void key_choice()
{
if(key_check(0)==0) //检测PB16按键按下
{
// orgVal[2]++;
// RPMIN_tmp_SPI0++;
// FLOAT_Singal_SPI_Write(LDC1000_CMD_PWRCONFIG,0x00,SPI1);
// FLOAT_Singal_SPI_Write(LDC1000_CMD_RPMAX,orgVal[2],SPI1);
// FLOAT_Singal_SPI_Write(LDC1000_CMD_PWRCONFIG,0x01,SPI1);
// systick_delay_ms(50);
// FLOAT_Singal_SPI_Write(LDC1000_CMD_PWRCONFIG,0x00,SPI0);
// FLOAT_Singal_SPI_Write(LDC1000_CMD_RPMAX,RPMIN_tmp_SPI0,SPI0);
// FLOAT_Singal_SPI_Write(LDC1000_CMD_PWRCONFIG,0x01,SPI0);
kd_Steering+=0.05;
}
if(key_check(1)==0) //检测PB17按键按下
{
kd_Steering-=0.05;
// orgVal[2]--;
// RPMIN_tmp_SPI0--;
// FLOAT_Singal_SPI_Write(LDC1000_CMD_PWRCONFIG,0x00,SPI1);
// FLOAT_Singal_SPI_Write(LDC1000_CMD_RPMAX,orgVal[2],SPI1);
// FLOAT_Singal_SPI_Write(LDC1000_CMD_PWRCONFIG,0x01,SPI1);
// systick_delay_ms(50);
// FLOAT_Singal_SPI_Write(LDC1000_CMD_PWRCONFIG,0x00,SPI0);
// FLOAT_Singal_SPI_Write(LDC1000_CMD_RPMAX,RPMIN_tmp_SPI0,SPI0);
// FLOAT_Singal_SPI_Write(LDC1000_CMD_PWRCONFIG,0x01,SPI0);
}
}
/*!
* @brief 启动前进行检测（检测按键是否按下，按下则进入死循环，防止进入 main 函数,松开按键后再按下则进行解锁）
* @since v5.0
* @note 此函数可避免 下载口在 main 前 复用了导致无法下载等问题
*/
void start_check()
{
#if 0
uint8 flag = 0;
key_init(KEY_A);
if(key_check(KEY_A) == KEY_DOWN )
{
//按键按下
led_init(LED0);
while(1)
{
if(key_check(KEY_A) == KEY_UP)
{
flag = 1;
}
led_turn(LED0);
printf("\n进入死循环等待！");
DELAY_MS(500); //此处的延时，可起到 按键 消抖的功能
//如果 送开按键后，再按下 按键，则 进行解锁 操作
if((flag == 1) && (key_check(KEY_A) == KEY_DOWN ))
{
while(key_check(KEY_A) == KEY_DOWN) //等待按键 弹起
{
led_turn(LED0);
DELAY_MS(100); //此处的延时，可起到 按键 消抖的功能
}
while(key_check(KEY_A) == KEY_UP) //等待按键 弹起后 再 进行解锁
{
led_turn(LED0);
DELAY_MS(50); //此处的延时，可起到 按键 消抖的功能
}
printf("\n进行解锁操作，请重新刷入固件");
//解锁单片机
flash_init();
DELAY_MS(100);
flash_erase_sector(0); //擦除扇区 0 (解锁)
NVIC_SystemReset(); //复位单片机
}
}
}
#endif
}
/*
* copy the keys for fork
*/
int copy_keys(unsigned long clone_flags, struct task_struct *tsk)
{
key_check(tsk->thread_keyring);
key_check(tsk->request_key_auth);
/* no thread keyring yet */
tsk->thread_keyring = NULL;
/* copy the request_key() authorisation for this thread */
key_get(tsk->request_key_auth);
return 0;
} /* end copy_keys() */
/*&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
//----------时间量处理------------
&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&*/
void time_dis(mico_i2c_device_t * slave_device)
{
if(wifi_display==1)
{
wifi_display_timer++;
if(wifi_display_timer==500)
{
wifi_display=0;
wifi_display_timer=0;
}
}
if(wifi_display==0)
{
time_shan_dis();//闪烁树立
gjys_1f_dis(slave_device);//关机1分钟延时处理
key_check(slave_device);
baoc_dis(slave_device);
out_dis(slave_device);
fan_time_dis(slave_device);
Heart_time_dis(slave_device);
