//定时计数器1中断处理函数
void timer1_interrupt_handler(void)
{
uchar msg_force_array[]="zz21w";
force_ulong=ReadCount();//读取数据放入全局变量
ulong_to_uchar_array(force_ulong);//数据类型转换
msg_force_array[4]=force_high8;
uart0_send_string(msg_force_array);//向上位机发送夹紧力实时数值（仅有效值高八位）
TCNT1=0xC2F6;//需要重新设定周期500ms
}
/* READ a CStringArray object from input file 'fid'.
This function read a CStringArray object from input
file 'fid'. 'fid' was returned by 'fopen'
*/
mxArray * ReadCStringArray( FILE * fp )
{
unsigned int dCount = ReadCount( fp );
int i;
mxArray * aString;
aString = mxCreateCellMatrix( dCount, 1 );
for( i = 0; i < (int)dCount; i ++ )
mxSetCell( aString, i, ReadCString( fp ) );
return aString;
}
/* READ a CArray object from input file "fp". */
mxArray * ReadCArray( FILE * fp, int type )
{
int dims[2];
unsigned long dCount = ReadCount( fp );
mxArray * array;
int unit_size;
dims[0] = dCount;
dims[1] = 1;
switch( type )
{
case mxCHAR_CLASS:
case mxINT8_CLASS:
case mxUINT8_CLASS:
unit_size = 1;
break;
case mxINT16_CLASS:
case mxUINT16_CLASS:
unit_size = 2;
break;
case mxUINT32_CLASS:
case mxINT32_CLASS:
case mxSINGLE_CLASS:
unit_size = 4;
break;
case mxDOUBLE_CLASS:
case mxINT64_CLASS:
case mxUINT64_CLASS:
unit_size = 8;
break;
}
array = mxCreateNumericArray( 2, dims, type, mxREAL );
if (dCount > 0)
fread( mxGetData(array), unit_size, dCount, fp );
return array;
}
if (str == NULL)
{
WriteCount (0);
}
else
{
DWORD size = strlen (str) + 1;
WriteCount (size);
Write (str, size - 1);
}
return *this;
}
FArchive &FArchive::operator>> (std::string &s)
{
DWORD size = ReadCount ();
if (size == 0)
s = "";
else
{
char *cstr = new char[size];
size--;
Read (cstr, size);
cstr[size] = 0;
s = cstr;
delete[] cstr;
}
return *this;
}
FArchive &FArchive::operator<< (BYTE c)
//---------------------------【主函数】↓-----------------------------------------------------------
void main(void)
{
//.....................[函数体内变量声明]...............................
uchar i;//清空指令存储变量时所用循环的计数变量
//向舵机发送移动命令时所用的变量（下面2个）↓
uchar motor_command[9]={0xff,0xff,0x00,0x05,0x03,0x20,0x00,0x00,0x00};//
uchar CHECK;//舵机指令最后一位校验码
//上电手指复位阶段用到的变量（下面2个）↓
//保证舵机停止命令只进行一次
uchar cage_0=1;
uchar cage_1=1;
//正常工作模式（模式一）手指松开阶段用到的变量（下面2个）↓
//保证每次夹紧操作时舵机停止命令只进行一次
uchar approach_0;
uchar approach_1;
//夹紧第二阶段的while循环跳出指示
uchar hold_stage_2_continue=1;
//大循环中查询两端限位和空夹所用到的变量（下面7个）↓
//while大循环从两端限位后开始，因此不允许再次发送舵机停止命令，而是等待限位结束
uchar stop_allow_cage_0=0;
uchar stop_allow_cage_1=0;
//不允许手指向端部移动，允许手指向中间移动，设置四个变量是因为考虑到两端限位跟空夹
uchar release_allow_motor_0=0;
uchar release_allow_motor_1=0;
uchar hold_allow_motor_0=1;
uchar hold_allow_motor_1=1;
//允许上电复位后就开始检测是否空夹
uchar stop_allow_empty=1;
//调试模式手指移动速度，初始值为通过串口设定前的默认值
uchar PARA2=0x10,PARA3=0x01;//保证低速，仅允许通过串口命令更改其值！
//一般模式手指移动速度，仅允从EEPROM中获取数值
uchar com_finger0_ratio_1_PARA2,com_finger0_ratio_1_PARA3;//手指0，Ratio 1
uchar com_finger0_ratio_2_PARA2,com_finger0_ratio_2_PARA3;//手指0，Ratio 2
uchar com_finger0_ratio_3_PARA2,com_finger0_ratio_3_PARA3;//手指0，Ratio 3
uchar com_finger1_ratio_1_PARA2,com_finger1_ratio_1_PARA3;//手指1，Ratio 1
uchar com_finger1_ratio_2_PARA2,com_finger1_ratio_2_PARA3;//手指1，Ratio 2
uchar com_finger1_ratio_3_PARA2,com_finger1_ratio_3_PARA3;//手指1，Ratio 3
uchar msg_eeprom_array[17];//向上位机返回EEPROM中数值
uchar msg_interrupt_array[7]={'z','z','4','4','0','0','0'};//向上位机返回夹持器与外部碰撞报警（中断）允许变量的值
//.......................[初始化配置].........................
