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Mình mới bước vàop lập trình bà con có ai biết giải thích giúp đoạn code này với! Đây là dùng chíp H8/3048F-ONE
/************************************************** **************************/
/* Micom Car Rally Trace Program 2005 Version */
/* 2005.04 Micom Car Rally Executive Committee */
/************************************************** **************************/
/*
This kit05.c program connects to motor drive board (Vol.3).
The following contents have been changed with respect to kit04.c.
- The port connected to CPU board has been changed from J2 (Port A) to J3 (Port B).
- Motor mode function has been removed (scrapped) (always brake)
- Motor is able to perform normal rotation, reverse rotation and brake control. (Reverse rotation was not possible previously)
- 2 step process after crossline detection (Pattern 23, 24)
*/
/*======================================*/
/* Include */
/*======================================*/
#include <machine.h>
#include "h8_3048.h"
/*======================================*/
/* Symbol definition */
/*======================================*/
/* Set Constants */
#define TIMER_CYCLE 3071 /* Timer cycle 1ms */
/* When it is to be used by f/8 */
/* f / 8 = 325.5[ns] */
/* Therefore, TIMER_CYCLE */
/* = 1[ms] / 325.5[ns] */
/* = 3072 */
#define PWM_CYCLE 49151 /* PWM cycle 16ms */
/* Therefore, PWM_CYCLE */
/* = 16[ms] / 325.5[ns] */
/* = 49152 */
#define SERVO_CENTER 5000 /* Center value of Servo */
#define HANDLE_STEP 26 /* 1 degree part value */
/* Mask value setting x: With Mask (Invalid) o:Without mask (Valid) */
#define MASK2_2 0x66 /* xooxxoox */
#define MASK2_0 0x60 /* xooxxxxx */
#define MASK0_2 0x06 /* xxxxxoox */
#define MASK3_3 0xe7 /* oooxxooo */
#define MASK0_3 0x07 /* xxxxxooo */
#define MASK3_0 0xe0 /* oooxxxxx */
#define MASK4_0 0xf0 /* ooooxxxx */
#define MASK0_4 0x0f /* xxxxoooo */
#define MASK1_1 0x81 /* oxxxxxxo */
/*======================================*/
/* Prototype declaration */
/*======================================*/
void init(void );
void timer( unsigned long timer_set );
int check_crossline( void );
unsigned char sensor_inp( unsigned char mask );
unsigned char dipsw_get( void );
unsigned char pushsw_get( void );
void led_out( unsigned char led );
void speed( int accele_l, int accele_r );
void handle( int angle );
char unsigned bit_change( char unsigned in );
/*======================================*/
/* Global Variable Declaration */
/*======================================*/
unsigned long cnt0; /* used in 'timer' function */
unsigned long cnt1; /* used in main */
/************************************************** **********************/
/* Main program */
/************************************************** **********************/
void main( void )
{
int i;
int pattern;
/* Microcomputer function initialization */
init(); /* Initialization */
set_ccr( 0x00 ); /* Whole interrupt enable */
/* State initialization of micom car */
handle( 0 );
speed( 0, 0 );
pattern = 0;
cnt1 = 0;
while( 1 ) {
switch( pattern ) {
/************************************************** ***************
About pattern
0: Switch input wait
1: Wait for 1 second after the switch is pressed.
