    if(t0_times == 10)
      {
	   timers++;
	   t0_times = 0;
	   pa = led_data[timers];
	   if(pa==0x0a){timers=0;}
	   PORTA = pa;	   
      }
   }
 if(gzsl == 0x33)
   {
    sw_touch();
	if(t0_times == 8)     //8*25ms=200ms
      {
	   t0_times = 0;
	   remote_in = PINB & 0x0F;
	   sound_1 = remote_in;
       if(sound_2 != sound_1)
	     {sound_add=0;sound_2 = sound_1;}
	   switch (remote_in)
      	 {//检测遥控器是否有键按下
          case 0x00:
		      forward();           //前行
		      rst_time=0;
			  sound_add=0x00;
			  temp1=0x00;
      	    break;
          case 0x04:  // < A >
		      turn_right();        //右转
		      rst_time=0;
			  temp1=sound_right[sound_add];
      	    break;
          case 0x02:  // < B >
		      backward();          //后退
		      rst_time=0;
			  temp1=sound_back[sound_add];
      	    break;
          case 0x08:  // < C >
		      stop();              //停止运动
		      rst_time++;
			  temp1=sound_stop[sound_add];
      	    break;
          case 0x01:  // < D >
              turn_left();         //左转
		      rst_time=0;
			  temp1=sound_left[sound_add];
      	    break;
      	}
      }
   }
}

void stop_timer0()
{
	CLI();
	TCCR0 = 0x00;//停止timer0
	MCUCR = 0x00;
    GIMSK = 0x00;
    TIMSK = 0x00;
    SEI();
}

#pragma interrupt_handler timer1_ovf_isr:iv_TIMER1_OVF
void timer1_ovf_isr(void)
	 {
	    {
		 TCNT1=toneconst;
	     PORTC^=1;
		}
	 }	 	 
	 
void remote_car()
{//遥控车程序
 
 port_init();//调用端口初始化函数
 
 work_status = 0x60;//置对应的工作状态标志

remote_rst: 
 PORTA = 0x0F;

  gzsl=0x88;timers=0;t0_times=0;
  CLI(); //disable all interrupts
  timer0_init();

  MCUCR = 0x00;
  GIMSK = 0x00;
  TIMSK|=(1<<TOIE0);
  SEI(); //re-enable interrupts
 
 mic_startup();//等待声控启动函数

  gzsl=0x33;t0_times=0;
	  TCCR1A = 0x00;
	  TCCR1B =(1<<CS11);//8分频
n01:
  temp=temp1 = 0;
  sound_add = 0;	  
	  while(temp1!=0)
  	    {
			temp=temp1; 
			temp&=0x0f;
			if(temp!=0)
			  {
			   TIMSK|=(1<<TOIE1);//根据SOUNDTABLE中数据的低四位选择音调频率
			   temp--;			   
        	   toneconst=TONETABLE[temp];
			   TCNT1=toneconst;
 			  }
			temp=temp1;
			temp>>=4;
			temp&=0x0f;
			delay_ms(temp*129);//根据SOUNDTABLE中数据的高四位*5后，为音调持续时间
			TIMSK&=~(1<<TOIE1);
			sound_add++;

	     if(rst_time > 50)
	       {//当按住< C > 键的持续时间超过10S，遥控机器人复位，等待声控重起运行
		    rst_time=0;
			stop_timer0();
			PORTA = 0x0f;
			delay_ms(1000);
		    goto remote_rst;
	       }
	   }
	goto n01;
}

void main()
{
 remote_car();
}