uart0_init(19200);//串口0（与上位机通信）初始化，波特率均为19200
uart1_init(19200);//串口1（与舵机通信）初始化，波特率均为19200
timer1_init();//定时计数器1初始化
force_data_init();//应变片读取初始化
//限位的配置
//PE2=接近开关0，高阻态输入
DDRE&=(~BIT(2));//DDRE2=0
PORTE&=(~BIT(2));//PORTE2=0
//PE3=接近开关1，高阻态输入
DDRE&=(~BIT(3));//DDRE2=0
PORTE&=(~BIT(3));//PORTE2=0
//PE5=INT5=限位0，带上拉电阻输入
DDRE&=(~BIT(5));//意思是DDRE5=0，其余位不变。但注意不可按注释的方式写！
PORTE|=BIT(5);//意思是PORTE5=1，其余位不变。但注意不可按注释的方式写！
//PE6=INT6=限位1，带上拉电阻输入
DDRE&=(~BIT(6));
PORTE|=BIT(6);
//PE7=空夹，带上拉电阻输入
DDRE&=(~BIT(7));
PORTE|=BIT(7);
//................[功能：上电后手指复位]....................................
SREG |= 0X80;//打开全局中断
//相关变量初始化
cage0_state=0;
cage1_state=0;
//命令舵机停止转动
uart1_send_string((uchar*)no0stop,9);
delay(50);
uart1_send_string((uchar*)no1stop,9);
delay(50);
//使手爪松开
uart1_send_string((uchar*)no0release,9);
delay(50);
uart1_send_string((uchar*)no1release,9);
//等待两端限位触发
while(cage_0|cage_1)
{
if(cage_0)
{
if(!(PINE & BIT(5)))//PE5=0进入
{
delay(50);
if(!(PINE & BIT(5)))
{
uart1_send_string((uchar*)no0stop,9);
//uart0_send_string("zz30");
cage_0=0;
}
}
}
if(cage_1)
{
if(!(PINE & BIT(6)))//PE6=0进入
{
delay(50);
if(!(PINE & BIT(6)))
{
uart1_send_string((uchar*)no1stop,9);
//uart0_send_string("zz31");
cage_1=0;
}
}
}
}
uart0_send_string("zz00");//向上位机报告准备就绪
UCSR0B|=(1<<RXEN0)|(1<<RXCIE0); //UART0接收使能，接收中断使能
//........................[while(1)大循环]............................................
while(1)
{
if(uart0_instr_flag==1)
{
switch(gripper_mood)
{
case 0:
{
if(array_cmp(uart0_instr,"0100")==0)
{
//uart0_send_string(" mood 0: enter 1-regular working mood! ");
gripper_mood=1;
ext_interrupt_init();//外部中断（夹持器与外部环境碰撞）初始化
//初始化后会立即出发一次INT0和INT1，所以报警允许变量需要先置0再置1
//夹持器与外部碰撞报警（中断）允许变量
ext_collision_alert_allow_int0=1;//上侧
ext_collision_alert_allow_int1=1;//下侧
ext_collision_alert_allow_int4=1;//指尖
//获取EEPROM中存储的RATIO值
command_data_read_finger_0_ratio_1(&com_finger0_ratio_1_PARA2,&com_finger0_ratio_1_PARA3);
command_data_read_finger_0_ratio_2(&com_finger0_ratio_2_PARA2,&com_finger0_ratio_2_PARA3);
command_data_read_finger_0_ratio_3(&com_finger0_ratio_3_PARA2,&com_finger0_ratio_3_PARA3);
command_data_read_finger_1_ratio_1(&com_finger1_ratio_1_PARA2,&com_finger1_ratio_1_PARA3);
command_data_read_finger_1_ratio_2(&com_finger1_ratio_2_PARA2,&com_finger1_ratio_2_PARA3);
command_data_read_finger_1_ratio_3(&com_finger1_ratio_3_PARA2,&com_finger1_ratio_3_PARA3);
//获取EEPROM中存储的夹紧力阈值有效值高八位
command_data_read_force_high8(&force_judge);
}
if(array_cmp(uart0_instr,"0200")==0)
{
//uart0_send_string(" mood 0: enter 2-configuration mood! ");
gripper_mood=2;
ext_interrupt_init();//外部中断（夹持器与外部环境碰撞）初始化
//初始化后会立即出发一次INT0和INT1，所以报警允许变量需要先置0再置1
//夹持器与外部碰撞报警（中断）允许变量
ext_collision_alert_allow_int0=1;//上侧
ext_collision_alert_allow_int1=1;//下侧
ext_collision_alert_allow_int4=1;//指尖
}
break;
}
case 1:
{
if(array_cmp(uart0_instr,"1000")==0)//调试模式·读取EEPROM中存储的RATIO和力阈值
{
//更新ratio变量值、力阈值和消息数组的值
//获取EEPROM中存储的RATIO值
command_data_read_finger_0_ratio_1(&com_finger0_ratio_1_PARA2,&com_finger0_ratio_1_PARA3);
command_data_read_finger_0_ratio_2(&com_finger0_ratio_2_PARA2,&com_finger0_ratio_2_PARA3);
command_data_read_finger_0_ratio_3(&com_finger0_ratio_3_PARA2,&com_finger0_ratio_3_PARA3);
