/*
* Read the number of dropped TX packets from the switch
*
* @param port - the number of the port to get the stats for.
*
*/
int readtxdrop(int port)
{
int total = 0;
uint8_t reg = (3 + (4*(port-1)));
switch_write(110,29);
switch_write(111, reg);
total += (switch_read(119) * 256);
total += switch_read(120);
return total;
}
/*
* Read the number of CRC errors from the switch
*
* @param port - the number of the port to get the stats for.
*
*/
int readrxcrcerr(int port)
{
int total = 0;
uint8_t reg = (6 + (32*(port-1)));
switch_write(110,28);
switch_write(111, reg);
total += (switch_read(119) * 256);
total += switch_read(120);
return total;
}
/*
* Write to the switch registers
*
*/
int switch_write(uint8_t param1, uint8_t param2)
{
uint8_t reg[3];
if (param1 < 128) {
reg[0] = 64;
} else {
reg[0] = 65;
}
reg[1] = param1 << 1;
reg[2] = param2;
/* Select the DF memory to check. */
usart_spi_select_device(USART_SPI, &USART_SPI_DEVICE);
/* Send the Manufacturer ID Read command. */
usart_spi_write_packet(USART_SPI, reg, 3);
/* Deselect the checked DF memory. */
usart_spi_deselect_device(USART_SPI, &USART_SPI_DEVICE);
for(int x = 0;x<100000;x++);
return switch_read(param1);
}
int total = 0;
uint8_t reg = (3 + (4*(port-1)));
switch_write(110,29);
switch_write(111, reg);
total += (switch_read(119) * 256);
total += switch_read(120);
return total;
}
/*
* Updates the port status
*
*/
void update_port_status(void)
{
port_status[0] = (switch_read(30) & 32) >> 5;
port_status[1] = (switch_read(46) & 32) >> 5;
port_status[2] = (switch_read(62) & 32) >> 5;
port_status[3] = (switch_read(78) & 32) >> 5;
return;
}
/*
* GMAC write function
*
* @param *p_buffer - pointer to the buffer containing the data to send.
* @param ul_size - size of the data.
* @param port - the port to send the data out from.
*
*/
void gmac_write(uint8_t *p_buffer, uint16_t ul_size, uint8_t port)
int main(int argc, char **argv)
{
int robot_state = FORWARD;
int last_robot_state = FORWARD;
int front_infrared_value = 0;
int back_infrared_value = 0;
int front_infrared_num = 0;
int back_infrared_num = 0;
int front_infrared_amount = 0;
int back_infrared_amount = 0;
int front_infrared_weight = 0;
int back_infrared_weight = 0;
uint32_t car_distence = 0;
uint8_t get_char = 0;
int change_num = 0;
bool_t switch_state = 0;
int detect_num = 0;
int angle = 0;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* 灯初始化 */
switch_init(); /* 开关初始化 */
serial_initialize((intptr_t) (NULL)); /* 初始化串口 */
motor_init(); /* 电机初始化 */
steer_init(); /* 舵机初始化 */
decoder_init((intptr_t) (NULL)); /* 编码器初始化 */
infrared_init(); /* 红外初始化 */
while(1)
{
light_open(LIGHT2);
light_open(LIGHT3);
}
// gpio_init(PORT_NO_GET(PTC0), PIN_NO_GET(PTC0), OUT_PUT, 0);
// gpio_init(PORT_NO_GET(PTC2), PIN_NO_GET(PTC2),OUT_PUT, 1);
// while(1)
// {
// motor_output(MOTOR_LEFT, 50);
// motor_output(MOTOR_RIGHT, 50);
// }
while((get_char != 's') && (switch_state != SWITCH_ON))
{
light_open_some(0x0f);
get_char = serial_get_char(UART_NO_GET(UART_NO));
switch_state = switch_read(SWITCH0);
}
while (1)
{
get_char = serial_get_char(UART_NO_GET(UART_NO));
if(get_char == 'p')
{
last_robot_state = robot_state;
robot_state = STOP;
}
/* 读取光电管的数据 */
front_infrared_value = infrared_read_loc(INFRARED_FRONT);
back_infrared_value = infrared_read_loc(INFRARED_BACK);
/* 读取红外从右第一个亮灯的位置 */
front_infrared_num = infrared_read_num(front_infrared_value);
back_infrared_num = infrared_read_num(back_infrared_value);
/* 读取传感器亮灯的总数 */
front_infrared_amount = infrared_read_amount(front_infrared_value);
back_infrared_amount = infrared_read_amount(back_infrared_value);
/* 读取权值 */
front_infrared_weight = infrared_read_weight(front_infrared_value);
back_infrared_weight = infrared_read_weight(back_infrared_value);
switch (robot_state)
{
/**********************************前进*************************************/
case FORWARD:
light_open_some(0x01);
light_bar_open(LIGHT_BAR0);
light_bar_close(LIGHT_BAR1);
if (front_infrared_amount == 1)
{
if (front_infrared_weight == 3)
{
angle = 40;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -3)
{
