void UART_Driver()//UART通信监控函数，在主循环中调用。如果接收到字符串，会自动调用另行编写的UART_Action(uint8 *dat,uint8 len)
{
uint8 pdata dat[64];
uint8 len;
if(UART_ResiveStringEndFlag)
{
UART_ResiveStringEndFlag=0;
len=UART_Read(dat,64);
UART_Action(dat,len);
}
}
void interrupt Interrupt(){
if(RCIF)
{
char letterReceived;
letterReceived = UART_Read();
switch(letterReceived)
{
case 'A':
RA0 = 1;
__delay_ms(500);
RA0 = 0;
break;
case 'B':
RA1 = 1;
__delay_ms(500);
RA1 = 0;
break;
case 'C':
RA2 = 1;
__delay_ms(500);
RA2 = 0;
break;
case 'D':
RA3 = 1;
__delay_ms(500);
RA3 = 0;
break;
case 'E':
RA4 = 1;
__delay_ms(500);
RA4 = 0;
break;
case 'F':
RA5 = 1;
__delay_ms(500);
RA5 = 0;
break;
default:
break;
}
}
}
unsigned char * UART_Read_Text()
{
unsigned const char *a="Keyed in \r\n";
unsigned static char string[20];
unsigned char x, i = 0;
//receive the characters until ENTER is pressed (ASCII for ENTER = 13)
while((x = UART_Read()) != 13)
{
//and store the received characters into the array string[] one-by-one
string[i++] = x;
}
//insert NULL to terminate the string
string[i] = '\0';
UART_Write_Text(a);
//return the received string
return(string);
}
void main(void)
{
const unsigned char *mas="\r\n---------------MASTER DEVICE-----------------\r\n";
const unsigned char * arr1 = "\r\nTaking in the text \r\n";
const unsigned char *arr2="\r\nEnter your choice \r\n 1.Slave 1(Address:0xAA\r\n2.Slave 2(Address:0xBB)\r\n3.Slave 3(Address:0xCC\r\n";
const unsigned char *arr3= "You have entered:\r\n";
const unsigned char *arr4= "\r\nUART Initialised\r\n";
const unsigned char *arr5= "\r\nI2C initialised:\r\n";
const unsigned char *msg1="\r\nSending to Slave 1 (Address 0xAA)\r\n";
const unsigned char *msg2="\r\nSending to Slave 2 (Address 0xBB)\r\n";
const unsigned char *msg3="\r\nSending to Slave 3 (Address 0xCC)\r\n";
const unsigned char *msg4="\r\nAddress sent\r\n";
const unsigned char *msg5="\r\nData sent\r\n";
const unsigned char *err="\r\nNo message will be sent since no slave no entered\r\n";
const unsigned char *fin="\r\nClosing Communication!\r\n";
const unsigned char *msgm="\r\nYou have entered choice number:\r\n";
unsigned char choice;
OSCCONbits.IRCF = 0x07; // Configure Internal OSC for 8MHz Clock
while(!OSCCONbits.HTS); // Wait Until Internal Osc is Stable
INTCON=0; // purpose of disabling the interrupts.
