sl3010_4._c

单片机开发资料光盘-双龙-686M.zip

/*******************************************/
/*            广州天河双龙电子公司         */
/*            http://www.sl.com.cn         */
/*     020-85510191,87578852,87578872      */
/*              [e-mail]            */
/*******************************************/

//遥控器没有按键或者 pd3,pd2,pd1,pd0 短路块全部不接上，全为高电平
//机器人运行音乐机器人程序。     
	//PA口为音乐灯，当不同的音乐节奏，点亮不同的灯。
    //声控起动音乐机器人程序，未起动时，PA口的8 LED 呈广告灯效果（霓虹灯）
    //声控起动后，机器人开始演奏音乐，同时PA口LED灯根据音乐节拍闪烁
    //按遥控器上不同的键后可改变机器人演奏的乐曲。

//将 pd0 接低电平，pd3,pd2,pd1 保持高电平，只连接pd0的短路块
//       或按下遥控器<A>(保持 0.5s)        进入遥控机器人运行环境 
         //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

//将 pd1 接低电平，pd3,pd2,pd0 保持高电平，只连接pd1的短路块
//       或按下遥控器<B>(保持 0.5s)        寻迹机器人，探测白底黑线，沿黑线行进 
         //声控起动寻迹机器人程序，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，PA口的 8 LED 指示运动状态

//将 pd2 接低电平，pd3,pd1,pd0 保持高电平，只连接pd2的短路块
//       或按下遥控器<C>(保持 0.5s)        机器人避障碍、避悬崖行进 
         //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，PA口的 8 LED 指示运动状态
         //探测到边缘，后退、转弯，并以伴有音乐提示。

//将 pd3 接低电平，pd2,pd1,pd0 保持高电平，只连接pd3的短路块
//       或按下遥控器<D>(保持 0.5s)        机器人按程序设定路线行走，走四方形，同时演奏音乐 
         //自走车   机器人走四方形路线，遥控器调节行走路线
         //声控起动机器人按设定路线行走，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，PA口的 8 LED 指示运动状态

//程序等待声控起动运行，未启动运行时机器人运行霓虹车程序。
//连续按住遥控器 < C > 键超过 10s 起动看门狗，再过 1s 系统复位

//将 sl3010.c 文件拷贝到 icc avr 安装目录的<include>文件夹
//sl3010.c 是sl3010机器人板的子函数库
//程序中调用此文件后 #include <sl3010.c>
//可直接调用里面的函数和变量

//  最后更新：2003.04.17

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

#define xuanya_delayms  300
#define cny_delayms 50
#define light_delay 100

/* 		  音乐数据  	  */
/* 四分之一拍为0x10, 二分之一拍为0x20, 一拍为0x40 */
/* 低1-1 2-2 3-3 4-4 5-5 6-6 7-7 */
/* 中1-8 2-9 3-A 4-B 5-C 6-D 7-E */
/* 高1-F */								  	
#pragma data:eeprom
unsigned char sound[]={ //乐曲数据表
//情非得以 
0x20,0x1c,0x1d,0x4c,0x4c,0x4c,0x4c,0x20,0x2d,0x19,0x1a,0x19,0x18,0x48,0x48,0x48,
0x48,0x47,0x47,0x46,0x46,0x45,0x45,0x45,0x45,0x45,0x45,0x45,0x45,0x45,