11: Usual trace
12: Check for the end of long turn to the right
13: Check for the end of long turn to the left
21: Processing when first crossline is detected
22: Skip second crossline
23: Trace 1 after crossline
24: Trace 2 after crossline, crank detection
31: Left crank Clear process Waits till it stabilizes
32: Left crank clear process Check for end of turn
41: Right crank clear process Waits till it stabilizes
42: Right crank clear process Check for end of turn
************************************************** ***************/
case 0:
/* Switch input waiting */
if( pushsw_get() ) {
pattern = 1;
cnt1 = 0;
break;
}
if( cnt1 < 100 ) { /* LED blinking process */
led_out( 0x1 );
} else if( cnt1 < 200 ) {
led_out( 0x2 );
} else {
cnt1 = 0;
}
break;
case 1:
/* 1 second waiting after the switch is pushed */
if( cnt1 < 500 ) {
/* 1.0 seconds starting ago LED1:"OFF" , LED0:"ON" */
led_out( 0x1 );
} else if( cnt1 < 1000 ) {
/* 0.5 seconds starting ago LED1:"ON" , LED0:"OFF" */
led_out( 0x2 );
} else {
/* Start!! */
led_out( 0x0 );
pattern = 11;
cnt1 = 0;
}
break;
case 11:
/* Usual trace */
if( check_crossline() ) { /* Crossline Check */
pattern = 21;
break;
}
switch( sensor_inp(MASK3_3) ) {
case 0x00:
/* Center -> Straight */
handle( 0 );
speed( 100 ,100 );
break;
case 0x04:
/* Slightly left inclined -> Slight turn to the right */
handle( 5 );
speed( 100 ,100 );
break;
case 0x06:
/* Little left inclined -> Small turn to the right */
handle( 10 );
speed( 80 ,69 );
break;
case 0x07:
/* Left inclined from the middle -> Middle turn to the right */
handle( 15 );
speed( 50 ,40 );
break;
case 0x03:
/* Large inclined to the left -> Large turn to the right */
handle( 25 );
speed( 30 ,21 );
pattern = 12;
break;
case 0x20:
/* Slightly inclined to the right -> Slight turn to the left */
handle( -5 );
speed( 100 ,100 );
break;
case 0x60:
/* A little inclined to the right -> Small turn to the left */
handle( -10 );
speed( 69 ,80 );
break;
case 0xe0:
/* Right inclined from the middle veering -> Middle turn to the left */
handle( -15 );
speed( 40 ,50 );
break;
case 0xc0:
/* Large inclined to the right -> Large turn to the left */
handle( -25 );
speed( 21 ,30 );
pattern = 13;
break;
default:
break;
}
break;
case 12:
/* Check of large turning to the right completion */
if( check_crossline() ) { /* Crossline check even during turning */
pattern = 21;
break;
}
if( sensor_inp(MASK3_3) == 0x06 ) {
pattern = 11;
}
break;
case 13:
/* Check of large turning completion to the left */
if( check_crossline() ) { /* Crossline check even during large turn */
pattern = 21;
break;
}
if( sensor_inp(MASK3_3) == 0x60 ) {
pattern = 11;
}
break;
case 21:
/* Process when first crossline is detected */
led_out( 0x3 );
handle( 0 );
speed( 0 ,0 );
pattern = 22;
cnt1 = 0;
break;
case 22:
/* Second is skipped. */
if( cnt1 > 100 ) {
cnt1 = 0;
pattern = 23;
}
break;
case 23:
/* 1 of trace after crossline */
if( cnt1 > 300 ) {
cnt1 = 0;
pattern = 24;
break;
}
switch( sensor_inp(MASK3_3) ) {
case 0x00:
/* Center -> Straight */
handle( 0 );
speed( 40 ,40 );
break;
case 0x04:
case 0x06:
case 0x07:
case 0x03:
/* Tending to the left -> Turn to the right */
handle( 8 );
speed( 40 ,36 );
break;
case 0x20:
case 0x60:
case 0xe0:
case 0xc0:
/* Tending to the right -> Turn to the left */
handle( -8 );
speed( 36 ,40 );
break;
default:
break;
}
break;
case 24:
/* 2 of trace after crossline and crank detection */
switch( sensor_inp(MASK3_3) ) {
case 0xe0:
/* Judgment of left crank -> To the left crank clearing process */
led_out( 0x1 );
handle( -38 );
speed( 10 ,50 );
pattern = 31;
cnt1 = 0;
break;
case 0x07:
/* Judgment of right crank -> The process for getting over right crank */
led_out( 0x2 );
handle( 38 );
speed( 50 ,10 );
pattern = 41;
cnt1 = 0;
break;
case 0x00:
/* Center -> Straight */
handle( 0 );
speed( 40 ,40 );
break;
case 0x04:
case 0x06:
case 0x03:
/* Tending to the left -> Turn to the right */
handle( 8 );
speed( 40 ,36 );
break;
case 0x20:
case 0x60:
case 0xc0:
/* Tending to the right -> Turn to the left */
handle( -8 );
speed( 36 ,40 );
break;
default:
break;
}
break;
case 31:
/* Left crank clear process Wait a little till it becomes stable. */
if( cnt1 > 200 ) {
pattern = 32;
cnt1 = 0;
}
break;
case 32:
/* Left crank clear process Check of end of turn */
if( sensor_inp(MASK3_3) == 0x60 ) {
led_out( 0x0 );
pattern = 11;
cnt1 = 0;
}
break;
case 41:
/* Right crank clear processing Waits a little until stabilizing */
if( cnt1 > 200 ) {
pattern = 42;
cnt1 = 0;
}
break;
