int check_crossline( void )
{
unsigned char b;
int ret=0;
b = bit_change(P7DR);
if((b&0xc0) && (b&0x3c) && (b&0x03))
ret = 1;
return ret;
}
//车辆自动控制使用
int getLightLedSum() //灯亮数目，双排线:是否可以替换
{
int i,sum=0;
unsigned led = bit_change(P7DR);
for(i=0; i<8; i++)
{
if(led&0x80)sum++;
led<<=1;
}
return sum;
}
int check_blackArea(void) //优化
{
unsigned char b = bit_change(P7DR);
if((b&0x07)==0x07 && (b&0x38) && !(b&0xc0))
{
blackArea_direction = 1;
return 1;
}
else if((b&0xe0)==0xe0 && (b&0x1c) && !(b&0x03))
{
blackArea_direction = -1;
return -1;
}
else return 0;
}
void interrupt_timer0( void )
{
ITU0_TSR &= 0xfe; /* Flag clear */
cnt0++;
cnt1++;
cnt2++;
timerCnt++;
if((eSpeedNum) == timerCnt) //100,时计数
{
//此时进行一次速度的计算
eCurSpeed=(double)((iPulesNumAll*abvSpeed)/10); //速度计算公式:
// 脉冲数 × 周长
// 实时速度=---------------------------
// 一圈的脉冲数 × 采集时间
//复位
iPulesNumAll = 0; //复位脉冲数目
timerCnt = 0; //复位时间数目
}//if
/*
if(!isDebug)
{
if(1==angleFlag)
{
if((int)eCurSpeed>150)
{
ITU4_BRA=(unsigned long)(PWM_CYCLE-1)*(-10)/100;
ITU3_BRB=(unsigned long)(PWM_CYCLE-1)*(-10)/100;
//brake time
for(speedBrake_var=200;speedBrake_var!=0;speedBrake_var--);
}
else if((int)eCurSpeed<145)
{
ITU4_BRA=(unsigned long)(PWM_CYCLE-1)*40/100;
ITU3_BRB=(unsigned long)(PWM_CYCLE-1)*40/100;
for(speedBrake_var=200;speedBrake_var!=0;speedBrake_var--);
}
}
}
*/
if(isStart)
{
if(isDebug)
{
if(!printNow)
{
if((~PBDR&0x01) && pushSw){ isStart = 0;isDebug = 0;printNow = 1;}//行进中途读调试数据
curLedValue = P7DR;
if(curLedValue!=lastLedValue)
getData(curLedValue,0);
else if(bit_change(P7DR)==0xff && cnt0>800) //调试出轨 before p7dr=0xff
{
printNow = 1;
}
}
}
else //非调试出轨
{
if(lastLedValue!=P7DR)
{
lastLedValue = P7DR;
cnt0 = 0;
}else if(bit_change(P7DR) ==0xff && cnt0>800) isStop = 1;// before p7dr=0xff
}
}
}