command_data_read_finger_1_ratio_1(&com_finger1_ratio_1_PARA2,&com_finger1_ratio_1_PARA3);
command_data_read_finger_1_ratio_2(&com_finger1_ratio_2_PARA2,&com_finger1_ratio_2_PARA3);
command_data_read_finger_1_ratio_3(&com_finger1_ratio_3_PARA2,&com_finger1_ratio_3_PARA3);
msg_eeprom_array[0]='z';
msg_eeprom_array[1]='z';
msg_eeprom_array[2]='3';
msg_eeprom_array[3]='3';
msg_eeprom_array[4]=com_finger0_ratio_1_PARA2;
msg_eeprom_array[5]=com_finger0_ratio_1_PARA3;
msg_eeprom_array[6]=com_finger0_ratio_2_PARA2;
msg_eeprom_array[7]=com_finger0_ratio_2_PARA3;
msg_eeprom_array[8]=com_finger0_ratio_3_PARA2;
msg_eeprom_array[9]=com_finger0_ratio_3_PARA3;
msg_eeprom_array[10]=com_finger1_ratio_1_PARA2;
msg_eeprom_array[11]=com_finger1_ratio_1_PARA3;
msg_eeprom_array[12]=com_finger1_ratio_2_PARA2;
msg_eeprom_array[13]=com_finger1_ratio_2_PARA3;
msg_eeprom_array[14]=com_finger1_ratio_3_PARA2;
msg_eeprom_array[15]=com_finger1_ratio_3_PARA3;
//获取EEPROM中存储的夹紧力阈值有效值高八位
command_data_read_force_high8(&force_judge);
msg_eeprom_array[16]=force_judge;
delay(50);
uart0_send_string_with_num(msg_eeprom_array,17);//上传EEPROM中存储的数值
}
if(array_cmp(uart0_instr,"1100")==0)//松开
{
if(release_allow_motor_0)
{
//构造舵机指令
motor_command[2]=0x00;//ID=0
motor_command[6]=com_finger0_ratio_3_PARA2;
motor_command[7]=com_finger0_ratio_3_PARA3+0x04;
CHECK=ratio_command_check(0,com_finger0_ratio_3_PARA2,com_finger0_ratio_3_PARA3+0x04);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);//下发指令
}
if(release_allow_motor_1)
{
//构造舵机指令
motor_command[2]=0x01;//ID=1
motor_command[6]=com_finger1_ratio_3_PARA2;
motor_command[7]=com_finger1_ratio_3_PARA3+0x04;
CHECK=ratio_command_check(1,com_finger1_ratio_3_PARA2,com_finger1_ratio_3_PARA3+0x04);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);//下发指令
}
}
if(array_cmp(uart0_instr,"1200")==0)//夹紧
{
if(hold_allow_motor_0 & hold_allow_motor_1)
{
//第一阶段
//构造舵机指令
motor_command[2]=0x00;//ID=0
motor_command[6]=com_finger0_ratio_1_PARA2;
motor_command[7]=com_finger0_ratio_1_PARA3;
CHECK=ratio_command_check(0,com_finger0_ratio_1_PARA2,com_finger0_ratio_1_PARA3);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);//下发指令
//构造舵机指令
motor_command[2]=0x01;//ID=1
motor_command[6]=com_finger1_ratio_1_PARA2;
motor_command[7]=com_finger1_ratio_1_PARA3;
CHECK=ratio_command_check(1,com_finger1_ratio_1_PARA2,com_finger1_ratio_1_PARA3);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);//下发指令
approach_0=1;
approach_1=1;
//等接近开关触发，同时查询检测是否空夹
while((approach_0|approach_1)&&(PINE & BIT(7)))
{
if(approach_0)
{
if(!(PINE & BIT(2)))//PE2=0进入
{
delay(50);
if(!(PINE & BIT(2)))
{
uart1_send_string((uchar*)no0stop,9);
//uart0_send_string(" interrupt 5 ");
approach_0=0;
}
}
}
if(approach_1)
{
if(!(PINE & BIT(3)))//PE3=0进入
{
delay(50);
if(!(PINE & BIT(3)))
{
uart1_send_string((uchar*)no1stop,9);
//uart0_send_string(" interrupt 6 ");
approach_1=0;
}
}
}
}
if(PINE & BIT(7))//不空夹则进行第二阶段
{
//第二阶段
//构造舵机指令
motor_command[2]=0x00;//ID=0
motor_command[6]=com_finger0_ratio_2_PARA2;
motor_command[7]=com_finger0_ratio_2_PARA3;
CHECK=ratio_command_check(0,com_finger0_ratio_2_PARA2,com_finger0_ratio_2_PARA3);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);//下发指令