proces_out_dis(slave_device);
}
}
static noinline void key_gc_unused_key(struct key *key)
{
key_check(key);
security_key_free(key);
if (test_bit(KEY_FLAG_IN_QUOTA, &key->flags)) {
spin_lock(&key->user->lock);
key->user->qnkeys--;
key->user->qnbytes -= key->quotalen;
spin_unlock(&key->user->lock);
}
atomic_dec(&key->user->nkeys);
if (test_bit(KEY_FLAG_INSTANTIATED, &key->flags))
atomic_dec(&key->user->nikeys);
key_user_put(key->user);
if (key->type->destroy)
key->type->destroy(key);
kfree(key->description);
#ifdef KEY_DEBUGGING
key->magic = KEY_DEBUG_MAGIC_X;
#endif
kmem_cache_free(key_jar, key);
}
/*
* Garbage collect an unreferenced, detached key
*/
static noinline void key_gc_unused_key(struct key *key)
{
key_check(key);
/* Throw away the key data if the key is instantiated */
if (test_bit(KEY_FLAG_INSTANTIATED, &key->flags) &&
!test_bit(KEY_FLAG_NEGATIVE, &key->flags) &&
key->type->destroy)
key->type->destroy(key);
security_key_free(key);
/* deal with the user's key tracking and quota */
if (test_bit(KEY_FLAG_IN_QUOTA, &key->flags)) {
spin_lock(&key->user->lock);
key->user->qnkeys--;
key->user->qnbytes -= key->quotalen;
spin_unlock(&key->user->lock);
}
atomic_dec(&key->user->nkeys);
if (test_bit(KEY_FLAG_INSTANTIATED, &key->flags))
atomic_dec(&key->user->nikeys);
key_user_put(key->user);
kfree(key->description);
#ifdef KEY_DEBUGGING
key->magic = KEY_DEBUG_MAGIC_X;
#endif
kmem_cache_free(key_jar, key);
}
/*
* copy the keys in a thread group for fork without CLONE_THREAD
*/
int copy_thread_group_keys(struct task_struct *tsk)
{
key_check(current->thread_group->session_keyring);
key_check(current->thread_group->process_keyring);
/* no process keyring yet */
tsk->signal->process_keyring = NULL;
/* same session keyring */
rcu_read_lock();
tsk->signal->session_keyring =
key_get(rcu_dereference(current->signal->session_keyring));
rcu_read_unlock();
return 0;
} /* end copy_thread_group_keys() */
/*
* copy the keys for fork
*/
int copy_keys(unsigned long clone_flags, struct task_struct *tsk)
{
key_check(tsk->thread_keyring);
/* no thread keyring yet */
tsk->thread_keyring = NULL;
return 0;
} /* end copy_keys() */
/*
* copy the keys in a thread group for fork without CLONE_THREAD
*/
int copy_thread_group_keys(struct task_struct *tsk)
{
unsigned long flags;
key_check(current->thread_group->session_keyring);
key_check(current->thread_group->process_keyring);
/* no process keyring yet */
tsk->signal->process_keyring = NULL;
/* same session keyring */
spin_lock_irqsave(¤t->sighand->siglock, flags);
tsk->signal->session_keyring =
key_get(current->signal->session_keyring);
spin_unlock_irqrestore(¤t->sighand->siglock, flags);