angle = -40;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 2)
{
angle = 20;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -2)
{
angle = -20;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 1)
{
angle = 5;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -1)
{
angle = -5;
//motor_output2(13, 13);
}
}
else if (front_infrared_amount == 2)
{
if (front_infrared_weight == 5)
{
angle = 30;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -5)
{
angle = -30;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 3)
{
angle = 10;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -3)
{
angle = -10;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 0)
{
angle = 0;
//motor_output2(13, 13);
}
}
steer_output_angle(STEER_DIR, angle);
speed_control_forward(30,angle);
if (front_infrared_amount > 4)
{
if(change_num == 4)
{
robot_state = STOP;
}
detect_num ++;
if(detect_num > 2)
{
detect_num = 0;
robot_state = FORWARD_CHANGE;
car_distence = gl_distanceTotal;
}
}
else
{
detect_num = 0;
}
break;
/**********************************前进转换1*************************************/
case FORWARD_CHANGE:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x02);
steer_output_angle(STEER_DIR, 40);
//motor_output2(-25, -10);
speed_control_backward(30,angle);
if((gl_distanceTotal - car_distence)>9)
{
robot_state = FORWARD_CHANGE2;
}
break;
/**********************************前进转换2*************************************/
case FORWARD_CHANGE2:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x02);
steer_output_angle(STEER_DIR, 40);
//motor_output2(-25, -10);
speed_control_backward(30,angle);
if((back_infrared_value & 0x30) && (!(back_infrared_value & 0x03)) && (front_infrared_amount < 3))
{
robot_state = BACKWARD;
car_distence = gl_distanceTotal;
change_num ++;
}
break;
/************************************后退****************************************/
case BACKWARD:
light_bar_open(LIGHT_BAR1);
light_bar_close(LIGHT_BAR0);
light_open_some(0x04);
if (back_infrared_amount == 1)
{
if (back_infrared_weight == 3)
{
angle = -40;
//motor_output2(-5, -22);
}
else if (back_infrared_weight == -3)
{
angle = 40;
//motor_output2(-22, -5);
}
else if (back_infrared_weight == 2)
{
angle = -40;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -2)
{
angle = 40;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 1)
{
angle = -5;
//motor_output2(-14, -14);
}
else if (back_infrared_weight == -1)
{
angle = 5;
//motor_output2(-14, -14);
}
}
else if (back_infrared_amount == 2)
{
if (back_infrared_weight == 5)
{
angle = -40;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -5)
{
angle = 40;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 3)
{
angle = -20;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -3)
{
angle = 20;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 0)
{
angle = 0;
//motor_output2(-14, -14);
}
}
steer_output_angle(STEER_DIR, angle);
speed_control_backward(30,angle);
if(back_infrared_amount > 4)
{
detect_num ++;
if(detect_num > 2)
{
detect_num = 0;
robot_state = BACKWARD_CHANGE;
car_distence = gl_distanceTotal;
}
}
else
{
detect_num = 0;
}
break;
/************************************后退转换1****************************************/
case BACKWARD_CHANGE:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x8);
steer_output_angle(STEER_DIR, -35);
speed_control_forward(30,angle);
if((gl_distanceTotal - car_distence)>7)
{
robot_state = BACKWARD_CHANGE2;
}
break;
/************************************后退转换2****************************************/
case BACKWARD_CHANGE2:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x8);
steer_output_angle(STEER_DIR, -35);
speed_control_forward(30,angle);
if((front_infrared_value & 0x38) && (!(front_infrared_value & 0x03)) && (back_infrared_amount < 3))
{
robot_state = FORWARD;
change_num ++;
}
break;
/************************************停车****************************************/
case STOP:
light_open_some(0x03);
light_bar_close(LIGHT_BAR0);
light_bar_close(LIGHT_BAR1);
motor_output2(0, 0);
steer_output_angle(STEER_DIR, 0);
if(get_char == 's')
{
robot_state = last_robot_state;
}
break;
}
}
}
