Si1143.zip_si1143_动作捕捉

#include <reg52.h> #include <intrins.h> #include <i2c.h> ///////////////////////////////////////////////////// #define PS1_THRESHOLD 2000 #define PS2_THRESHOLD 2000 #define PS3_THRESHOLD 3000 #define UP_SIGN 1 #define DOWN_SIGN 2 #define LEFT_SIGN 3 #define RIGHT_SIGN 4 sfr AUXR = 0x8E; typedef union UU16 { unsigned int U16; unsigned char U8[2]; }; typedef union UU32 { unsigned long U32; unsigned int U16[2]; unsigned char U8[4]; }; sbit led4 =P0^7; sbit led3 = P0^6; sbit led2 = P0^5; sbit led1 = P0^4; unsigned char i2cDataNew[11] = {0}; unsigned char irqStatus; unsigned char firstEnter = 0; unsigned char ifEnter = 0; unsigned char tt = 0; union UU32 maxValueTime[3] = {0}; union UU16 maxValue[3] = {0}; union UU16 ALS_VIS; union UU16 ALS_IR; union UU16 PS1, PS2, PS3; /****************************串口传送一个8位数据****************************/ void send_char(unsigned char txd) // 传送一个字符 { SBUF = txd; while(!TI); // 等特数据传送 TI = 0; // 清除数据传送标志 } /****************************1ms基准延时程序****************************/ void delay1ms(unsigned int i) { unsigned char j; while(i --) { for(j= 0; j < 115; j++) { ; } } } void deviceInit() { I2C_Init(); /*********定时器初始化*********/ TMOD = 0x21; // 定时器1工作于8位自动重载模式, 用于产生波特率 TH1 = TL1 = 0xFD; // 波特率9600 SCON = 0x40; // 设定串行口工作方式1 允许接收 PCON =0x00; // 波特率不倍增 TR1 = 1; // 启动定时器1 TL0 = (65536-50000) ; TH0 = (65536-50000) >> 8; TR0 = 1; ET0 = 1; EA = 1; delay1ms(2000); /*********I2C复位命令*********/ I2C_Start(); I2C_Write(0x00); if ( I2C_GetAck() ) { led1=0; } I2C_Write(0x06); if ( I2C_GetAck() ) { led2=0; } I2C_Stop(); delay1ms(2000); } void deviceConfig() { unsigned char cmd; unsigned char *p; /*********HW_KEY*********/ cmd = 0x17; p = &cmd; I2C_Puts(0x5A, 0x07, 1, p, 1); /*********PS_LED21*********/ // cmd = 0xFF; cmd = 0xF6; I2C_Puts(0x5A, 0x0F, 1, p, 1); /*********PS_LED3*********/ cmd = 0x0F; I2C_Puts(0x5A, 0x10, 1, p, 1); /*********INT_CFG*********/ cmd = 0x01; I2C_Puts(0x5A, 0x03, 1, p, 1); /*********IRQ_ENABLE*********/ cmd = 0x1D; I2C_Puts(0x5A, 0x04, 1, p, 1); /*********IRQ_MODE1*********/ cmd = 0x00; I2C_Puts(0x5A, 0x05, 1, p, 1); /*********IRQ_MODE2*********/ cmd = 0x00; I2C_Puts(0x5A, 0x06, 1, p, 1); /*********MEAS_RATE*********/ cmd = 0x84; I2C_Puts(0x5A, 0x08, 1, p, 1); /*********PS_RATE*********/ cmd = 0x08; I2C_Puts(0x5A, 0x0A, 1, p, 1); /*********ALS_RATE*********/ cmd = 0x08; I2C_Puts(0x5A, 0x09, 1, p, 1); /*********唤醒内部定序器*********/ cmd = 0x01; I2C_Puts(0x5A, 0x17, 1, p, 1); cmd = 0xBB; I2C_Puts(0x5A, 0x18, 1, p, 1); /*********CHLIST*********/ cmd = 0x37; I2C_Puts(0x5A, 0x17, 1, p, 1); cmd = 0xA1; I2C_Puts(0x5A, 0x18, 1, p, 1); /*********PSALS_AUTO*********/ cmd = 0x0F; I2C_Puts(0x5A, 0x18, 1, p, 1); } unsigned char defineDirection() { union UU32 deltaTime13; union UU32 deltaTime12; union UU32 deltaTime23; deltaTime13.U32 = maxValueTime[0].U32 > maxValueTime[2].U32? maxValueTime[0].U32 - maxValueTime[2].U32: maxValueTime[2].U32 - maxValueTime[0].U32; deltaTime12.U32 = maxValueTime[0].U32 > maxValueTime[1].U32? maxValueTime[0].U32 - maxValueTime[1].U32: maxValueTime[1].U32 - maxValueTime[0].U32; deltaTime23.U32 = maxValueTime[1].U32 > maxValueTime[2].U32? maxValueTime[1].U32 - maxValueTime[2].U32: maxValueTime[2].U32 - maxValueTime[1].U32; if(maxValueTime[0].U32 < maxValueTime[1].U32 && maxValueTime[0].U32 < maxValueTime[2].U32) firstEnter = 1; else if (maxValueTime[1].U32 < maxValueTime[0].U32 && maxValueTime[1].U32 < maxValueTime[2].U32) firstEnter = 2; else if (maxValueTime[2].U32 < maxValueTime[0].U32 && maxValueTime[2].U32 < maxValueTime[1].U32) firstEnter = 3; /* send_char(deltaTime12.U8[0]); send_char(deltaTime12.U8[1]); send_char(deltaTime12.U8[2]); send_char(deltaTime12.U8[3]); send_char(deltaTime13.U8[0]); send_char(deltaTime13.U8[1]); send_char(deltaTime13.U8[2]); send_char(deltaTime13.U8[3]); send_char(deltaTime23.U8[0]); send_char(deltaTime23.U8[1]); send_char(deltaTime23.U8[2]); send_char(deltaTime23.U8[3]); send_char(firstEnter); */ if (firstEnter == 1) { if (deltaTime12.U32 * 2 < deltaTime13.U32){ return RIGHT_SIGN; } else return DOWN_SIGN; } else if (firstEnter == 2){ if (deltaTime12.U32 * 2 < deltaTime13.U32){ return RIGHT_SIGN; } else return UP_SIGN; } else if (firstEnter == 3) { if (deltaTime12.U32 * 2 < deltaTime13.U32){ return LEFT_SIGN; } else if(deltaTime23.U32 < deltaTime13.U32){ return UP_SIGN; } else return DOWN_SIGN; } else return 0; } void tm0_isr() interrupt 1 using 1 { TL0 = (65536 - 50000) ; TH0 = (65536 - 50000) >> 8; tt ++; } void exint1() interrupt 2 { unsigned char *p; EX0 = 0; led4 = ! led4; /*********读取数据*********/ p = i2cDataNew; I2C_Gets_ForInt(0x5A, 0x22, 1, p, 10); ALS_VIS.U16 = i2cDataNew[0] + i2cDataNew[1] * 256; ALS_IR.U16 = i2cDataNew[2] + i2cDataNew[3] * 256; PS1.U16 = i2cDataNew[4] + i2cDataNew[5] * 256; PS2.U16 = i2cDataNew[6] + i2cDataNew[7] * 256; PS3.U16 = i2cDataNew[8] + i2cDataNew[9] * 256; /* send_char(PS1.U8[0]); send_char(PS1.U8[1]); send_char(PS2.U8[0]); send_char(PS2.U8[1]); send_char(PS3.U8[0]); send_char(PS3.U8[1]); */ if (tt >= 10) { ifEnter = 0; maxValueTime[0].U32 = 0; maxValueTime[1].U32 = 0; maxValueTime[2].U32 = 0; maxValue[0].U16 = 0; maxValue[1].U16 = 0; maxValue[2].U16 = 0; tt = 0; } if (ifEnter == 0 && (PS1.U16 > PS1_THRESHOLD || PS2.U16 > PS2_THRESHOLD || PS3.U16 > PS3_THRESHOLD)){ TL0 = (65536-50000) ; TH0 = (65536-50000) >> 8; tt = 0; maxValueTime[0].U32 = 0; maxValueTime[1].U32 = 0; maxValueTime[2].U32 = 0; maxValue[0].U16 = 0; maxValue[1].U16 = 0; maxValue[2].U16 = 0; ifEnter = 1; } if (ifEnter == 1) { if (PS1.U16 < 2000 && PS2.U16 < 2000 && PS3.U16 < 3000){ ifEnter = 0; /* send_char(maxValueTime[0].U8[0]); send_char(maxValueTime[0].U8[1]); send_char(maxValueTime[0].U8[2]); send_char(maxValueTime[0].U8[3]); send_char(maxValueTime[1].U8[0]); send_char(maxValueTime[1].U8[1]); send_char(maxValueTime[1].U8[2]); send_char(maxValueTime[1].U8[3]); send_char(maxValueTime[2].U8[0]); send_char(maxValueTime[2].U8[1]); send_char(maxValueTime[2].U8[2]); send_char(maxValueTime[2].U8[3]); */ send_char(defineDirection()); maxValueTime[0].U32 = 0; maxValueTime[1].U32 = 0; maxValueTime[2].U32 = 0; maxValue[0].U16 = 0; maxValue[1].U16 = 0; maxValue[2].U16 = 0; } else{ if (maxValue[0].U16 < PS1.U16){ maxValue[0].U16 = PS1.U16; maxValueTime[0].U32 = TH0 * 256 + TL0 + tt * 50000; } if (maxValue[1].U16 < PS2.U16){ maxValue[1].U16 = PS2.U16; maxValueTime[1].U32 = TH0 * 256 + TL0 + tt * 50000; } if (maxValue[2].U16 < PS3.U16){ maxValue[2].U16 = PS3.U16; maxValueTime[2].U32 = TH0 * 256 + TL0 + tt * 50000; } } } /*********清除中断*********/ p = &irqStatus; I2C_Gets_ForInt(0x5A, 0x21, 1, p, 1); I2C_Puts_ForInt(0x5A, 0x21, 1, p, 1); EX0 = 1; } void main() { deviceInit(); deviceConfig(); IT1 = 1; // EX1 = 1; // EA = 1; // led1 = led2 = led3 = led4 = 0; while(1) { }