UART_Init(baud_rate);
UART_Write_Text(mas);
UART_Write_Text(arr4);
delay_ms(500);
I2C_init();
UART_Write_Text(arr5);
//Initialisation done
while(1)
{
UART_Write_Text(arr1);
i2c_idle();
//receive the characters until ENTER is pressed (ASCII for ENTER = 13)
is=UART_Read_Text();
UART_Write_Text(arr3);
UART_Write_Text(is);
UART_Write_Text(arr2);
choice=UART_Read();
UART_Write_Text(msgm);
UART_Write(choice);
switch(choice)
{
case 0x31:
{
UART_Write_Text(msg1);
I2C_Start();
if(I2C_address_send())//device address
{
delay_us(20);//clock settle and then send
I2C_Write_Text(is);
}
else
break;
I2C_Stop();
break;
}
case 0x32:
{
UART_Write_Text(msg2);
I2C_Start();
if(I2C_address_send1())//device address
{
delay_us(20);//clock settle and then send
I2C_Write_Text(is);
}
else
break;
I2C_Stop();
break;
}
case 0x33:
{
UART_Write_Text(msg3);
I2C_Start();
if(I2C_address_send2())//device address
{
delay_us(20);//clock settle and then send
I2C_Write_Text(is);
}
else
break;
I2C_Stop();
break;
}
default:
UART_Write_Text(err);
break;
}
//Choice entered data sent respectively to slaves now stop
//i2c_SendAcknowledge(I2C_LAST);
PIR1bits.SSPIF = 0;
UART_Write_Text(fin);
}
}
void UART_Read_Text(char *Output, unsigned int length)
{
unsigned int i;
for(int i=0;i<length;i++)
Output[i] = UART_Read();
}
bool OfflineDownloadwithUART(void)
{
u32 i,j;
//u8 tmp[2];
if(!mcu_scfg.flash_done) // no user FW for MCU
return FALSE;
//connect
if(!UART_Connect())
return FALSE;
//check pid
/*if(!UART_GetPID(tmp))
return FALSE;
if(memcmp(tmp,mcu_scfg.MCUPID,2)!=0)
return FALSE;*/
//check boot loader version
//still not real boot loader version
//remove password
if(!UART_RemovePWD())
return FALSE;
//write password or not
if(mcu_scfg.pwdflag[0]==FISH_MAN)
{
if(!UART_WritePWD(mcu_scfg.max_auth_num,TRUE))
return FALSE;
}
//download user FW
for(i=0;i<MCU_FLASH_PAGES;i++)
{
if(mcu_scfg.flash_map[i])
{
for(j=0;j<PRO_PAGE_SIZE/MAX_DATA_SIZE;j++)
{
if(!UART_Write(MCU_FLASH_BASE+i*PRO_PAGE_SIZE+j*MAX_DATA_SIZE-mcu_scfg.flash_offset,
MAX_DATA_SIZE,
(u8*)(MCU_FLASH_BASE+i*PRO_PAGE_SIZE+j*MAX_DATA_SIZE),
TRUE))
return FALSE;
DelayMs(10);
}
}
}
//verify
for(i=0;i<MCU_FLASH_PAGES;i++)
{
if(mcu_scfg.flash_map[i])
{
for(j=0;j<PRO_PAGE_SIZE/MAX_DATA_SIZE;j++)
{
if(!UART_Read(MCU_FLASH_BASE+i*PRO_PAGE_SIZE+j*MAX_DATA_SIZE-mcu_scfg.flash_offset,
MAX_DATA_SIZE,
RD_Buffer,
TRUE))
return FALSE;
if(memcmp(RD_Buffer,(u8*)(MCU_FLASH_BASE+i*PRO_PAGE_SIZE+j*MAX_DATA_SIZE),MAX_DATA_SIZE)!=0)
return FALSE;
DelayMs(5);
}
}
}
//GO usr app
if(!UART_GoUserApp(0))
return FALSE;
return TRUE;
}
void fixed_parking()
{
time_elapsed = 0;
distance_traveled = 0;
int spot = 0, exit = 0;
uint16_t distance_temp;
while (check_command(NOMESSAGE));
spot = UART_Read();
clear_last_received();
while (check_command(NOMESSAGE));
exit = UART_Read();
clear_last_received();
switch (spot)
{
case 1:
{
while (!Object(front2,13))
Motors_Forward(PWM,PWM);
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM, PWM);
while (!Object(front2,15))
Wall_Follow(right,12);
Rotate_Left(23);
distance_temp = distance_traveled;
while (distance_traveled - distance_temp < 35)
Wall_Follow(right,14);
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM,PWM);
while (!Object(front2,14))
Wall_Follow(left,3);
Motors_Stop();
LEDs_Blink(12000);
while (!Object(back,10))
Motors_Back(PWM,PWM);
switch (exit)
{
case 1:
Rotate_Right(23);
while (Object(right,30))
Wall_Follow(right,14);
Go_Forward(10);
Rotate_Right(23);
Go_Forward(50);
break;
case 2:
Rotate_Right(23);
while (Object(right,30))
Wall_Follow(right,14);
while(!Object(right,30))
Motors_Forward(PWM, PWM);
while(!Object(front2,15))
Wall_Follow(right,14);