return 0;
} /* end copy_thread_group_keys() */
static int multi_key_detection(void)
{
int current_status = 0;
int index = 0;
int count = long_press_time / ( KEY_SAMPLE_PERIOD + 40 ); //ADC delay
count = count / 2; // make it 3 times faster !!! DAP
int m_key = 0;
int cur_key = 0;
int adc_data[4] = {0, 0, 0, 0};
int adc_raw;
int channel = MULTIKEY_ADC_CHANNEL;
IMM_GetOneChannelValue(channel, adc_data, &adc_raw);
m_key = cur_key = key_check(adc_data[0], adc_data[1]);
while(index++ < count)
{
/* Check if the current state has been changed */
current_status = INREG32(ACCDET_MEMORIZED_IN) & 0x3;
if(current_status != 0)
{
return (m_key | SHORT_PRESS);
}
/* Check if the voltage has been changed (press one key and another) */
IMM_GetOneChannelValue(channel, adc_data, &adc_raw);
cur_key = key_check(adc_data[0], adc_data[1]);
if(m_key != cur_key)
return (m_key | SHORT_PRESS);
else
m_key = cur_key;
msleep(KEY_SAMPLE_PERIOD);
}
return (m_key | LONG_PRESS);
}
int main(void) {
int i;
char choice;
char quit;
main_init();
quit = FALSE;
do {
choice = title_page();
switch (choice) {
case (0) :
case (1) :
gPlayers = choice + 1;
break;
case (2) :
continue;
default :
quit = TRUE;
};
if (!quit) {
game_reset();
// main game loop
do {
key_check();
for (i = 0; i != gPlayers; ++i) {
player_key_check(i);
player_stack_linecheck(i);
player_update(i);
}
screen_draw();
blit(gBuff, screen, 0, 0, 0, 0, SCREEN_W, SCREEN_H);
} while (gWinner == 0);
record_scores();
table_display();
}
} while (!quit);
table_display();
main_exit();
return 0;
}
/*
* Garbage collect a list of unreferenced, detached keys
*/
static noinline void key_gc_unused_keys(struct list_head *keys)
{
while (!list_empty(keys)) {
struct key *key =
list_entry(keys->next, struct key, graveyard_link);
list_del(&key->graveyard_link);
kdebug("- %u", key->serial);
key_check(key);
security_key_free(key);
/* deal with the user's key tracking and quota */
if (test_bit(KEY_FLAG_IN_QUOTA, &key->flags)) {
spin_lock(&key->user->lock);
key->user->qnkeys--;
key->user->qnbytes -= key->quotalen;
spin_unlock(&key->user->lock);
}
atomic_dec(&key->user->nkeys);
if (test_bit(KEY_FLAG_INSTANTIATED, &key->flags))
atomic_dec(&key->user->nikeys);
/* now throw away the key memory */
if (key->type->destroy)
key->type->destroy(key);
key_user_put(key->user);
kfree(key->description);
#ifdef KEY_DEBUGGING
key->magic = KEY_DEBUG_MAGIC_X;
#endif
kmem_cache_free(key_jar, key);
}
}
/*
* Garbage collect a list of unreferenced, detached keys
*/
static noinline void key_gc_unused_keys(struct list_head *keys)
{
while (!list_empty(keys)) {
struct key *key =
list_entry(keys->next, struct key, graveyard_link);