//构造舵机指令
motor_command[2]=0x01;//ID=1
motor_command[6]=com_finger1_ratio_2_PARA2;
motor_command[7]=com_finger1_ratio_2_PARA3;
CHECK=ratio_command_check(1,com_finger1_ratio_2_PARA2,com_finger1_ratio_2_PARA3);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);//下发指令
//等待夹紧力达到阈值并继续判断是否空夹
force_high8=0;
hold_stage_2_continue=1;
while(hold_stage_2_continue && (PINE & BIT(7)))
{
force_ulong=ReadCount();
ulong_to_uchar_array(force_ulong);//目的是获取force_high8
if(force_high8>=force_judge)
{
hold_stage_2_continue=0;//下次循环跳出
//停止舵机运行
delay(50);
uart1_send_string((uchar*)no0stop,9);
delay(50);
uart1_send_string((uchar*)no1stop,9);
hold_allow_motor_0=0;//禁止0号手指向端部靠近
hold_allow_motor_1=0;//禁止1号手指向端部靠近
//报告上位机已经夹紧
delay(50);
uart0_send_string("zz10");
delay(50);
uart0_send_string("zz10");
}
}
}
}
}
if(array_cmp(Type(uart0_instr),"13")==0)//设定手指0，Ratio 1
{
com_finger0_ratio_1_PARA2=uart0_instr[2];
com_finger0_ratio_1_PARA3=uart0_instr[3];
command_data_save_finger_0_ratio_1(com_finger0_ratio_1_PARA2,com_finger0_ratio_1_PARA3);
}
if(array_cmp(Type(uart0_instr),"14")==0)//设定手指0，Ratio 2
{
com_finger0_ratio_2_PARA2=uart0_instr[2];
com_finger0_ratio_2_PARA3=uart0_instr[3];
command_data_save_finger_0_ratio_2(com_finger0_ratio_2_PARA2,com_finger0_ratio_2_PARA3);
}
if(array_cmp(Type(uart0_instr),"15")==0)//设定手指0，Ratio 3
{
com_finger0_ratio_3_PARA2=uart0_instr[2];
com_finger0_ratio_3_PARA3=uart0_instr[3];
command_data_save_finger_0_ratio_3(com_finger0_ratio_3_PARA2,com_finger0_ratio_3_PARA3);
}
if(array_cmp(Type(uart0_instr),"16")==0)//设定手指1，Ratio 1
{
com_finger1_ratio_1_PARA2=uart0_instr[2];
com_finger1_ratio_1_PARA3=uart0_instr[3];
command_data_save_finger_1_ratio_1(com_finger1_ratio_1_PARA2,com_finger1_ratio_1_PARA3);
}
if(array_cmp(Type(uart0_instr),"17")==0)//设定手指1，Ratio 2
{
com_finger1_ratio_2_PARA2=uart0_instr[2];
com_finger1_ratio_2_PARA3=uart0_instr[3];
command_data_save_finger_1_ratio_2(com_finger1_ratio_2_PARA2,com_finger1_ratio_2_PARA3);
}
if(array_cmp(Type(uart0_instr),"18")==0)//设定手指1，Ratio 3
{
com_finger1_ratio_3_PARA2=uart0_instr[2];
com_finger1_ratio_3_PARA3=uart0_instr[3];
command_data_save_finger_1_ratio_3(com_finger1_ratio_3_PARA2,com_finger1_ratio_3_PARA3);
}
if(array_cmp(Type(uart0_instr),"19")==0)//设定force_judge
{
force_judge=uart0_instr[2];
command_data_save_force_high8(force_judge);
}
break;
}
case 2:
{
if(array_cmp(uart0_instr,"2100")==0)//调试模式·手指0停止
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
uart1_send_string((uchar*)no0stop,9);
}
if(array_cmp(uart0_instr,"2101")==0)//调试模式·手指0松开方向移动
{
if(release_allow_motor_0)
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
motor_command[2]=0x00;//ID=0
motor_command[6]=PARA2;
motor_command[7]=PARA3+0x04;//顺时针，绝对不可在此更改PARA3的值！
CHECK=ratio_command_check(0,PARA2,PARA3+0x04);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);
//delay(50);
//uart0_send_string_with_num(motor_command,9);
TIMSK|=BIT(2);//打开定时计数1中断，向上返回夹持力值
}
}
if(array_cmp(uart0_instr,"2102")==0)//调试模式·手指0夹紧方向移动
{
if(hold_allow_motor_0)
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
motor_command[2]=0x00;//ID=0
motor_command[6]=PARA2;
motor_command[7]=PARA3;
CHECK=ratio_command_check(0,PARA2,PARA3);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);
