智能小车的四路避障C程序

默认分类   2009-08-24 10:35   阅读1   评论4   

字号： 大大  中中  小小 

前,左,后避障传感器现在对应中,右,左三路寻线传感器. 

#include 

#include 

#include "STC12C5410AD.H"

#include "sio.h"

#define MIN9MS 0x0120       //9ms中心是0x0159

#define MAX9MS 0x01a0

#define MIN45MS 0x0090       //4.5ms中心是0x00ac

#define MAX45MS 0x00d0

#define MIN225MS 0x0040       //2.25ms中心是0x0056

#define MAX225MS 0x0080

#define MIN056MS 0x000e       //0.56ms中心是0x0015

#define MAX056MS 0x001b

#define MIN168MS 0x0020       //1.68ms中心是0x0040

#define MAX168MS 0x0060

sfr ISP_CUNTR = 0xE7;

sbit LED1 = P1^1;

sbit LED2 = P1^2;

sbit IR_FRONT = P3^3;

sbit IR_LEFT = P3^4;

sbit IR_RIGHT = P3^5;

sbit IR_BACK = P1^3;

sbit IR_OUT = P1^0;

sbit PWM0 = P3^7;

sbit MOTO_IN_A1 = P1^7;

sbit MOTO_IN_A2 = P1^6;

sbit MOTO_IN_B1 = P1^5;

sbit MOTO_IN_B2 = P1^4;

bit power_stat;

static unsigned char car_stat; //小车状态:0,停止;1,前进;2,后退;3,左转;4,右转;ff,自控寻线模式

static unsigned char code led_mod_table[3][20] = {

   {1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},

   {1,0,0,0,1,0,0,0,1,0,0,0,1,0,0,0,1,0,0,0},

   {1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0}

};

unsigned char idata led_mod = 0;

static unsigned char idata led_tick = 0;

static unsigned char idata led_ptr = 0;

#define IR_SIGNAL_TOTAL 21

#define IR_SIGNAL_VALID 18

static unsigned char code ir_table[IR_SIGNAL_TOTAL] = {

    1,1,1,0,0,0,0,0,0,1,1,1,1,0,0,0,0,0,0,0,0

};

static unsigned char code ir_check_table[IR_SIGNAL_TOTAL] = {

    0,0,0,0,1,1,1,0,0,0,0,0,0,1,1,1,1,0,0,0,0

};

static unsigned char idata ir_ptr = 0;

static unsigned char idata front_signal = 0;

static unsigned char idata back_signal = 0;

static unsigned char idata left_signal = 0;

static unsigned char idata right_signal = 0;

static bit front_obj = 0, back_obj = 0, left_obj = 0, right_obj = 0;

static void delay(unsigned long v) {

while (v--) {

}

}

/* 

* PCA中断计数,根据位置判断信号区域和定义,位置0表示初始,1代表引导码信号,2表示引导码间隔,

* 3表示第一个bit的信号,4表示第一个bit的间隔,以次类推...

* 更具体见对应的红外线协议.

*/

static unsigned char idata pca_tick;

static unsigned char idata pca_int_count;

static unsigned char data pca_int_total;    /* 根据引导头确定总长度 */

static unsigned int idata period;   /* 红外信号占或空周期计数 */

static unsigned char idata data_buf[6]; /* 红外线协议数据缓冲区 */

static unsigned int idata ccap1;        //PCA0上一次的的计数

static unsigned char idata frame_dog; //红外帧看门狗,限定时间未接收完成清除工作

void time0_isr() interrupt 1

{

    unsigned char tmp;

    if (ir_table[ir_ptr++]) {

        IR_OUT = 0;

    } else {

        IR_OUT = 1;

    }

    ir_ptr %= IR_SIGNAL_TOTAL;

    tmp = ir_check_table[ir_ptr];

    if ((!IR_FRONT && tmp) || (IR_FRONT && !tmp))

        front_signal++;

    if ((!IR_LEFT && tmp) || (IR_LEFT && !tmp))

        left_signal++;

    if ((!IR_RIGHT && tmp) || (IR_RIGHT && !tmp))

        right_signal++;

    if ((!IR_BACK && tmp) || (IR_BACK && !tmp))

        back_signal++;

    if (ir_ptr == 0) {

     //   com_putchar(front_signal);

        if (front_signal >= IR_SIGNAL_VALID)

            front_obj = 1;

        else

            front_obj = 0;

        if (back_signal >= IR_SIGNAL_VALID)

            back_obj = 1;

        else

            back_obj = 0;

        if (left_signal >= IR_SIGNAL_VALID)

            left_obj = 1;

        else

            left_obj = 0;

        if (right_signal >= IR_SIGNAL_VALID)

            right_obj = 1;

        else

            right_obj = 0;

        front_signal = 0;

        back_signal = 0;

        left_signal = 0;

        right_signal = 0;

    }

}

void time0_initialize(void)

{

    TMOD &= ~0x0F;      /* clear timer 0 mode bits */

    TMOD |= 0x02;       /* put timer 0 into MODE 2 */

        TH0 = 0x5C;         /* 256 - XTAL*dur/T1_12/1000000, dur=定时器的周期,以us为单位*/

        TL0 = 0x5C;         /* 100us */

    PT0 = 0;            /* 时钟0中断低优先级 */

        TR0 = 1;

        ET0 = 1;

}

static void wakeup (void) interrupt 2

{

}

static void pca_isr (void) interrupt 6

{

    unsigned char i, j;

    if (CCF1) {

        CCF1 = 0;   //清PCA1中断标志

        LED1 = IR_RIGHT;