short state = key->state;
list_del(&key->graveyard_link);
kdebug("- %u", key->serial);
key_check(key);
/* Throw away the key data if the key is instantiated */
if (state == KEY_IS_POSITIVE && key->type->destroy)
key->type->destroy(key);
security_key_free(key);
/* deal with the user's key tracking and quota */
if (test_bit(KEY_FLAG_IN_QUOTA, &key->flags)) {
spin_lock(&key->user->lock);
key->user->qnkeys--;
key->user->qnbytes -= key->quotalen;
spin_unlock(&key->user->lock);
}
atomic_dec(&key->user->nkeys);
if (state != KEY_IS_UNINSTANTIATED)
atomic_dec(&key->user->nikeys);
key_user_put(key->user);
kfree(key->description);
memzero_explicit(key, sizeof(*key));
kmem_cache_free(key_jar, key);
}
}
static void timer_callback(void *parameter)
{
int i;
key_t key;
rt_ubase_t level;
struct dev_key *dev_key = (struct dev_key *)parameter;
RT_ASSERT(dev_key != RT_NULL);
for (i = 0; i < KEY_NUM; i++)
{
key = key_check(i);
if (KEY_VALUE(key) != KEY_NONE)
{
dev_key->key_buffer[dev_key->save_index] = key;
level = rt_hw_interrupt_disable();
dev_key->save_index++;
if (dev_key->save_index >= KEY_QUEUE_LEN)
dev_key->save_index = 0;
rt_hw_interrupt_enable(level);
/* invoke callback */
if(dev_key->parent.rx_indicate != RT_NULL)
{
rt_size_t length;
if (dev_key->read_index > dev_key->save_index)
length = KEY_QUEUE_LEN - dev_key->read_index + dev_key->save_index;
else
length = dev_key->save_index - dev_key->read_index;
dev_key->parent.rx_indicate(&dev_key->parent, length);
}
}
}
}
void main(void)
{
int i1=0;
int count10S = 0;
Device_init();
disable_irq(PIT0_IRQn);
systick_delay_ms(50);
FLOAT_LDC_init(SPI1);
systick_delay_ms(50);
FLOAT_LDC_init(SPI0);
systick_delay_ms(1000);
uart_init(UART3,115200);
key_init(0);
key_init(1);
key_init(2);
//LDC_EVM_TEST();
//Speed_Ctl_Init(short point_value, double dKpp, double dKii, double dKdd);
while(1)
{
//value_collect();
LCD_P6x8Str(0,2,"Rmax Lmin");
printf("Rmax Rmin\r\n");
systick_delay_ms(1500);
i1=50;
while(i1--)
{
adjustment[2]=(float)filter(SPI1)/10;//右max
LCD_BL(55,2,(uint16)adjustment[2]);
printf("%d\r\n",adjustment[2]);
}
i1=50;
while(i1--)
{
adjustment[1]=(float)filter(SPI0)/10;//左min
LCD_BL(90,2,(uint16)adjustment[1]);
printf("%d\r\n",adjustment[1]);
}
LCD_BL(55,2,(uint16)adjustment[1]);
LCD_BL(90,2,(uint16)adjustment[2]);
LCD_P6x8Str(0,4,"Lmax Rmin");
printf("Lmax Rmin\r\n");
systick_delay_ms(1500);
i1=50;
while(i1--)
{
adjustment[3]=(float)filter(SPI1)/10;//右min
LCD_BL(55,4,(uint16)adjustment[3]);
printf("%d\r\n",adjustment[3]);
}
i1=50;
while(i1--)
{
adjustment[4]=(float)filter(SPI0)/10;//左max
LCD_BL(90,4,(uint16)adjustment[4]);
printf("%d\r\n",adjustment[4]);
}
LCD_BL(55,4,(uint16)adjustment[4]);