0x23,0x24,0x25,0x44,0x45,0x24,0x23,0x22,0x42,0x40,0x40,0x23,0x22,0x21,0x41,0x28,
0x48,0x23,0x25,0x45,0x40,0x40,0x21,0x21,0x42,0x21,0x21,0x41,0x20,0x28,0x47,0x26,
0x17,0x16,0x15,0x45,0x40,0x31,0x11,0x21,0x21,0x21,0x22,0x42,0x40,0x20,0x23,0x23,
0x24,0x25,0x24,0x23,0x24,0x25,0x26,0x23,0x23,0x42,0x42,0x40,0x23,0x22,0x21,0x41,
0x28,0x28,0x28,0x23,0x25,0x45,0x45,0x40,0x20,0x25,0x46,0x28,0x28,0x48,0x20,0x29,
0x47,0x26,0x17,0x16,0x15,0x45,0x25,0x25,0x26,0x28,0x18,0x16,0x26,0x28,0x26,0x28,
0x19,0x19,0x49,0x49,0x20,0x25,0x2a,0x18,0x19,0x29,0x28,0x16,0x17,0x16,0x15,0x25,
0x25,0x28,0x29,0x2a,0x29,0x48,0x28,0x48,0x2c,0x4c,0x4c,0x40,0x2a,0x2c,0x1c,0x1a,
0x2a,0x2a,0x29,0x4a,0x2b,0x2a,0x4a,0x4a,0x40,0x2a,0x29,0x29,0x28,0x28,0x26,0x48,
0x29,0x26,0x45,0x45,0x40,0x25,0x25,0x26,0x21,0x18,0x16,0x26,0x28,0x26,0x28,0x29,
0x49,0x49,0x20,0x25,0x28,0x29,0x2a,0x29,0x49,0x28,0x48,0x2c,0x4c,0x4c,0x40,0x2a,
0x2c,0x15,0x1a,0x2a,0x2a,0x29,0x4a,0x2b,0x2a,0x4a,0x4a,0x40,0x2a,0x29,0x29,0x28,
0x28,0x26,0x28,0x28,0x29,0x26,0x45,0x45,0x40,0x25,0x25,0x26,0x28,0x28,0x26,0x2a,
0x19,0x18,0x28,0x18,0x19,0x48,0x48,0x40,0x40,0x40,0x40,0x28,0x48,0x29,0x28,0x28,
0x2a,0x1a,0x1a,0x1a,0x18,0x40,0x20,0x26,0x28,0x28,0x28,0x26,0x28,0x48,0x26,0x25,
0x45,0x45,0x40,0x40,0x40,0x28,0x48,0x28,0x28,0x1c,0x1d,0x2d,0x2c,0x28,0x28,0x28,
0x20,0x26,0x19,0x1a,0x29,0x19,0x18,0x28,0x28,0x26,0x21,0x29,0x49,0x49,0x40,0x20,
0x28,0x29,0x2a,0x4a,0x4a,0x20,0x25,0x28,0x29,0x48,0x48,0x48,0x25,0x25,0x26,0x28,
0x28,0x26,0x2a,0x19,0x18,0x28,0x18,0x19,0x49,0x49,0x40,0x40,

