智能小车的四路避障C程序

1、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：大中小前，左，后避障传感器现在对应中,右,左二路寻线传感器.#i nclude #in elude vintrin s.h #i nclude STC12C5410AD.H#in clude sio.h#defi ne MIN9MS 0x0120/9ms 中心是 0x0159#defi ne MAX9MS 0x01a0#defi ne MIN45MS 0x0090/4.5ms 中心是 0x00ac#defi ne MAX45MS 0x00d0#defi ne MIN225MS 0x0040/2.25m

2、s中心是0x0056#defi ne MAX225MS 0x0080#defi ne MIN056MS 0x000e/0.56ms中心是0x0015#defi ne MAX056MS 0x001b#defi ne MIN168MS 0x0020/1.68ms中心是0x0040#define MAX168MS 0x0060 sfr ISP_CUNTR = 0xE7;sbit LED1 = P1八1;sbit LED2 = P1八2;sbit IR_FRONT = P 3八3;sbit IR_LEFT = P 3八4;sbit IR_RIGHT = P 3八5;sbit IR_BACK = P1八

3、3;sbit IR_OUT = P1八0;sbit PWM0 = P 3八7;sbit M0T0_IN_A1 = P1八7;sbit M0T0_IN_A2 = P1八6;sbit M0T0_IN_B1 = P1八5;sbit M0T0_IN_B2 = P1八4;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_table320 = 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

4、,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_tableIR_SIGNAL_TOTAL

5、 = 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_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

6、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 .*/ stat

7、ic unsigned char idata pca_tick; static unsigned char idata pca_int_count;/* 根据引/* 红外信号占或空static unsigned char data pca_int_total; 导头确定总长度 */ static unsigned int idata period;周期计数 */static unsigned char idata data_buf6; /* 议数据缓冲区 */红外线协static unsigned int idata ccap1; 的的计数/PCA0static unsigned char i

8、data frame_dog; / 狗,限定时间未接收完成清除工作红外帧看门void time0_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

9、_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_SI

10、GNAL_VALID) left_obj = 1;elseleft_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 = 0x5

11、C;XTAL*dur/T1_12/1000000, dur= 定时器的周期 ,以 us 为 单位*/* 256 -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;/第一次收到信号LED2 = IR_RIGHT; if (!pca_int

12、_count) 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 MAX9MS) /9mspca_int_count = 0; frame_dog = 0; elsepc

13、a_int_count+; 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 8bitif (data_bufO八 data_buf1=0xff) & (data_buf2八 data_buf3 = Oxff) com_putchar(

14、data_buf0); com_putchar(data_buf2);if (data_buf0 = 0x40) switch (data_buf2) case 0x5F: / 左car_stat = 3; break;case 0x5B: / 右car_stat = 4;break;case 0x5A: /car_stat = 1;break;case 0x5E: / 下car_stat = 2;break;case 0x56: / 菜单car_stat = 0;break;case 0x0: / 数字 0car_stat = 0xff;break;case 0x12: /POWER/ po

15、wer_stat = frame_dog = 0;power_stat;break;default:break; else /重复信号 ,仅含pca_int_count = 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 & pe

16、riod 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_power_down() de

17、lay(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 drivenserial I/O */com_baudrate (480

18、0); /* 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; 计数/PCA 中断标志清 0,PCA 停止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; 计数/PCA 中断标志清 0,PCA 停止CL = 0x0;CH = 0x0;CCAPM1 =

19、0x31;/PCA1升下降沿捕获CCAPM0 = 0x42;/PCA0 工作模式 :8 位 pwmPCA_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;CR = 1;/* Enable Interrupts */启动 PCA 计数while (1)if (power_stat) / auto_power_down();if (left_obj | right_obj | front_obj | back_obj) LED1 = 0;LED2 = 0;switch (car_stat) case 0:MOTO_IN_A1 = 0;MOTO_IN_A2 = 0;MOTO_IN_B1 = 0;MOTO