//delay(50);
//uart0_send_string_with_num(motor_command,9);
TIMSK|=BIT(2);//打开定时计数1中断，向上返回夹持力值
}
}
if(array_cmp(uart0_instr,"2110")==0)//调试模式·手指1停止
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
uart1_send_string((uchar*)no1stop,9);
}
if(array_cmp(uart0_instr,"2111")==0)//调试模式·手指1松开方向移动
{
if(release_allow_motor_1)
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
motor_command[2]=0x01;//ID=1
motor_command[6]=PARA2;
motor_command[7]=PARA3+0x04;//顺时针，绝对不可在此更改PARA3的值！
CHECK=ratio_command_check(1,PARA2,PARA3+0x04);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);
//delay(50);
//uart0_send_string_with_num(motor_command,9);
TIMSK|=BIT(2);//打开定时计数1中断，向上返回夹持力值
}
}
if(array_cmp(uart0_instr,"2112")==0)//调试模式·手指1夹紧方向移动
{
if(hold_allow_motor_1)
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
motor_command[2]=0x01;//ID=1
motor_command[6]=PARA2;
motor_command[7]=PARA3;
CHECK=ratio_command_check(1,PARA2,PARA3);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);
//delay(50);
//uart0_send_string_with_num(motor_command,9);
TIMSK|=BIT(2);//打开定时计数1中断，向上返回夹持力值
}
}
if(array_cmp(Type(uart0_instr),"22")==0)
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
delay(50);
uart1_send_string((uchar*)no0stop,9);
delay(50);
uart1_send_string((uchar*)no1stop,9);
PARA2=uart0_instr[2];
PARA3=uart0_instr[3];
//delay(50);
//uart0_send_string("ratio changed");
}
if(array_cmp(uart0_instr,"2301")==0)//调试模式·设置手指0速度1(两指相同)夹紧第一阶段
{
command_data_save_finger_0_ratio_1(PARA2,PARA3);
//delay(50);
//uart0_send_string(" Finger-0 Ratio-1 Set Successfully! ");
}
if(array_cmp(uart0_instr,"2302")==0)//调试模式·设置手指0速度2(两指相同)夹紧第二阶段
{
command_data_save_finger_0_ratio_2(PARA2,PARA3);
//delay(50);
//uart0_send_string(" Finger-0 Ratio-2 Set Successfully! ");
}
if(array_cmp(uart0_instr,"2303")==0)//调试模式·设置手指0速度3(两指相同)松开阶段
{
command_data_save_finger_0_ratio_3(PARA2,PARA3);
//delay(50);
//uart0_send_string(" Finger-0 Ratio-3 Set Successfully! ");
}
if(array_cmp(uart0_instr,"2311")==0)//调试模式·设置手指1速度1(两指相同)夹紧第一阶段
{
command_data_save_finger_1_ratio_1(PARA2,PARA3);
//delay(50);
//uart0_send_string(" Finger-1 Ratio-1 Set Successfully! ");
}
if(array_cmp(uart0_instr,"2312")==0)//调试模式·设置手指1速度2(两指相同)夹紧第二阶段
{
command_data_save_finger_1_ratio_2(PARA2,PARA3);
//delay(50);
//uart0_send_string(" Finger-1 Ratio-2 Set Successfully! ");
}
if(array_cmp(uart0_instr,"2313")==0)//调试模式·设置手指1速度3(两指相同)松开阶段
{
command_data_save_finger_1_ratio_3(PARA2,PARA3);
//delay(50);
//uart0_send_string(" Finger-1 Ratio-3 Set Successfully! ");
}
if(array_cmp(Type(uart0_instr),"24")==0)//调试模式·设置夹紧力阈值
{
force_judge=uart0_instr[2];
command_data_save_force_high8(force_judge);
//delay(50);
//uart0_send_string(" Force Set Successfully! ");
}
if(array_cmp(uart0_instr,"2500")==0)//调试模式·读取EEPROM中存储的RATIO和力阈值
{
//更新ratio变量值、力阈值和消息数组的值
//获取EEPROM中存储的RATIO值
command_data_read_finger_0_ratio_1(&com_finger0_ratio_1_PARA2,&com_finger0_ratio_1_PARA3);
command_data_read_finger_0_ratio_2(&com_finger0_ratio_2_PARA2,&com_finger0_ratio_2_PARA3);
command_data_read_finger_0_ratio_3(&com_finger0_ratio_3_PARA2,&com_finger0_ratio_3_PARA3);