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM,PWM);
while (Object(right,30))
Wall_Follow(left,10);
Go_Forward(10);
Rotate_Right(23);
Go_Forward(50);
break;
case 3:
Rotate_Left(23);
while (!Object(front2,15))
Wall_Follow(left,14);
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM,PWM);
while (Object(right,30))
Wall_Follow(right,10);
while (!Object(front2,15))
Motors_Forward(PWM, PWM);
Rotate_Right(23);
while (Object(left,30))
Wall_Follow(left,14);
Go_Forward(12);
Rotate_Left(23);
Go_Forward(50);
break;
}
break;
}
case 2:
{
while (!Object(front2,13))
Motors_Forward(PWM,PWM);
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM, PWM);
while (!Object(front2,15))
Wall_Follow(right,12);
Rotate_Left(23);
while (Object(right,30))
Wall_Follow(right,14);
distance_temp = distance_traveled;
while (distance_traveled - distance_temp < 10)
Motors_Forward(PWM,PWM);
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM,PWM);
while (!Object(front2,14))
Wall_Follow(left,3);
Motors_Stop();
LEDs_Blink(12000);
Go_Back(40);
switch (exit)
{
case 1:
Rotate_Left(46);
Go_Forward(50);
break;
case 2:
Rotate_Right(23);
while(!Object(right,30))
Motors_Forward(PWM, PWM);
while(!Object(front2,15))
Wall_Follow(right,14);
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM,PWM);
while (Object(right,30))
Wall_Follow(left,10);
Go_Forward(10);
Rotate_Right(23);
Go_Forward(50);
break;
case 3:
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM,PWM);
while (!Object(front2,15))
Wall_Follow(left,14);
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM,PWM);
while (Object(right,20))
Wall_Follow(right,10);
while (!Object(front2,15))
Motors_Forward(PWM, PWM);
Rotate_Right(23);
while (Object(left,30))
Wall_Follow(left,14);
Go_Forward(12);
Rotate_Left(23);
Go_Forward(50);
break;
}
break;
}
case 3:
{
while (!Object(front2,13))
Motors_Forward(PWM,PWM);
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM, PWM);
while (!Object(front2,15))
Wall_Follow(right,12);
Rotate_Left(23);
while (Object(right,30))
Wall_Follow(right,14);
while (!Object(right,30))
Motors_Forward(PWM,PWM);
distance_temp = distance_traveled;
while (distance_traveled - distance_temp < 10)
Wall_Follow(right,14);
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM,PWM);
while (!Object(front2,14))
Wall_Follow(left,3);
Motors_Stop();
LEDs_Blink(12000);
while (!Object(back,10))
Motors_Back(PWM,PWM);
switch (exit)
{
case 1:
Rotate_Left(23);
while (Object(left,30))
Wall_Follow(left,14);
Go_Forward(10);
Rotate_Left(23);
Go_Forward(50);
break;
case 2:
Rotate_Right(23);
while(!Object(front2,15))
Wall_Follow(right,14);
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM,PWM);
while (Object(right,30))
Wall_Follow(left,10);
Go_Forward(10);
Rotate_Right(23);
Go_Forward(50);
break;
case 3:
Rotate_Left(23);
while (Object(left,30))
Wall_Follow(left,14);
while (!Object(left,30))
Motors_Forward(PWM,PWM);
while (!Object(front2,15))
Wall_Follow(left,14);
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM,PWM);
while (Object(right,30))
Wall_Follow(right,10);
while (!Object(front2,15))
Motors_Forward(PWM, PWM);
Rotate_Right(23);
while (Object(left,30))
Wall_Follow(left,14);
Go_Forward(12);
Rotate_Left(23);
Go_Forward(50);
break;
}
break;
}
case 4:
{
while (!Object(front2,13))
Motors_Forward(PWM,PWM);
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM, PWM);
while (!Object(front2,15))
Wall_Follow(left,12);
Rotate_Right(23);
while (Object(left,30))
Wall_Follow(left,14);
while (!Object(left,30))
Motors_Forward(PWM,PWM);
distance_temp = distance_traveled;
while (distance_traveled - distance_temp < 13)
Wall_Follow(left,14);