		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,timers,cny_in,cny_times,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 music_11[]=
{//七子之歌
    0x45,0x23,0x25,0x23,0x65,0x26,0x25,0x23,0x26,0x45,0x45,0x41,
    0x21,0x22,0x43,0x25,0x23,0x42,0x20,0x23,0x45,0x45,0x25,0x25,
    0x26,0x25,0x23,0x45,0x25,0x26,0x25,0x28,0x26,0x45,0x45,0x41,
    0x25,0x23,0x22,0x21,0x42,0x23,0x65,0x25,0x22,0x43,0x41,0x41,
    0x41,0x41,0x45,0x23,0x25,0x23,0x65,0x26,0x25,0x23,0x26,0x45,
    0x45,0x41,0x21,0x22,0x43,0x25,0x23,0x42,0x20,0x23,0x45,0x45,
    0x25,0x25,0x26,0x25,0x23,0x45,0x25,0x26,0x25,0x28,0x26,0x45,
    0x45,0x41,0x25,0x23,0x22,0x21,0x42,0x23,0x65,0x25,0x22,0x43,
    0x41,0x41,0x41,0x20,0x25,0x4a,0x29,0x28,0x26,0x25,0x45,0x26,
    0x46,0x25,0x36,0x18,0x2a,0x28,0x49,0x49,0x49,0x20,0x25,0x4a,
    0x39,0x18,0x26,0x25,0x45,0x26,0x46,0x25,0x46,0x2a,0x29,0x49,
    0x49,0x49,0x49,0x4a,0x39,0x18,0x26,0x25,0x45,0x48,0x26,0x25,
    0x23,0x22,0x41,0x40,0x22,0x23,0x45,0x45,0x45,0x45,0x40,0x25,
	0x26,0x48,0x48,0x48,
	0x00,0x00
};
const unsigned char music_22[]=
{//走进新时代
0x68,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x41,0x41,0x23,0x25,
0x28,0x48,0x28,0x29,0x2a,0x29,0x26,0x45,0x45,0x45,0x45,0x68,
0x29,0x29,0x28,0x26,0x25,0x46,0x46,0x46,0x25,0x26,
0x29,0x43,0x25,0x22,0x23,0x22,0x21,0x42,0x42,0x42,0x42,0x63,
0x25,0x26,0x25,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x23,0x25,
0x28,0x28,0x28,0x28,0x29,0x2a,0x2a,0x29,0x46,0x46,0x46,0x46,
0x46,0x29,0x2a,0x28,0x28,0x26,0x25,0x26,0x26,0x25,0x43,0x43,
0x22,0x42,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x41,0x41,0x41,
0x00,0x00
};
const unsigned char music_33[]=
{
//星语心愿
0x36,0x18,0x27,0x26,0x25,0x26,0x43,0x43,0x43,0x26,0x25,0x36,0x18,0x27,0x18,0x17,
0x26,0x27,0x48,0x48,0x48,0x28,0x29,0x2a,0x2a,0x2a,0x2a,0x49,0x49,0x28,0x27,0x26,
0x27,0x45,0x45,0x46,0x48,0x47,0x26,0x25,0x46,0x46,0x46,0x40,0x40,0x40,0x40,0x40,
0x36,0x18,0x27,0x26,0x25,0x26,0x26,0x26,0x46,0x46,0x26,0x25,0x36,0x18,0x27,0x18,
0x17,0x26,0x27,0x48,0x48,0x48,0x28,0x29,0x2a,0x2a,0x2a,0x2a,0x49,0x49,0x28,0x27,
0x26,0x27,0x45,0x45,0x46,0x26,0x28,0x47,0x45,0x40,0x26,0x28,0x47,0x45,0x46,0x46,
0x46,0x46,0x46,0x46,0x46,0x23,0x25,0x46,0x4a,0x39,0x18,0x27,0x28,0x48,0x48,0x48,
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 music_44[]=
{
//上海滩
0x2a,0x2c,0x4d,0x4d,0x4d,0x2a,0x2c,0x49,0x49,0x49,0x2a,0x2c,
0x2d,0x4f,0x2d,0x4c,0x1d,0x18,0x2a,0x49,0x49,0x49,0x29,0x2a,
0x4c,0x4c,0x4c,0x29,0x2a,0x29,0x26,0x4d,0x4d,0x4d,0x26,0x28,
0x39,0x1a,0x29,0x27,0x26,0x28,0x45,0x45,0x45,0x2a,0x2c,0x4d,
0x4d,0x4d,0x2a,0x2c,0x49,0x49,0x49,0x2a,0x2c,0x2d,0x4f,0x2d,
0x4c,0x1d,0x18,0x2a,0x49,0x49,0x49,0x29,0x2a,0x4c,0x4c,0x4c,
0x29,0x2a,0x29,0x26,0x4d,0x4d,0x4d,0x26,0x28,0x39,0x1a,0x29,
0x27,0x26,0x25,0x48,0x48,0x20,0x2f,0x2f,0x2d,0x4f,0x4f,0x20,
0x2d,0x2f,0x2d,0x4c,0x4c,0x4c,0x2c,0x2a,0x6d,0x2c,0x48,0x19,
0x18,0x28,0x4a,0x4a,0x20,0x2a,0x2a,0x29,0x4a,0x4a,0x20,0x2f,
0x2f,0x2e,0x4d,0x4d,0x4d,0x2a,0x2a,0x69,0x2a,0x2f,0x2e,0x2d,
0x2a,0x4c,0x4c,0x4c,
0x00,0x00
};
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};