LCD_BL(90,4,(uint16)adjustment[3]);
if(adjustment[1]<=adjustment[3])
adjustment[5]=adjustment[1];//次小值
else
adjustment[5]=adjustment[3];//次小值
if(adjustment[2]>=adjustment[4])
adjustment[6]=adjustment[2];//次大值
else
adjustment[6]=adjustment[4];//次大值
divisor = (adjustment[2] - adjustment[3])/60; //48 //50
divisor2 = (adjustment[4] - adjustment[1])/59; //48 //45
zengfuzhi = (adjustment[2] - adjustment[3])/(adjustment[4] - adjustment[1]);
// for(int i=0;i<10;i++)
// {
// printf("%d\r\n",adjustment[i]);
// }
// systick_delay_ms(1000);
LCD_P6x8Str(0,6,"Mid value");
i1 = 50;
systick_delay_ms(1500);
while(i1--)
{
adjustment[7]=(float)filter(SPI0)/10;//左
adjustment[8]=(float)filter(SPI1)/10;//右
LCD_BL(55,6,(uint16)adjustment[7]);
LCD_BL(90,6,(uint16)adjustment[8]);
}
if(adjustment[7]>=adjustment[8])
{ flag=1;
adjustment[0]=adjustment[7]-adjustment[8];
}
else
{
flag=0;
adjustment[0]=adjustment[8]-adjustment[7];
}
LCD_Fill(0x00);
Out_side_collect();
LCD_Fill(0x00);
adjustment_change();
enable_irq(PIT0_IRQn);
while(1)
{
if(PIT_1sFlag == 1)
{
gpio_turn(PTD4);
PIT_1sFlag = 0;
count10S ++;
}
if(key_check(2) == 0)
{
LCD_Fill(0x00);
Motor_stop();
break;
}
else
{
if(PIT_5msFlag == 1)
{
LDC_get();
PIT_5msFlag = 0;
Steering_Change();
}
if(count10S > 10)
{
if(gpio_get(PTC4) == 0)
{
while(1)
{
Motor_stop();
Steering_Change();
}
}
}
if(PIT_10msFlag == 1)
{
Quad_count();
now = (float)guad_val;
Motor_PID(now);
PIT_10msFlag = 0;
}
if(PIT_20msFlag == 1)
{
PIT_20msFlag = 0;
}
if(PIT_50msFlag == 1)
{
//Result_collect();
PIT_50msFlag = 0;
}
//printf("guad_val:%d \r\n",(guad_val));
//TEST_display();
speed_control();
//key_choice();
uint16 i23 = gpio_get(PTC4);
//LCD_BL(50,2,(uint16)(i23));
}
}
}
}
/*!
* @brief OLED显示
* @since v1.0
* @note 没啥
* Sample usage: oled_display();
*/
void oled_display()
{
//第一行显示拨码开关状态
OLED_P6x8Str(0, 0, "12345678");
OLED_P6x8Str(50, 0, "speed:"); Display_number(86, 0, vPID.Setpoint);
OLED_P6x8Str(50, 1, "Error:"); Display_number(86, 1, Error);
OLED_P6x8Str(0, 2, "slope:"); DisplayFloat(36, 2, slope.slope);
OLED_P6x8Str(80, 2, "P:"); DisplayFloatpid(92, 2, actuator_P);
OLED_P6x8Str(0, 3, "Distance:"); Display_number(54, 3, distance);
OLED_P6x8Str(86, 3, "D:"); DisplayFloatpid(98, 3, actuator_D);
OLED_P6x8Str(0, 4, "Bluetooth:");
if(bluetooth == 1)
OLED_P6x8Str(60, 4, "connected ");
else if(bluetooth == 0)
OLED_P6x8Str(60, 4, "disconnect");
else
OLED_P6x8Str(60, 4, "off ");
OLED_P6x8Str(0, 5, "stop?");
if(stop_done)
OLED_P6x8Str(36, 5, "yes");
else
OLED_P6x8Str(36, 5, "no");
#if ( CAR_NUMBER == 1 )
OLED_P6x8Str(0, 7, "Interesting");
OLED_P6x8Str(91, 7, "Car:1A");
#endif
#if ( CAR_NUMBER == 2 )