command_data_read_finger_1_ratio_1(&com_finger1_ratio_1_PARA2,&com_finger1_ratio_1_PARA3);
command_data_read_finger_1_ratio_2(&com_finger1_ratio_2_PARA2,&com_finger1_ratio_2_PARA3);
command_data_read_finger_1_ratio_3(&com_finger1_ratio_3_PARA2,&com_finger1_ratio_3_PARA3);
msg_eeprom_array[0]='z';
msg_eeprom_array[1]='z';
msg_eeprom_array[2]='3';
msg_eeprom_array[3]='3';
msg_eeprom_array[4]=com_finger0_ratio_1_PARA2;
msg_eeprom_array[5]=com_finger0_ratio_1_PARA3;
msg_eeprom_array[6]=com_finger0_ratio_2_PARA2;
msg_eeprom_array[7]=com_finger0_ratio_2_PARA3;
msg_eeprom_array[8]=com_finger0_ratio_3_PARA2;
msg_eeprom_array[9]=com_finger0_ratio_3_PARA3;
msg_eeprom_array[10]=com_finger1_ratio_1_PARA2;
msg_eeprom_array[11]=com_finger1_ratio_1_PARA3;
msg_eeprom_array[12]=com_finger1_ratio_2_PARA2;
msg_eeprom_array[13]=com_finger1_ratio_2_PARA3;
msg_eeprom_array[14]=com_finger1_ratio_3_PARA2;
msg_eeprom_array[15]=com_finger1_ratio_3_PARA3;
//获取EEPROM中存储的夹紧力阈值有效值高八位
command_data_read_force_high8(&force_judge);
msg_eeprom_array[16]=force_judge;
delay(50);
uart0_send_string_with_num(msg_eeprom_array,17);//上传EEPROM中存储的数值
}
break;
}
default:break;
}
if(array_cmp(uart0_instr,"3100")==0)//恢复触碰报警 ext interrupt 0
{
ext_collision_alert_allow_int0=1;//上侧
}
if(array_cmp(uart0_instr,"3200")==0)//恢复触碰报警 ext interrupt 1
{
ext_collision_alert_allow_int1=1;//下侧
}
if(array_cmp(uart0_instr,"3300")==0)//恢复触碰报警 ext interrupt 4
{
ext_collision_alert_allow_int4=1;//指尖
}
if(array_cmp(uart0_instr,"3400")==0)//读取报警允许变量的状态
{
msg_interrupt_array[4]=ext_collision_alert_allow_int0;
msg_interrupt_array[5]=ext_collision_alert_allow_int1;
msg_interrupt_array[6]=ext_collision_alert_allow_int4;
uart0_send_string_with_num(msg_interrupt_array,7);
}
/*末尾应完成命令执行后的还原工作A-D*/
uart0_instr_flag=0; //A.命令接收标志位置0
uart0_r_instr_chk=0;//B.命令构造字符数计数置0
for(i=0;i<12;i++)//C.命令清除
{
uart0_instr[i]=0;
}
UCSR0B|=BIT(RXCIE0);//D.恢复UART0的接收中断
}
/*
【偏向撞击保护的编程】
（1）一旦手指碰撞到限位开关产生低电平，哪怕是抖动、不稳定的低电平，
也要禁止手指继续向碰撞位置移动，此时不需要延迟防抖的处理；
（2）只有当手指真正完全地离开了碰撞地点，限位开关IO成为稳定的高电平，
才允许手指再次向碰撞的方向移动。
*/
if(!(PINE & BIT(5)))//检测手指0是否复位
{
if(stop_allow_cage_0)
{
release_allow_motor_0=0;//禁止1号手指向端部靠近
hold_allow_motor_0=1;//允许1号手指向中间靠近
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
delay(50);
uart1_send_string((uchar*)no0stop,9);
delay(50);
uart0_send_string("zz30");
delay(50);
uart0_send_string("zz30");
stop_allow_cage_0=0;
}
}
else
{
if(!stop_allow_cage_0)
{
delay(500);
if(PINE & BIT(5))
{
release_allow_motor_0=1;//允许1号手指向端部靠近
stop_allow_cage_0=1;
}
}
}
if(!(PINE & BIT(6)))//检测手指1是否复位
{
if(stop_allow_cage_1)
{
release_allow_motor_1=0;//禁止1号手指向端部靠近
hold_allow_motor_1=1;//允许1号手指向中间靠近
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
delay(50);
uart1_send_string((uchar*)no1stop,9);
delay(50);
uart0_send_string("zz31");
delay(50);
uart0_send_string("zz31");
stop_allow_cage_1=0;
}
}
else
{
if(!stop_allow_cage_1)
{
delay(500);
if(PINE & BIT(6))
{
release_allow_motor_1=1;//允许1号手指向端部靠近
stop_allow_cage_1=1;
}
}
}
if(!(PINE & BIT(7)))//检测是否空夹
{
if(stop_allow_empty)
{
hold_allow_motor_0=0;//禁止0号手指向端部靠近
hold_allow_motor_1=0;//禁止1号手指向端部靠近
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
delay(50);
uart1_send_string((uchar*)no1stop,9);
delay(50);