case 42:
/* Right crank clear processing Turning completion check */
if( sensor_inp(MASK3_3) == 0x06 ) {
led_out( 0x0 );
pattern = 11;
cnt1 = 0;
}
break;
default:
/* When the pattern is not applied to any case, return to waiting state */
pattern = 0;
break;
}
}
}
/************************************************** **********************/
/* H8/3048F-ONE Built in Peripheral Function Initialization */
/************************************************** **********************/
void init( void )
{
/* I/O port Setting */
P1DDR = 0xff;
P2DDR = 0xff;
P3DDR = 0xff;
P4DDR = 0xff;
P5DDR = 0xff;
P6DDR = 0xf0; /* DIP SW on CPU board */
P8DDR = 0xff;
P9DDR = 0xf7; /* Communication Port */
PADDR = 0xff;
PBDR = 0xc0;
PBDDR = 0xfe; /* Motor Drive Board Vol.3 */
/* As P7 of the sensor board is an exclusive input, there are no input output settings. */
/* ITU0 Interrupt at every 1ms */
ITU0_TCR = 0x23;
ITU0_GRA = TIMER_CYCLE;
ITU0_IER = 0x01;
/* ITU3, 4 reset-synchronized PWM mode for right-left motor and servo */
ITU3_TCR = 0x23;
ITU_FCR = 0x3e;
ITU3_GRA = PWM_CYCLE; /* Setting of cycle */
ITU3_GRB = ITU3_BRB = 0; /* PWM Setting of left motor*/
ITU4_GRA = ITU4_BRA = 0; /* PWM Setting of right motor*/
ITU4_GRB = ITU4_BRB = SERVO_CENTER; /* PWM Setting of servo */
ITU_TOER = 0x38;
/* Count start of ITU */
ITU_STR = 0x09;
}
/************************************************** **********************/
/* ITU0 Interrupt process */
/************************************************** **********************/
#pragma interrupt( interrupt_timer0 )
void interrupt_timer0( void )
{
ITU0_TSR &= 0xfe; /* Flag clear */
cnt0++;
cnt1++;
}
/************************************************** **********************/
/* Timer main unit */
/* Argument Timer value 1=1ms */
/************************************************** **********************/
void timer( unsigned long timer_set )
{
cnt0 = 0;
while( cnt0 < timer_set );
}
/************************************************** **********************/
/* Sensor state detection */
/* AArgument Mask value */
/* RReturn value Sensor value */
/************************************************** **********************/
unsigned char sensor_inp( unsigned char mask )
{
unsigned char sensor;
sensor = P7DR;
/* Since bit0 is for left and bit7 is for right in the new sensor board which is reversed */
/* to the previous sensor board, the bit has been replaced to maintain compatibility. */
sensor = bit_change( sensor ); /* Bit replacement */
sensor &= mask;
return sensor;
}
/************************************************** **********************/
/* Crossline detection processing */
/* Return value 0: no crossline 1: crossline exists */
/************************************************** **********************/
int check_crossline( void )
{
unsigned char b;
int ret;
ret = 0;
b = sensor_inp(MASK2_2);
if( b==0x66 || b==0x64 || b==0x26 || b==0x62 || b==0x46 ) {
ret = 1;
}
return ret;
}
/************************************************** **********************/
/* Reading of DIP switch value */
/* Return value Switch value 0 - 15 */
/************************************************** **********************/
unsigned char dipsw_get( void )
{
unsigned char sw;
sw = ~P6DR; /* Reading of DIP switch */
sw &= 0x0f;
return sw;
}
/************************************************** **********************/
/* Push switch value reading */
/* Return value Switch value ON: "1" and OFF: "0" */
/************************************************** **********************/
unsigned char pushsw_get( void )
{
unsigned char sw;
sw = ~PBDR; /* Reading of port having a push switch */
sw &= 0x01;
return sw;
}
/************************************************** **********************/
/* LED control */
/* Argument Switch value (LED1,LED0)=(bit1,bit0) "0":OFF , "1":ON */
/* Example 0x3->(LED1,LED0)=(ON,ON) : 0x2->(LED1,LED0)=(ON,OFF) */
/************************************************** **********************/
void led_out( unsigned char led )
{
unsigned char data;
led = ~led;
led <<= 6;
data = PBDR & 0x3f;
PBDR = data | led;
}
/************************************************** **********************/
/* Speed Control */
/* Argument Left motor: -100 - 100 , Right motor: -100 - 100 */
/* 0:Stop,100:normal rotation 100%,-100:Reverse 100% */
/************************************************** **********************/
void speed( int accele_l, int accele_r )
{
unsigned char sw_data;
unsigned long speed_max;
sw_data = dipsw_get() + 5; /* DIP switch read */