OLED_P6x8Str(0, 7, "Interesting");
OLED_P6x8Str(91, 7, "Car:2B");
#endif
if(!gpio_get (PTE1))
OLED_P6x8Str(0, 1, "^");
else
OLED_P6x8Str(0, 1, " ");
if(!gpio_get (PTE2))
OLED_P6x8Str(6, 1, "^");
else
OLED_P6x8Str(6, 1, " ");
if(!gpio_get (PTE3))
OLED_P6x8Str(12, 1, "^");
else
OLED_P6x8Str(12, 1, " ");
if(!gpio_get (PTE4))
OLED_P6x8Str(18, 1, "^");
else
OLED_P6x8Str(18, 1, " ");
if(!gpio_get (PTE5))
OLED_P6x8Str(24, 1, "^");
else
OLED_P6x8Str(24, 1, " ");
if(!gpio_get (PTE6))
OLED_P6x8Str(30, 1, "^");
else
OLED_P6x8Str(30, 1, " ");
if(!gpio_get (PTE7))
OLED_P6x8Str(36, 1, "^");
else
OLED_P6x8Str(36, 1, " ");
if(!gpio_get (PTE8))
OLED_P6x8Str(42, 1, "^");
else
OLED_P6x8Str(42, 1, " ");
if(key_check(KEY_A) == KEY_DOWN)
{
OLED_Init(); //OLED初始化 防花屏
}
if(key_check(KEY_U) == KEY_DOWN) //按K2重新获取两边线数组，串口接收
{
get_initial_value(img, &slope);
printf("const int left_initial[110] ={");
for(i = 0; i < 110; i++)
{
printf("%d, ", slope.left_initial_value[i]);
//printf("[%d]=%d\n", i, slope.right_initial_value[i]);
}
printf("};\nconst int right_initial[110] ={");
for(i = 0; i < 110; i++)
{
printf("%d, ", slope.right_initial_value[i]);
//printf("[%d]=%d\n", i, slope.right_initial_value[i]);
}
printf("};//Pay attention to delete the last \",\"\n");
//initial_value_get=1;
}
}
/***********************************主函数**************************************/
void main(void)
{
for(i = 0; i < 110; i++) //装载摄像头边线初值
{
slope.left_initial_value[i] = left_initial[i];
slope.right_initial_value[i] = right_initial[i];
}
camera_init(imgbuff); //初始化摄像头
//配置中断服务函数
set_vector_handler(PORTA_VECTORn , PORTA_IRQHandler); //设置LPTMR的中断服务函数为 PORTA_IRQHandler
set_vector_handler(DMA0_VECTORn , DMA0_IRQHandler); //设置LPTMR的中断服务函数为 PORTA_IRQHandler
set_vector_handler(PORTE_VECTORn ,PORTE_IRQHandler); //设置PORTE的中断服务函数为 PORTE_IRQHandler
enable_irq (PORTE_IRQn); //使能PORTE中断
port_init(PTE2, ALT1 | PULLUP ); //5 蓝牙同时发车
if(!gpio_get (PTE2)) //蓝牙通讯同时发车
{
key_init(KEY_A);
OLED_Init();
while(1)
{
#if ( CAR_NUMBER == 2 )
OLED_P6x8Str(0, 6, "Press K6 to start!");
if(key_check(KEY_A) == KEY_DOWN) //按K3发车
{
uart_putchar(VCAN_PORT, ch);
OLED_P6x8Str(0, 6, " ");
bluetooth = 1;
break;
}
#endif
#if ( CAR_NUMBER == 1 )
OLED_P6x8Str(0, 6, "Start 2B to start!");
while(uart_query (VCAN_PORT) == 0);
OLED_P6x8Str(0, 6, " ");
bluetooth = 1;
break;
#endif
}
}
else
{
bluetooth = 2;
}
mk60int();
init_PID();
while(1)
{
oled_display();
camera_get_img(); //摄像头获取图像
img_extract(img, imgbuff, CAMERA_SIZE); //解压图像
get_slope(img, &slope); //获取斜率
boundary_detection();//扫描图像获取边界
picture_analysis();//获取中线
//SetMotorVoltage(0.2,0.2);
if(!gpio_get (PTE1))
{
vcan_sendimg(imgbuff,CAMERA_SIZE);//摄像头看图像
}