uart1_send_string((uchar*)no0stop,9);
delay(50);
uart0_send_string("zz32");
delay(50);
uart0_send_string("zz32");
stop_allow_empty=0;
}
}
else
{
if(!stop_allow_empty)
{
delay(500);
if(PINE & BIT(7))
{
hold_allow_motor_0=1;//允许0号手指向中间靠近
hold_allow_motor_1=1;//允许1号手指向中间靠近
stop_allow_empty=1;
}
}
}
}
}
/* READ a CTypedPtrArray object from input file 'fp'. */
mxArray * ReadCTypedPtrArray( FILE * fp )
{
unsigned short wBigObjectTag = 0x7fff;
unsigned short wClassTag = 0x8000;
unsigned long dwBigClassTag = 0x80000000;
unsigned short wNewClassTag = 0xffff;
unsigned long dCount = ReadCount( fp );
int i, n;
unsigned short wTag, wSchema, wLen, wClassIndex;
unsigned long obTag;
char szName[80];
mxArray * array;
char ** className;
char * paramFields[] =
{
"m_szName",
"m_szData"
};
char * trialFields[] =
{
"m_dTimeStamp",
"m_wFigDelay",
"m_dTime",
"m_fA_X",
"m_fB_X",
"m_fR_X",
"m_fA_Y",
"m_fB_Y",
"m_fR_Y",
"m_nItem",
"m_nSet",
"m_nStatus",
"m_nResponseTime",
"m_nV1",
"m_nV2",
"m_nV3",
"m_ucActiveChannel",
"m_szComment",
"m_wSpikeEvent",
"m_dSpikeTime",
"m_wEyePointX",
"m_wEyePointY",
"m_wEyePointTime",
"m_dKeyTime",
"m_nKeyAction",
"m_dFPTime",
"m_bFPAction",
"m_nLFPSampleRate",
"m_nLFPChannels",
"m_nLFPGain",
"m_nLFPSample"
};
className = (char**)mxCalloc( sizeClassName + dCount + 1, sizeof(char*) );
memcpy( className, ClassName, sizeClassName * sizeof(char*) );
mxFree( ClassName );
ClassName = className;
for( i = 0; i < (int)dCount; i ++ )
{
fread( &wTag, 2, 1, fp );
if( wTag == wBigObjectTag )
fread( &obTag, 4, 1, fp );
else
obTag = ((wTag & wClassTag) << 16) | (wTag & ~wClassTag);
if( wTag == wNewClassTag )
{
fread( &wSchema, 2, 1, fp );
fread( &wLen, 2, 1, fp );
fread( szName, wLen, 1, fp );
szName[wLen] = '\0';
sizeClassName ++;
ClassName[sizeClassName] = mxCalloc( strlen( szName ) + 1, sizeof(char) );
strcpy( ClassName[sizeClassName], szName );
sizeClassName ++;
}
else
{
wClassIndex = (unsigned short)(obTag & ~dwBigClassTag);
strcpy( szName, ClassName[wClassIndex] );
sizeClassName ++;
}
if( strcmp( szName, "CParam" ) == 0 )
{
if( i == 0 )
{
n = sizeof(paramFields)/sizeof(char*);
array = mxCreateStructMatrix( dCount, 1, n, paramFields );
}
ReadCParam( array, i, fp );
}
else if( strcmp( szName, "CTrial" ) == 0 )
{
if( i == 0 )
{
n = sizeof(trialFields)/sizeof(char*);
array = mxCreateStructMatrix( dCount, 1, n, trialFields );
}
if(!ReadCTrial( array, i, fp ))
break;
}
else
printf( "Unknown data format.\n" );
}
return array;
}
void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )
{
unsigned short wDataFormat;
mxArray ** nTestType = &plhs[0];
mxArray ** szComment = &plhs[1];
mxArray ** nSpikeChannel = &plhs[2];
mxArray ** aTestType = &plhs[3];
mxArray ** aExpParam = &plhs[4];
mxArray ** aBehavParam = &plhs[5];
mxArray ** aGraphParam = &plhs[6];
mxArray ** aTestSeries = &plhs[7];
mxArray ** aTrial = &plhs[8];
mxArray ** aFOREP = &plhs[9];
mxArray ** aResponseTime = &plhs[10];
mxArray ** aTrialStatus = &plhs[11];
mxArray ** aDepth2Match = &plhs[12];
mxArray ** aCursorDepth = &plhs[13];
mxArray ** ucMajorChannel= &plhs[14];
mxArray ** nCellNum = &plhs[15];
mxArray ** ucElectrodeNum= &plhs[16];
mxArray ** nElectrodeDepth=&plhs[17];
mxArray ** fSpikeShape = &plhs[18];