        LED2 = IR_RIGHT;

        if (!pca_int_count) {   //第一次收到信号

            if (!IR_RIGHT) {

                ccap1 = pca_tick * 256 + CCAP1H;

                pca_int_count++;

            }

        } else {                //已经收到一些信号

             period = pca_tick * 256 + CCAP1H - ccap1;

             ccap1 = pca_tick * 256 + CCAP1H;

//com_putchar(period / 256);

//com_putchar(period % 256);

            if (pca_int_count == 1) {

                if (period < MIN9MS || period > MAX9MS) { //9ms

                    pca_int_count = 0;

                    frame_dog = 0;

                } else

                    pca_int_count++;

            } else if (pca_int_count == 2) {

                if (period > MIN225MS && period < MAX225MS) { //2.25ms

                    pca_int_total = 3;

                    pca_int_count++;

                } else if (period > MIN45MS && period < MAX45MS) { //4.5ms

                    pca_int_total = 67;

                    pca_int_count++;

                } else {

                    pca_int_count = 0;

                    frame_dog = 0;

                }

            } else {

                if (IR_RIGHT) {

                    if (period > MIN056MS && period < MAX056MS) { //0.56ms

                        if (pca_int_count >= pca_int_total) { //帧接收完毕,下面进行有效分析.

                            if (pca_int_total == 67) { //完整信号,含有引导信号,设备码8bit,设备反码8bit,命令字8bit,命令字反码8bit

                                if ((data_buf[0] ^ data_buf[1] == 0xff) && (data_buf[2] ^ data_buf[3] == 0xff)) {

                                    com_putchar(data_buf[0]);

                                    com_putchar(data_buf[2]);

                                    if (data_buf[0] == 0x40) {

                                        switch (data_buf[2]) {

                                        case 0x5F: //左

                                            car_stat = 3;

                                            break;

                                        case 0x5B: //右

                                            car_stat = 4;

                                            break;

                                        case 0x5A: //上

                                            car_stat = 1;

                                            break;

                                        case 0x5E: //下

                                            car_stat = 2;

                                            break;

                                        case 0x56: //菜单

                                            car_stat = 0;

                                            break;

                                        case 0x0: //数字0

                                            car_stat = 0xff;

                                            break;

                                        case 0x12: //POWER

                                           // power_stat = ~power_stat;

                                            break;

                                        default:

                                            break;

                                        }

                                    }

                                }

                            } else {                   //重复信号,仅含有引导信号

                            }

                            pca_int_count = 0;

                            frame_dog = 0;

                        } else {

                            pca_int_count++;

                        }

                    } else {

                        pca_int_count = 0;

                        frame_dog = 0;

                    }

                } else {

                    j = (pca_int_count - 3) / 2;

                    i = j / 8;

                    j = j % 8;

                    if (period > MIN168MS && period < MAX168MS) { //1.68ms

                     //   com_putchar(0x01);

                        data_buf |= (0x01 << j);

                        pca_int_count++;

                    } else if (period > MIN056MS && period < MAX056MS) { //0.56ms

                     //   com_putchar(0x00);

                        data_buf &= ~(0x01 << j);

                        pca_int_count++;

                    } else {

                        pca_int_count = 0;

                        frame_dog = 0;

                    }

                }

            }

        }

    }

    if (CF) {    //PCA计数溢出中断,19.6608MHZ晶体大约6.7ms溢出

        CF = 0;

        pca_tick++;

        if (led_tick++ >= 10) {

            led_tick = 0;

            if (led_mod_table[led_mod][led_ptr++]) {

                LED1 = 0;

                LED2 = 0;

            } else {

                LED1 = 1;

                LED2 = 1;

            }

            led_ptr %= 20;

        }

        if (pca_int_count) {

            frame_dog++;

            if (frame_dog >= 15) { //100ms后重新开始分析新的红外线数据包

                pca_int_count = 0;

                frame_dog = 0;

            }

        }

    }

}

void auto_power_down() {

    delay(30000);

    ISP_CUNTR = 0x20; //从AP复位并从AP执行

}

void main (void)

{

    unsigned char i;

    unsigned long j;

    MOTO_IN_A1 = 0;

    MOTO_IN_A2 = 0;

    MOTO_IN_B1 = 0;

    MOTO_IN_B2 = 0;

    P1M1 = 0xf0;   //P1.7~P1.4 强推挽输出

    EA = 0;

    power_stat = 0;

    time0_initialize();

    com_initialize ();    /* initialize interrupt driven serial I/O */

    com_baudrate (4800); /* setup for 1200 baud */

/*

    CMOD = 0x01;          // #00000000B,PCA空闲计数,PCA计数源=Fosc/12,PCA溢出中断(做一个定时器使用)

    CCON = 0x00;          //PCA中断标志清0,PCA停止计数

    CL = 0x0;

    CH = 0x0;

    CCAPM1 = 0x31;        //PCA1上升下降沿捕获

*/

    CMOD = 0x03;          /* #00000010B,PCA空闲计数,PCA计数源=fosc/2,PCA溢出中断 */

    CCON = 0x00;          //PCA中断标志清0,PCA停止计数

    CL = 0x0;

    CH = 0x0;

    CCAPM1 = 0x31;        //PCA1上升下降沿捕获

    CCAPM0 = 0x42;        //PCA0工作模式:8位pwm

    PCA_PWM0 = 0x00;

    CCAP0L = 0x20;

    CCAP0H = 0x20;

    EPCA_LVD = 1;         //允许PCA和低压检测中断 

    car_stat = 0;

    pca_tick = 0;

    pca_int_count = 0;

    frame_dog = 0;

    EA = 1;                         /* Enable Interrupts */

    CR = 1;                         //启动PCA计数