智能小车的四路避障C程序.docx

1、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 2009-08-24 10:35 阅读164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

2、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 0x0060sfr ISP_CUNTR = 0xE7;sbit LED1 = P11;sbit LED2 = P12;sbit IR_FRONT = P33;sbit IR_LEFT = P34;sbit IR_RIGHT = P35;sbit IR_BACK = P13;sbit IR_OUT =

3、 P10;sbit PWM0 = P37;sbit MOTO_IN_A1 = P17;sbit MOTO_IN_A2 = P16;sbit MOTO_IN_B1 = P15;sbit MOTO_IN_B2 = P14;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_table320 = 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

4、,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 18static unsigned char code ir_tableIR_SIGNAL_TOTAL = 1,1,1,0,0,0,0,0,0,1,1,1

5、,1,0,0,0,0,0,0,0,0;static unsigned char code ir_check_tableIR_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 unsign

6、ed 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

7、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_buf6; /* 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 time

8、0_isr() interrupt 1 unsigned char tmp; if (ir_tableir_ptr+) IR_OUT = 0; else IR_OUT = 1; ir_ptr %= IR_SIGNAL_TOTAL; tmp = ir_check_tableir_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_

9、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

10、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

11、/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 2static 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_

12、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 MAX9MS) /9ms pca_int_count = 0; frame_dog = 0; else pca_int_count+

13、; else if (pca_int_count = 2) if (period MIN225MS & period MIN45MS & period MIN056MS & period = 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_buf0 data_buf1 = 0xff) & (data_buf2 data_buf3 = 0xff) com_putchar(data_buf0); com_putchar(d

14、ata_buf2); if (data_buf0 = 0x40) switch (data_buf2) 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 =

15、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 MIN056MS &

16、 period MAX056MS) /0.56ms / com_putchar(0x00); data_buf &= (0x01 = 10) led_tick = 0; if (led_mod_tableled_modled_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_powe

17、r_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; /P1.7P1.4 强推挽输出 EA = 0; power_stat = 0; time0_initialize(); com_initialize (); /* initialize interrupt driven serial I/

18、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 P