mxArray ** nSpikeShapeTimes = &plhs[19];
mxArray ** dSpikeShapeTimestamp = &plhs[20];
mxArray ** nSpikeShapeSampleRate = &plhs[21];
int dims[2];
FILE * fp;
char * szFileName;
size_t buflen = mxGetM(prhs[0]) * mxGetN(prhs[0]) + 1;
unsigned long dwCount;
int i, j;
mxArray * array;
szFileName = mxCalloc( buflen, sizeof(char) );
mxGetString(prhs[0], szFileName, buflen);
if( !(fp = fopen( szFileName, "rb" )) )
{
printf( "Can't open file!\n" );
return;
}
setvbuf( fp, NULL, _IOFBF, 32000 );
dims[0] = 1;
dims[1] = 1;
*nTestType = mxCreateNumericArray( 2, dims, mxINT32_CLASS, mxREAL );
*nSpikeChannel = mxCreateNumericArray( 2, dims, mxINT32_CLASS, mxREAL );
*ucMajorChannel = mxCreateNumericArray( 2, dims, mxUINT8_CLASS, mxREAL );
*nSpikeShapeSampleRate = mxCreateNumericArray( 2, dims, mxINT32_CLASS, mxREAL );
dims[1] = 8;
*nCellNum = mxCreateNumericArray( 2, dims, mxINT16_CLASS, mxREAL );
*ucElectrodeNum = mxCreateNumericArray( 2, dims, mxUINT8_CLASS, mxREAL );
*nElectrodeDepth = mxCreateNumericArray( 2, dims, mxINT16_CLASS, mxREAL );
fread( &wDataFormat, 2, 1, fp );
if(wDataFormat > 10) {
printf("The format of underlining VLab file is newer than expected! !\n");
/*this piece of code actually reads data up to wDataFormat = 2*/
/*return;*/
}
fread( mxGetData(*nTestType), 4, 1, fp );
if( wDataFormat == 0 || wDataFormat >= 2 )
*szComment = ReadCString( fp );
else
*szComment = mxCreateString( mxCalloc( 1, sizeof(char) ) );
fread( mxGetData(*nSpikeChannel), 4, 1, fp );
if( wDataFormat > 0 )
{
fread( mxGetData(*ucMajorChannel), 1, 1, fp );
fread( mxGetData(*nCellNum), 2, 8, fp );
fread( mxGetData(*ucElectrodeNum), 1, 8, fp );
fread( mxGetData(*nElectrodeDepth), 2, 8, fp );
}
*aTestType = ReadCStringArray( fp );
ClassName = (char**)mxCalloc( 1, sizeof(char*) );
sizeClassName = 0;
*aExpParam = ReadCTypedPtrArray( fp );
*aBehavParam = ReadCTypedPtrArray( fp );
*aGraphParam = ReadCTypedPtrArray( fp );
*aTestSeries = ReadCStringArray( fp );
*aTrial = ReadCTypedPtrArray( fp );
*aFOREP = ReadCArray( fp, mxINT32_CLASS );
*aResponseTime = ReadCArray( fp, mxINT32_CLASS );
*aTrialStatus = ReadCArray( fp, mxINT32_CLASS );
*aDepth2Match = ReadCArray( fp, mxINT32_CLASS );
*aCursorDepth = ReadCArray( fp, mxINT32_CLASS );
/* spike shape */
if (wDataFormat >= 10) {
*fSpikeShape = mxCreateCellMatrix(8, 1);
*nSpikeShapeTimes = mxCreateCellMatrix(8, 1);
for (i = 0; i < 8; i ++) {
dwCount = ReadCount( fp );
array = mxCreateCellMatrix(dwCount, 1);
for (j = 0; j < (int)dwCount; j ++)
mxSetCell( array, j, ReadCArray(fp, mxSINGLE_CLASS));
mxSetCell(*fSpikeShape, i, array);
mxSetCell(*nSpikeShapeTimes, i, ReadCArray(fp, mxINT32_CLASS));
}
*dSpikeShapeTimestamp = ReadCArray(fp, mxUINT32_CLASS);
dims[1] = 1;
*nSpikeShapeSampleRate = mxCreateNumericArray( 2, dims, mxINT32_CLASS, mxREAL );
fread(mxGetData(*nSpikeShapeSampleRate), 4, 1, fp );
}
else
{
*fSpikeShape = mxCreateCellMatrix(8, 1);
*nSpikeShapeTimes = mxCreateCellMatrix(8, 1);
dims[1] = 1;
*dSpikeShapeTimestamp = mxCreateNumericArray(2, dims, mxUINT32_CLASS, mxREAL);
*nSpikeShapeSampleRate = mxCreateNumericArray(2, dims, mxINT32_CLASS, mxREAL);
}
fclose( fp );
mxFree( ClassName );
ClassName = NULL;
}