speed_max = (unsigned long)(PWM_CYCLE-1) * sw_data / 20;
/* Left motor */
if( accele_l >= 0 ) {
PBDR &= 0xfb;
ITU3_BRB = speed_max * accele_l / 100;
} else {
PBDR |= 0x04;
accele_l = -accele_l;
ITU3_BRB = speed_max * accele_l / 100;
}
/* Right motor */
if( accele_r >= 0 ) {
PBDR &= 0xf7;
ITU4_BRA = speed_max * accele_r / 100;
} else {
PBDR |= 0x08;
accele_r = -accele_r;
ITU4_BRA = speed_max * accele_r / 100;
}
}
/************************************************** **********************/
/* Servo steering operation */
/* Argument Servo operation angle: -90 ~ 90 */
/* -90:90 to the left turn , 0:straight ,90:90 to the right turn */
/************************************************** **********************/
void handle( int angle )
{
ITU4_BRB = SERVO_CENTER - angle * HANDLE_STEP;
}
/************************************************** **********************/
/* Bit change */
/* Argument Value to be changed */
/* RReturn value Changed value */
/************************************************** **********************/
char unsigned bit_change( char unsigned in )
{
unsigned char ret;
int i;
for( i=0; i<8; i++ ) {
ret >>= 1; /* Right shift of return value */
ret |= in & 0x80; /* Ret bit7 = in bit7 */
in <<= 1; /* Left shift of argument */
}
return ret;
}
/************************************************** **********************/
/* end of file */
/************************************************** **********************/
/************************************************** **************************/
/* Micom Car Rally Trace Program 2005 Version */
/* 2005.04 Micom Car Rally Executive Committee */
/************************************************** **************************/
/*
This kit05.c program connects to motor drive board (Vol.3).
The following contents have been changed with respect to kit04.c.
- The port connected to CPU board has been changed from J2 (Port A) to J3 (Port B).
- Motor mode function has been removed (scrapped) (always brake)
- Motor is able to perform normal rotation, reverse rotation and brake control. (Reverse rotation was not possible previously)
- 2 step process after crossline detection (Pattern 23, 24)
*/
/*======================================*/
/* Include */
/*======================================*/
#include <machine.h>
#include "h8_3048.h"
/*======================================*/
/* Symbol definition */
/*======================================*/
/* Set Constants */
#define TIMER_CYCLE 3071 /* Timer cycle 1ms */
/* When it is to be used by f/8 */
/* f / 8 = 325.5[ns] */
/* Therefore, TIMER_CYCLE */
/* = 1[ms] / 325.5[ns] */
/* = 3072 */
#define PWM_CYCLE 49151 /* PWM cycle 16ms */
/* Therefore, PWM_CYCLE */
/* = 16[ms] / 325.5[ns] */
/* = 49152 */
#define SERVO_CENTER 5000 /* Center value of Servo */
#define HANDLE_STEP 26 /* 1 degree part value */
/* Mask value setting x: With Mask (Invalid) o:Without mask (Valid) */
#define MASK2_2 0x66 /* xooxxoox */
#define MASK2_0 0x60 /* xooxxxxx */
#define MASK0_2 0x06 /* xxxxxoox */
#define MASK3_3 0xe7 /* oooxxooo */
#define MASK0_3 0x07 /* xxxxxooo */
#define MASK3_0 0xe0 /* oooxxxxx */
#define MASK4_0 0xf0 /* ooooxxxx */
#define MASK0_4 0x0f /* xxxxoooo */
#define MASK1_1 0x81 /* oxxxxxxo */
/*======================================*/
/* Prototype declaration */
/*======================================*/
void init(void );
void timer( unsigned long timer_set );
int check_crossline( void );
unsigned char sensor_inp( unsigned char mask );
unsigned char dipsw_get( void );
unsigned char pushsw_get( void );
void led_out( unsigned char led );
void speed( int accele_l, int accele_r );
void handle( int angle );
char unsigned bit_change( char unsigned in );
/*======================================*/
/* Global Variable Declaration */
/*======================================*/
unsigned long cnt0; /* used in 'timer' function */
unsigned long cnt1; /* used in main */
/************************************************** **********************/
/* Main program */
/************************************************** **********************/
void main( void )
{
int i;
int pattern;
/* Microcomputer function initialization */
init(); /* Initialization */
set_ccr( 0x00 ); /* Whole interrupt enable */
/* State initialization of micom car */
handle( 0 );
speed( 0, 0 );
pattern = 0;
cnt1 = 0;
while( 1 ) {
switch( pattern ) {
/************************************************** ***************
About pattern
0: Switch input wait
1: Wait for 1 second after the switch is pressed.