if(!gpio_get (PTE2)) //蓝牙同时发车
{
#if ( CAR_NUMBER == 1 )
if(uart_querychar (VCAN_PORT, &ch) != 0)
{
if(ch == 's')
{
stop_done = 1;
}
}
#endif
#if ( CAR_NUMBER == 2 )
if(stop_done)
{
lptmr_delay_ms(500); //延时确保后车过线
while(1)
{
uart_putchar(VCAN_PORT, ch_stop);
}
}
#endif
}
if(!gpio_get (PTE3)) //速度40
{
vPID.Setpoint = 40;
}
if(!gpio_get (PTE4)) //速度45
{
vPID.Setpoint = 45;
}
if(!gpio_get (PTE5)) //速度50
{
vPID.Setpoint = 50;
}
if(!gpio_get (PTE6)) //速度47
{
vPID.Setpoint = 46;
}
if(!gpio_get (PTE7)) //速度48
{
vPID.Setpoint = 47;
}
if(!gpio_get (PTE8)) //速度49
{
vPID.Setpoint = 48;
}
//ware1[0]=xielv;
//vcan_sendware(ware1, sizeof(xielv));
/*
Display_number(36, 6, ttt);
Display_number(0, 6, sss);
printf("%d,", left_diuxian1);
printf("%d\n",tt-t);
*/
//printf("%d\n",speed1);
//printf("%d,",left_diuxian1);
//printf("%d\n",slope3);
//printf("%d,",left_chazi);
//printf("%d\n",right_chazi);
//printf("%d,",m);
//printf("%d\n",a);
// if(!gpio_get (PTE8))
// {
// for(l=0;l<120;l++)
// {
// printf("%d,",left_bianjie[l]);
// }
// printf("\n");
// }
}
}
int game_start(void)
{
int target, score, gameover, hit, i, j;
int prev_key10, prev_key11, key10, key11;
unsigned int ds;
char t, nc;
char disp[MAXINVNUM+1]; /* [0: 1234567890n] のような画面イメージ */
/* 照準,区切り,インベーダとUFO */
target = 0; t = '0'; score = 0; /* 照準とスコアの初期化 */
speed_count = 0; speed = INITSPEED; /* プレイ速度の初期化 */
shift_flag = FALSE; /* 敵の前進フラグの初期化 */
disp[0] = '0'; disp[1] = ':'; /* 表示フィールドの初期化 */
for (i = 2; i < MAXINVNUM; i++) disp[i] = ' ';
disp[MAXINVNUM] = '\0';
gameover = FALSE; /* ゲーム終了フラグの初期化 */
key10 = key_check(10); /* キーバッファ(照準キー)の初期化 */
prev_key10 = KEYOFF;
key11 = key_check(11); /* キーバッファ(発射キー)の初期化 */
prev_key11 = KEYOFF;
lcd_cursor(0,1); /* 初期画面の表示 */
lcd_printstr(disp);
while (gameover == FALSE){ /* ゲームオーバでなければループ */
/* キーの立上りを検出するための前回チェック時のキー状態を記憶 */
/* キーバッファ(照準キー)処理 */
if (key10 != KEYTRANS) prev_key10 = key10; /* 遷移中は前々回の値そのまま */
key10 = key_check(10);
/* キーバッファ(発射キー)処理 */
if (key11 != KEYTRANS) prev_key11 = key11; /* 遷移中は前々回の値そのまま */
key11 = key_check(11);
if ((prev_key10 == KEYOFF) && (key10 == KEYON)){
/* 照準キーが押されたときの処理 */
/* 照準は 0->1->...->8->9->n->0->... と順に変化する */
target++; /* 照準 +1 */
if (target > 10) target = 0; /* UFOの次は0 */
if (target < 10) t = '0' + target; /* 照準がUFOでないときのキャラ */
else t = 'n'; /* 照準がUFOのときのキャラ */
disp[0] = t; /* 照準値を表示にセット */
effect('t'); /* 効果音を鳴らす */
/* フィールドの表示 */
lcd_cursor(0,1);
lcd_printstr(disp);
}
if ((prev_key11 == KEYOFF) && (key11 == KEYON)){
/* 発射キーが押されたときの処理 */
hit = FALSE; /* ヒット判定フラグの初期化 */
i = 2; /* 最も左の敵表示位置 */
while ((i < MAXINVNUM) && (hit != TRUE)){ /* 列の左から命中を探す */
if (disp[i] == t){ /* 照準と一致するキャラか? */
hit = TRUE; /* ヒット判定 */