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM,PWM);
while (!Object(front2,14))
Wall_Follow(right,3);
Motors_Stop();
LEDs_Blink(12000);
while (!Object(back,10))
Motors_Back(PWM,PWM);
switch (exit)
{
case 1:
Rotate_Right(23);
while (Object(right,30))
Wall_Follow(right,14);
while (!Object(right,30))
Motors_Forward(PWM,PWM);
while (!Object(front2,15))
Wall_Follow(right,14);
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM,PWM);
while (Object(left,30))
Wall_Follow(left,10);
while (!Object(front2,15))
Motors_Forward(PWM, PWM);
Rotate_Left(23);
while (Object(right,30))
Wall_Follow(right,14);
Go_Forward(12);
Rotate_Right(23);
Go_Forward(50);
break;
case 2:
Rotate_Left(23);
while(!Object(front2,15))
Wall_Follow(left,14);
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM,PWM);
while (Object(left,30))
Wall_Follow(right,10);
Go_Forward(10);
Rotate_Left(23);
Go_Forward(50);
break;
case 3:
Rotate_Right(23);
while (Object(right,30))
Wall_Follow(right,14);
Go_Forward(10);
Rotate_Right(23);
Go_Forward(50);
break;
}
break;
}
case 5:
{
while (!Object(front2,13))
Motors_Forward(PWM,PWM);
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM, PWM);
while (!Object(front2,15))
Wall_Follow(left,12);
Rotate_Right(23);
while (Object(left,30))
Wall_Follow(left,14);
distance_temp = distance_traveled;
while (distance_traveled - distance_temp < 10)
Motors_Forward(PWM,PWM);
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM,PWM);
while (!Object(front2,14))
Wall_Follow(right,3);
Motors_Stop();
LEDs_Blink(12000);
Go_Back(40);
switch (exit)
{
case 1:
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM,PWM);
while (!Object(front2,30))
Wall_Follow(right,14);
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM,PWM);
while (Object(left,30))
Wall_Follow(left,10);
while (!Object(front2,15))
Motors_Forward(PWM, PWM);
Rotate_Left(23);
while (Object(right,30))
Wall_Follow(right,14);
Go_Forward(12);
Rotate_Right(23);
Go_Forward(50);
break;
case 2:
Rotate_Left(23);
while(!Object(left,30))
Motors_Forward(PWM, PWM);
while(!Object(front2,15))
Wall_Follow(left,14);
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM,PWM);
while (Object(left,30))
Wall_Follow(right,10);
Go_Forward(10);
Rotate_Left(23);
Go_Forward(50);
break;
case 3:
Rotate_Right(46);
Go_Forward(50);
break;
}
break;
}
case 6:
{
while (!Object(front2,13))
Motors_Forward(PWM,PWM);
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM, PWM);
while (!Object(front2,15))
Wall_Follow(left,12);
Rotate_Right(23);
distance_temp = distance_traveled;
while (distance_traveled - distance_temp < 33)
Wall_Follow(left,14);
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM,PWM);
while (!Object(front2,14))
Wall_Follow(right,3);
Motors_Stop();
LEDs_Blink(12000);
while (!Object(back,10))
Motors_Back(PWM,PWM);
switch (exit)
{
case 1:
Rotate_Right(23);
while (!Object(front2,15))
Wall_Follow(right,14);
Rotate_Left(23);
while (!Object(left,30))
Motors_Forward(PWM,PWM);
while (Object(left,30))
Wall_Follow(left,10);
while (!Object(front2,15))
Motors_Forward(PWM, PWM);
Rotate_Left(23);
while (Object(right,30))
Wall_Follow(right,14);
Go_Forward(12);
Rotate_Right(23);
Go_Forward(50);
break;
case 2:
Rotate_Left(23);
while (Object(left,30))
Wall_Follow(left,14);
while(!Object(left,30))
Motors_Forward(PWM, PWM);
while(!Object(front2,15))
Wall_Follow(left,14);
Rotate_Right(23);
while (!Object(right,30))
Motors_Forward(PWM,PWM);
while (Object(left,30))
Wall_Follow(right,10);
Go_Forward(10);
Rotate_Left(23);
Go_Forward(50);
break;
case 3:
Rotate_Left(23);
while (Object(left,30))
Wall_Follow(left,14);
Go_Forward(10);
Rotate_Left(23);
Go_Forward(50);
break;
}
break;
}
}
Motors_Stop();
}
