自适应巡线程序和电路.zip

#include<iom8v.h> #include<macros.h> #pragma interrupt_handler Time0_ov:iv_TIMER0_OVF #pragma interrupt_handler ADC_deal:iv_ADC #define TLED (1<<PB0) #define INH (1<<PB5) #define ACC_A (1<<PB2) #define ACC_B (1<<PB3) #define ACC_C (1<<PB4) #define BCL_show (1<<PD7) #define BL_show (1<<PD6) #define BM_show (1<<PD2) #define BR_show (1<<PD5) #define BCR_show (1<<PD4) #define FL_show (1<<PD3) #define FM_show (1<<PD0) #define FR_show (1<<PD1) unsigned char irq_times,click; unsigned char sampling_CF,unitary_CF; unsigned char A_channel,C_sampling,C_sensor; unsigned char D_value[8][3]; int P_variate,N_variate,AVE_differ; struct S_V_sensor { unsigned char old_val; unsigned char new_val; int self_difference; int ave_difference; } ; struct S_V_sensor V_sensor[8]; void timer_init(void) { TCCR0|=1<<CS02; } void interrupt_init(void) { _SEI(); TIMSK|=1<<TOIE0; } void port_init(void) { DDRB|=1<<PB0|1<<PB2|1<<PB3|1<<PB4|1<<PB5; DDRD=0XFF; PORTB|=INH; } void ADC_init(void) { ADMUX|=1<<REFS1|1<<REFS0|1<<ADLAR; ADCSRA|=1<<ADEN|1<<ADIE|1<<ADPS2;//|1<<ADPS0; } void WDT_init(void) { _WDR(); WDTCR|=1<<WDCE|1<<WDE; //16mS } void Time0_ov(void) { TCNT0=6; //8MS if(++irq_times>62) { irq_times=0; click^=0xff; //PORTB^=TLED; } } void Analog_channel_choose(unsigned char ch) { switch(ch) { case 0: { PORTB&=~ACC_A&~ACC_B&~ACC_C; } break; case 1: { PORTB&=~ACC_B&~ACC_C; PORTB|=ACC_A; } break; case 2: { PORTB&=~ACC_A&~ACC_C; PORTB|=ACC_B; } break; case 3: { PORTB&=~ACC_C; PORTB|=ACC_A|ACC_B; } break; case 4: { PORTB&=~ACC_A&~ACC_B; PORTB|=ACC_C; } break; case 5: { PORTB&=~ACC_B; PORTB|=ACC_A|ACC_C; } break; case 6: { PORTB&=~ACC_A; PORTB|=ACC_B|ACC_C; } break; case 7: { PORTB|=ACC_A|ACC_B|ACC_C; } break; } } void ADC_deal(void) { D_value[A_channel][C_sampling]=ADCH; if(++C_sampling>2) { C_sampling=0; unitary_CF=1; if(++A_channel>7) { A_channel=0; sampling_CF=1; } Analog_channel_choose(A_channel); } if(!sampling_CF) { ADCSR|=1<<ADSC; } } void digital_analyse(void) { unsigned char i,j,k=0; V_sensor[C_sensor].old_val=V_sensor[C_sensor].new_val; V_sensor[C_sensor].new_val=(D_value[C_sensor][0]+D_value[C_sensor][1]+D_value[C_sensor][2])/3; V_sensor[C_sensor].self_difference=V_sensor[C_sensor].new_val-V_sensor[C_sensor].old_val; if(++C_sensor>7) { C_sensor=0; k=1; } if(sampling_CF&&k) { for(i=0;i<=7;i++) { V_sensor[i].ave_difference=0; for(j=0;j<=7;j++) { if(i!=j) V_sensor[i].ave_difference+=V_sensor[i].new_val-V_sensor[j].new_val; } V_sensor[i].ave_difference/=7; } if((V_sensor[0].self_difference>P_variate)||(V_sensor[0].ave_difference>AVE_differ)) { PORTD|=BCR_show; } else if(V_sensor[0].self_difference<N_variate) { PORTD&=~BCR_show; } if((V_sensor[1].self_difference>P_variate)||(V_sensor[1].ave_difference>AVE_differ)) { PORTD|=FR_show; } else if(V_sensor[1].self_difference<N_variate) { PORTD&=~FR_show; } if((V_sensor[2].self_difference>P_variate)||(V_sensor[2].ave_difference>AVE_differ)) { PORTD|=FM_show; } else if(V_sensor[2].self_difference<N_variate) { PORTD&=~FM_show; } if((V_sensor[3].self_difference>P_variate)||(V_sensor[3].ave_difference>AVE_differ)) { PORTD|=BM_show; } else if(V_sensor[3].self_difference<N_variate) { PORTD&=~BM_show; } if((V_sensor[4].self_difference>P_variate)||(V_sensor[4].ave_difference>AVE_differ)) { PORTD|=BR_show; } else if(V_sensor[4].self_difference<N_variate) { PORTD&=~BR_show; } if((V_sensor[5].self_difference>P_variate)||(V_sensor[5].ave_difference>AVE_differ)) { PORTD|=FL_show; } else if(V_sensor[5].self_difference<N_variate) { PORTD&=~FL_show; } if((V_sensor[6].self_difference>P_variate)||(V_sensor[6].ave_difference>AVE_differ)) { PORTD|=BCL_show; } else if(V_sensor[6].self_difference<N_variate) { PORTD&=~BCL_show; } if((V_sensor[7].self_difference>P_variate)||(V_sensor[7].ave_difference>AVE_differ)) { PORTD|=BL_show; } else if(V_sensor[7].self_difference<N_variate) { PORTD&=~BL_show; } sampling_CF=0; ADCSR|=1<<ADSC; } } void main(void) { port_init(); timer_init(); ADC_init(); WDT_init(); interrupt_init(); PORTB&=~INH; AVE_differ=7; P_variate=10; N_variate=-10; Analog_channel_choose(0); ADCSR|=1<<ADSC; while(1) { if(unitary_CF) { digital_analyse(); unitary_CF=0; if(click) PORTB&=~TLED; else PORTB|=TLED; _WDR(); } } }