智能小车的四路避障C程序

智能小车的四路避障C程序默认分类2009-08-2410:35阅读164评论4字号：大中小前,左,后避障传感器现在对应中,右,左三路寻线传感器.#includestdio.h#includeintrins.h#includeSTC12C5410AD.H#includesio.h#defineMIN9MS0x0120//9ms中心是0x0159#defineMAX9MS0x01a0#defineMIN45MS0x0090//4.5ms中心是0x00ac#defineMAX45MS0x00d0#defineMIN225MS0x0040//2.25ms中心是0x0056#defineMAX225MS0x0080#defineMIN056MS0x000e//0.56ms中心是0x0015#defineMAX056MS0x001b#defineMIN168MS0x0020//1.68ms中心是0x0040#defineMAX168MS0x0060sfrISP_CUNTR=0xE7;sbitLED1=P1^1;sbitLED2=P1^2;sbitIR_FRONT=P3^3;sbitIR_LEFT=P3^4;sbitIR_RIGHT=P3^5;sbitIR_BACK=P1^3;sbitIR_OUT=P1^0;sbitPWM0=P3^7;sbitMOTO_IN_A1=P1^7;sbitMOTO_IN_A2=P1^6;sbitMOTO_IN_B1=P1^5;sbitMOTO_IN_B2=P1^4;bitpower_stat;staticunsignedcharcar_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staticunsignedcharcodeled_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}};unsignedcharidataled_mod=0;staticunsignedcharidataled_tick=0;staticunsignedcharidataled_ptr=0;#defineIR_SIGNAL_TOTAL21#defineIR_SIGNAL_VALID18staticunsignedcharcodeir_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};staticunsignedcharcodeir_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};staticunsignedcharidatair_ptr=0;staticunsignedcharidatafront_signal=0;staticunsignedcharidataback_signal=0;staticunsignedcharidataleft_signal=0;staticunsignedcharidataright_signal=0;staticbitfront_obj=0,back_obj=0,left_obj=0,right_obj=0;staticvoiddelay(unsignedlongv){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.*/staticunsignedcharidatapca_tick;staticunsignedcharidatapca_int_count;staticunsignedchardatapca_int_total;/*根据引导头确定总长度*/staticunsignedintidataperiod;/*红外信号占或空周期计数*/staticunsignedcharidatadata_buf[6];/*红外线协议数据缓冲区*/staticunsignedintidataccap1;//PCA0上一次的的计数staticunsignedcharidataframe_dog;//红外帧看门狗,限定时间未接收完成清除工作voidtime0_isr()interrupt1{unsignedchartmp;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;elsefront_obj=0;if(back_signal=IR_SIGNAL_VALID)back_obj=1;elseback_obj=0;if(left_signal=IR_SIGNAL_VALID)left_obj=1;elseleft_obj=0;if(right_signal=IR_SIGNAL_VALID)right_obj=1;elseright_obj=0;front_signal=0;back_signal=0;left_signal=0;right_signal=0;}}voidtime0_initialize(void){TMOD&=~0x0F;/*cleartimer0modebits*/TMOD|=0x02;/*puttimer0intoMODE2*/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;}staticvoidwakeup(void)interrupt2{}staticvoidpca_isr(void)interrupt6{unsignedchari,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(periodMIN9MS||periodMAX9MS){//9mspca_int_count=0;frame_dog=0;}elsepca_int_count++;}elseif(pca_int_count==2){if(periodMIN225MS&&periodMAX225MS){//2.25mspca_int_total=3;pca_int_count++;}elseif(periodMIN45MS&&periodMAX45MS){//4.5mspca_int_total=67;pca_int_count++;}else{pca_int_count=0;frame_dog=0;}}else{if(IR_RIGHT){if(periodMIN056MS&&periodMAX056MS){//0.56msif(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8bitif((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]){case0x5F://左car_stat=3;break;case0x5B://右car_stat=4;break;case0x5A://上car_stat=1;break;case0x5E://下car_stat=2;break;case0x56://菜单car_stat=0;break;case0x0://数字0car_stat=0xff;break;case0x12://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(periodMIN168MS&&periodMAX168MS){//1.68ms//com_putchar(0x01);data_buf|=(0x01j);pca_int_count++;}elseif(periodMIN056MS&&periodMAX056MS){//0.56ms//com_putchar(0x00);data_buf&=~(0x01j);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;}}}}voidauto_power_down(){delay(30000);ISP_CUNTR=0x20;//从AP复位并从AP执行}voidmain(void){unsignedchari;unsignedlongj;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();/*initiali