11: Usual trace
12: Check for the end of long turn to the right
13: Check for the end of long turn to the left
21: Processing when first crossline is detected
22: Skip second crossline
23: Trace 1 after crossline
24: Trace 2 after crossline, crank detection
31: Left crank Clear process Waits till it stabilizes
32: Left crank clear process Check for end of turn
41: Right crank clear process Waits till it stabilizes
42: Right crank clear process Check for end of turn
************************************************** ***************/
case 0:
/* Switch input waiting */
if( pushsw_get() ) {
pattern = 1;
cnt1 = 0;
break;
}
if( cnt1 < 100 ) { /* LED blinking process */
led_out( 0x1 );
} else if( cnt1 < 200 ) {
led_out( 0x2 );
} else {
cnt1 = 0;
}
break;
case 1:
/* 1 second waiting after the switch is pushed */
if( cnt1 < 500 ) {
/* 1.0 seconds starting ago LED1:"OFF" , LED0:"ON" */
led_out( 0x1 );
} else if( cnt1 < 1000 ) {
/* 0.5 seconds starting ago LED1:"ON" , LED0:"OFF" */
led_out( 0x2 );
} else {
/* Start!! */
led_out( 0x0 );
pattern = 11;
cnt1 = 0;
}
break;
case 11:
/* Usual trace */
if( check_crossline() ) { /* Crossline Check */
pattern = 21;
break;
}
switch( sensor_inp(MASK3_3) ) {
case 0x00:
/* Center -> Straight */
handle( 0 );
speed( 100 ,100 );
break;
case 0x04:
/* Slightly left inclined -> Slight turn to the right */
handle( 5 );
speed( 100 ,100 );
break;
case 0x06:
/* Little left inclined -> Small turn to the right */
handle( 10 );
speed( 80 ,69 );
break;
case 0x07:
/* Left inclined from the middle -> Middle turn to the right */
handle( 15 );
speed( 50 ,40 );
break;
case 0x03:
/* Large inclined to the left -> Large turn to the right */
handle( 25 );
speed( 30 ,21 );
pattern = 12;
break;
case 0x20:
/* Slightly inclined to the right -> Slight turn to the left */
handle( -5 );
speed( 100 ,100 );
break;
case 0x60:
/* A little inclined to the right -> Small turn to the left */
handle( -10 );
speed( 69 ,80 );
break;
case 0xe0:
/* Right inclined from the middle veering -> Middle turn to the left */
handle( -15 );
speed( 40 ,50 );
break;
case 0xc0:
/* Large inclined to the right -> Large turn to the left */
handle( -25 );
speed( 21 ,30 );
pattern = 13;
break;
default:
break;
}
break;
case 12:
/* Check of large turning to the right completion */
if( check_crossline() ) { /* Crossline check even during turning */
pattern = 21;
break;
}
if( sensor_inp(MASK3_3) == 0x06 ) {
pattern = 11;
}
break;
case 13:
/* Check of large turning completion to the left */
if( check_crossline() ) { /* Crossline check even during large turn */
pattern = 21;
break;
}
if( sensor_inp(MASK3_3) == 0x60 ) {
pattern = 11;
}
break;
case 21:
/* Process when first crossline is detected */
led_out( 0x3 );
handle( 0 );
speed( 0 ,0 );
pattern = 22;
cnt1 = 0;
break;
case 22:
/* Second is skipped. */
if( cnt1 > 100 ) {
cnt1 = 0;
pattern = 23;
}
break;
case 23:
/* 1 of trace after crossline */
if( cnt1 > 300 ) {
cnt1 = 0;
pattern = 24;
break;
}
switch( sensor_inp(MASK3_3) ) {
case 0x00:
/* Center -> Straight */
handle( 0 );
speed( 40 ,40 );
break;
case 0x04:
case 0x06:
case 0x07:
case 0x03:
/* Tending to the left -> Turn to the right */
handle( 8 );
speed( 40 ,36 );
break;
case 0x20:
case 0x60:
case 0xe0:
case 0xc0:
/* Tending to the right -> Turn to the left */
handle( -8 );
speed( 36 ,40 );
break;
default:
break;
}
break;
case 24:
/* 2 of trace after crossline and crank detection */
switch( sensor_inp(MASK3_3) ) {
case 0xe0:
/* Judgment of left crank -> To the left crank clearing process */
led_out( 0x1 );
handle( -38 );
speed( 10 ,50 );
pattern = 31;
cnt1 = 0;
break;
case 0x07:
/* Judgment of right crank -> The process for getting over right crank */
led_out( 0x2 );
handle( 38 );
speed( 50 ,10 );
pattern = 41;
cnt1 = 0;
break;
case 0x00:
/* Center -> Straight */
handle( 0 );
speed( 40 ,40 );
break;
case 0x04:
case 0x06:
case 0x03:
/* Tending to the left -> Turn to the right */
handle( 8 );
speed( 40 ,36 );
break;
case 0x20:
case 0x60:
case 0xc0:
/* Tending to the right -> Turn to the left */
handle( -8 );
speed( 36 ,40 );
break;
default:
break;
}
break;
case 31:
/* Left crank clear process Wait a little till it becomes stable. */
if( cnt1 > 200 ) {
pattern = 32;
cnt1 = 0;
}
break;
case 32:
/* Left crank clear process Check of end of turn */
if( sensor_inp(MASK3_3) == 0x60 ) {
led_out( 0x0 );
pattern = 11;
cnt1 = 0;
}
break;
case 41:
/* Right crank clear processing Waits a little until stabilizing */
if( cnt1 > 200 ) {
pattern = 42;
cnt1 = 0;
}
break;
case 42:
/* Right crank clear processing Turning completion check */
if( sensor_inp(MASK3_3) == 0x06 ) {
led_out( 0x0 );
pattern = 11;
cnt1 = 0;
}
break;
default:
/* When the pattern is not applied to any case, return to waiting state */
pattern = 0;
break;
}
}
}
/************************************************** **********************/
/* H8/3048F-ONE Built in Peripheral Function Initialization */
/************************************************** **********************/
void init( void )
{
/* I/O port Setting */
P1DDR = 0xff;
P2DDR = 0xff;
P3DDR = 0xff;
P4DDR = 0xff;
P5DDR = 0xff;
P6DDR = 0xf0; /* DIP SW on CPU board */
P8DDR = 0xff;
P9DDR = 0xf7; /* Communication Port */
PADDR = 0xff;
PBDR = 0xc0;
PBDDR = 0xfe; /* Motor Drive Board Vol.3 */
/* As P7 of the sensor board is an exclusive input, there are no input output settings. */
/* ITU0 Interrupt at every 1ms */
ITU0_TCR = 0x23;
ITU0_GRA = TIMER_CYCLE;
ITU0_IER = 0x01;
/* ITU3, 4 reset-synchronized PWM mode for right-left motor and servo */
ITU3_TCR = 0x23;
ITU_FCR = 0x3e;
ITU3_GRA = PWM_CYCLE; /* Setting of cycle */
ITU3_GRB = ITU3_BRB = 0; /* PWM Setting of left motor*/
ITU4_GRA = ITU4_BRA = 0; /* PWM Setting of right motor*/
ITU4_GRB = ITU4_BRB = SERVO_CENTER; /* PWM Setting of servo */
ITU_TOER = 0x38;
/* Count start of ITU */
ITU_STR = 0x09;
}
/************************************************** **********************/
/* ITU0 Interrupt process */
/************************************************** **********************/
#pragma interrupt( interrupt_timer0 )
void interrupt_timer0( void )
{
ITU0_TSR &= 0xfe; /* Flag clear */
cnt0++;
cnt1++;
}
/************************************************** **********************/
/* Timer main unit */
/* Argument Timer value 1=1ms */
/************************************************** **********************/
void timer( unsigned long timer_set )
{
cnt0 = 0;
while( cnt0 < timer_set );
}
/************************************************** **********************/
/* Sensor state detection */
/* AArgument Mask value */
/* RReturn value Sensor value */
/************************************************** **********************/
unsigned char sensor_inp( unsigned char mask )
{
unsigned char sensor;
sensor = P7DR;
/* Since bit0 is for left and bit7 is for right in the new sensor board which is reversed */
/* to the previous sensor board, the bit has been replaced to maintain compatibility. */
sensor = bit_change( sensor ); /* Bit replacement */
