xuanya_car._c

单片机开发资料光盘-双龙-686M.zip

//   PORTD = 0xA0;   //前行//1010 0000   PORTA=0xC3; 1100,0011
//   PORTD = 0x90;   //左转//1001 0000   PORTA=0x33; 0011,0011
//   PORTD = 0x80;   //左转//1000 0000   PORTA=0xF3; 1111,0011
//   PORTD = 0x60;   //右转//0110 0000   PORTA=0xCC; 1100,1100
//   PORTD = 0x20;   //右转//0010 0000   PORTA=0xCF; 1100,1111
//   PORTD = 0x50;   //后退//0101 0000   PORTA=0x3C; 0011,1100

//PC3声控启动
//  用PD7~PD4来作为电机驱动端

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

#define xuanya_delayms  300

//声控起动避悬崖，壁障碍运行程序，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
//探测到边缘，后退、转弯，并以伴有音乐提示。

#pragma data:eeprom
unsigned char sound[]={ //乐曲数据表
		 //铃儿响叮当
		 0x2a,0x2a,0x4a,0x2a,0x2a,0x4a,0x2a,0x2c,0x28,0x29,
	  	 0x4a,0x4a,0x2b,0x2b,0x2b,0x2b,0x2b,0x2a,0x2a,0x2a,
		 0x2a,0x29,0x29,0x28,0x49,0x4c,0x2a,0x2a,0x4a,0x2a,
		 0x2a,0x4a,0x2a,0x2c,0x28,0x29,0x4a,0x4a,0x2b,0x2b,
		 0x2b,0x2b,0x2b,0x2a,0x2a,0x2a,0x2c,0x2c,0x2b,0x29,
		 0x48,0x48,
		 
		 0x00,0x00
						};
#pragma data:data							  		  						  

/*	  		    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 rst_time,delay_time1,delay_time2,led_delayms=600;
unsigned char temp,temp1;
unsigned char pa,pb,pc,pd,remote_in,cny_in,cny_times,cds,pd_select,remote_select;
unsigned char gzsl,t0_times,timers;
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_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};

//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 == 0x44)
   {
    sw_touch();
	pc = PINC & 0xE0;
	if(pc == 0xE0)
	  {
	   stop();
	   t0_times = 0;timers = 0x22;
	   temp1=EEPROMread((int)&sound[sound_add]);
	  }
	if(pc == 0x40 || pc == 0x80 || pc == 0x20 || pc == 0xc0 || pc == 0x60)
	  {
	   timers=0x55;
	   t0_times = 0;
	  }
	if(timers == 0x55)
	  {
       if(t0_times < 16)     //16*25ms=400ms
         {
	      backward();
	      temp1=sound_back[sound_add];
         }
	   if(t0_times > 16 && t0_times < 24) //8*25ms=200ms
	     {
	      turn_left();
	      temp1=sound_back[sound_add]; 
	     }
	   if(t0_times == 24)
	     {
	      timers = 0;
		  t0_times = 0;
	     }
	  }
	if(timers != 0x55 && timers != 0x22)
	  {
	   forward();
	   temp1 = 0;
	  }  
   }
}

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 xuanya_car(void)
{
 port_init();         //PA,PB,PC,PD 初始化

 work_status = 0x20;//置对应的工作状态标志

  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=0x44;t0_times=0;
	  TCCR1A = 0x00;
	  TCCR1B =(1<<CS11);//8分频
xuanya_car_rst: 
    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++;
		}
	goto xuanya_car_rst;
}


void main()
{
 xuanya_car();
}