//Watchdog initialisation
// prescale: 1024K cycles
void watchdog_init(void)
{
 WDR(); //this prevents a timout on enabling
 WDTCR = 0x0E; //WATCHDOG ENABLED - dont forget WDR
}

//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++;
 	   remote_in = PINB & 0x0F;
	   switch (remote_in)
      	 {//检测遥控器是否有键按下
          case 0x00:  // none
			  rst_time=0;
      	    break;
          case 0x04:  // < A >
			  rst_time=0;
      	    break;
          case 0x02:  // < B >
		      rst_time=0;
      	    break;
          case 0x08:  // < C >
		      rst_time++;
      	    break;
          case 0x01:  // < D >
              rst_time=0;
      	    break;
      	 }
 if(rst_time > 400)  // 400*25ms=10s，+1s 看门狗复位  
   {
    PORTA = 0xff;
	watchdog_init();
	while(1);
   }
 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
			  sound_add=0x00;
			  temp1=0x00;
      	    break;
          case 0x04:  // < A >
		      turn_right();        //右转
			  temp1=sound_right[sound_add];
      	    break;
          case 0x02:  // < B >
		      backward();          //后退
			  temp1=sound_back[sound_add];
      	    break;
          case 0x08:  // < C >
		      stop();              //停止运动
			  temp1=sound_stop[sound_add];
      	    break;
          case 0x01:  // < D >
              turn_left();         //左转
			  temp1=sound_left[sound_add];
      	    break;
      	}
      }
   }
 if(gzsl == 0x11)
   {
	if(t0_times == delay_time1)  //delay_time1*25ms
	  {
	   t0_times = 0;
	   gzsl = 0x22;
	   forward();
	  }
   } 
 if(gzsl == 0x22)
   {
	if(t0_times == delay_time2)  //delay_time2*25ms
	  {
	   t0_times = 0;
	   gzsl = 0x11;
	   turn_right();
	  }
   } 
 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;
	  }  
   }
 if(gzsl == 0x55)
   {
	if(t0_times == 4)     //4*25ms=100ms  扫描一次
      {
	   t0_times = 0;
	   remote_in = PINB & 0x0F;
	   switch (remote_in)
      	 {//检测遥控器是否有键按下
          case 0x04:  // < A >
			  sound_add=0;
			  sound_1 = 0x11;
      	    break;
          case 0x02:  // < B >
			  sound_add=0;
			  sound_1 = 0x22;
      	    break;
          case 0x08:  // < C >
			  sound_add=0;
			  sound_1 = 0x33;
      	    break;
          case 0x01:  // < D >
			  sound_add=0;
			  sound_1 = 0x44;
      	    break;
      	 }
      if(sound_1 == 0x11)
	    {
		 temp1 = music_11[sound_add];
		}
      if(sound_1 == 0x22)
	    {
		 temp1 = music_22[sound_add];
		}
      if(sound_1 == 0x33)
	    {
		 temp1 = music_33[sound_add];
		}
      if(sound_1 == 0x44)
	    {
		 temp1 = music_44[sound_add];
		}
      if(sound_1 == 0x88)
	    {
//		 temp1=EEPROMread((int)&sound[sound_add]);
		 temp1 = music_22[sound_add];
		}
      }
   }
}

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

/*******************************************/
/*              电子音乐演示程序           */
/*******************************************/
//使用说明：音乐输出端口：PORTC.0,音乐数据存放
//于AT90S8515 的EEPROM存贮器中。
// 可以用并口下载软件写入新的音乐文件

//声控起动音乐机器人程序，未起动时，PA口的8 LED 呈广告灯效果（霓虹灯）
//声控起动后，机器人开始演奏音乐
//按遥控器上不同的键后可改变机器人演奏的乐曲。