sensor &= mask;
return sensor;
}
/************************************************** **********************/
/* Crossline detection processing */
/* Return value 0: no crossline 1: crossline exists */
/************************************************** **********************/
int check_crossline( void )
{
unsigned char b;
int ret;
ret = 0;
b = sensor_inp(MASK2_2);
if( b==0x66 || b==0x64 || b==0x26 || b==0x62 || b==0x46 ) {
ret = 1;
}
return ret;
}
/************************************************** **********************/
/* Reading of DIP switch value */
/* Return value Switch value 0 - 15 */
/************************************************** **********************/
unsigned char dipsw_get( void )
{
unsigned char sw;
sw = ~P6DR; /* Reading of DIP switch */
sw &= 0x0f;
return sw;
}
/************************************************** **********************/
/* Push switch value reading */
/* Return value Switch value ON: "1" and OFF: "0" */
/************************************************** **********************/
unsigned char pushsw_get( void )
{
unsigned char sw;
sw = ~PBDR; /* Reading of port having a push switch */
sw &= 0x01;
return sw;
}
/************************************************** **********************/
/* LED control */
/* Argument Switch value (LED1,LED0)=(bit1,bit0) "0":OFF , "1":ON */
/* Example 0x3->(LED1,LED0)=(ON,ON) : 0x2->(LED1,LED0)=(ON,OFF) */
/************************************************** **********************/
void led_out( unsigned char led )
{
unsigned char data;
led = ~led;
led <<= 6;
data = PBDR & 0x3f;
PBDR = data | led;
}
/************************************************** **********************/
/* Speed Control */
/* Argument Left motor: -100 - 100 , Right motor: -100 - 100 */
/* 0:Stop,100:normal rotation 100%,-100:Reverse 100% */
/************************************************** **********************/
void speed( int accele_l, int accele_r )
{
unsigned char sw_data;
unsigned long speed_max;
sw_data = dipsw_get() + 5; /* DIP switch read */
speed_max = (unsigned long)(PWM_CYCLE-1) * sw_data / 20;
/* Left motor */
if( accele_l >= 0 ) {
PBDR &= 0xfb;
ITU3_BRB = speed_max * accele_l / 100;
} else {
PBDR |= 0x04;
accele_l = -accele_l;
ITU3_BRB = speed_max * accele_l / 100;
}
/* Right motor */
if( accele_r >= 0 ) {
PBDR &= 0xf7;
ITU4_BRA = speed_max * accele_r / 100;
} else {
PBDR |= 0x08;
accele_r = -accele_r;
ITU4_BRA = speed_max * accele_r / 100;
}
}
/************************************************** **********************/
/* Servo steering operation */
/* Argument Servo operation angle: -90 ~ 90 */
/* -90:90 to the left turn , 0:straight ,90:90 to the right turn */
/************************************************** **********************/
void handle( int angle )
{
ITU4_BRB = SERVO_CENTER - angle * HANDLE_STEP;
}
/************************************************** **********************/
/* Bit change */
/* Argument Value to be changed */
/* RReturn value Changed value */
/************************************************** **********************/
char unsigned bit_change( char unsigned in )
{
unsigned char ret;
int i;
for( i=0; i<8; i++ ) {
ret >>= 1; /* Right shift of return value */
ret |= in & 0x80; /* Ret bit7 = in bit7 */
in <<= 1; /* Left shift of argument */
}
return ret;
}
/************************************************** **********************/
/* end of file */
/************************************************** **********************/