ds = MAXINVNUM - i; /* 基本得点の計算(砲台に近い程大) */
score = score + ds; /* 得点追加 */
if (target > 9) score = score + ds * 2; /* UFOなら3倍の得点 */
for (j = i; j > 2; j--) disp[j] = disp[j-1]; /* 命中左側を右寄せ */
disp[2] = ' '; /* 最も左は常に空白を詰める */
/* フィールドの表示 */
lcd_cursor(0,1);
lcd_printstr(disp);
}
i++; /* 探索位置を +1 */
} /* ヒット判定があるか右端まで調べたら, 探索終了 */
if (hit == TRUE) effect('s'); /* 命中時の効果音 */
else
{
/* Add 3-1 */
zanki--; /* get damage */
effect('m'); /* 失敗時の効果音 */
}
}
/* 敵が前進するタイミングのときの処理 */
if (shift_flag == TRUE){ /* 前進フラグが立っているなら */
if (disp[2] != ' ') disp[1] = disp[2]; /* 侵略時のみ区切りに侵入 */
for (i = 2; i < MAXINVNUM; i++) /* 敵全体を左に1つシフト */
disp[i] = disp[i + 1];
if (score % 10 == 1) nc = 'n'; /* スコアの最下位が1ならUFO出現 */
else nc = (random() % 10) + '0'; /* それ以外はランダムな数字 */
disp[MAXINVNUM - 1] = nc; /* 右端に新キャラを入れる */
shift_flag = FALSE; /* 前進フラグの消去 */
lcd_cursor(0,1); /* フィールドの表示 */
lcd_printstr(disp);
}
/* Modify 3-1 */
if (disp[1] != ':')
{
zanki--;
score += game_start();
}
if(zanki==0)
{
gameover = TRUE;
}
}
return score; /* 得点を返す */
}
int main(void)
{
unsigned int score, high_score;
char score_s[MAXDIGITNUM+1];
ROMEMU();
USE_UI();
timer_pri_set(0,1);
random_init();
lcd_init();
key_init();
timer_init();
sound_init();
timer_set(1,100);
timer_start(1);
ENINT();
lcd_cursor(0,0);
lcd_printstr(" 0:Game Start ");
lcd_cursor(0,1);
lcd_printstr(" *:High Score ");
high_score = 0;
lcd_cursor(0,0);
while(1)
{
if (key_check(10) == KEYON){ /* *キー:ハイスコア表示 */
lcd_cursor(0,0); /* LCD にハイスコア表示 */
lcd_printstr(" High Score is ");
lcd_cursor(0,1);
lcd_printstr(" ");
lcd_cursor(0,1);
lcd_printstr(ntos(high_score,score_s));
}
if (key_check(10) == KEYOFF){
lcd_cursor(0,0);
lcd_printstr(" 0:Game Start ");
lcd_cursor(0,1);
lcd_printstr(" *:High Score ");
}
if (key_check(11) == KEYON){ /* 0キー:ゲームスタート */
zanki = 5;
lcd_cursor(0,0); /* LCD に操作方法表示 */
lcd_printstr("*:Sight 0:Trig.");
score = game_start(); /* ゲームスタート */
lcd_cursor(0,1); /* 得点表示欄のクリア */
lcd_printstr(" ");
if (score > high_score){ /* ハイスコアのとき */
high_score = score; /* ハイスコア登録 */
lcd_cursor(0,0); /* ハイスコア表示 */
lcd_printstr(" High Score !!! ");
lcd_cursor(0,1);
lcd_printstr(ntos(high_score,score_s));
} else { /* ハイスコアでないとき*/
lcd_cursor(0,0); /* スコアを表示 */
lcd_printstr(" Your Score ... ");
lcd_cursor(0,1);
lcd_printstr(ntos(score,score_s));
}
n_time = 0;
while (n_time < WAITFEWSEC); /* 得点表示後にちょっと待つ */
lcd_cursor(0,0); /* LCD にメッセージ表示 */
lcd_printstr(" 0:Game Start ");
lcd_cursor(0,1);
lcd_printstr(" *:High Score ");
}
}
}
void main_run()
{
int c, d;
if (key[KEY_PGUP]) {
bemfreerun = 1;
old_key_pgup = 1;
}
else if (old_key_pgup) {
old_key_pgup = 0;
if (!key[KEY_LSHIFT] && !key[KEY_RSHIFT])
bemfreerun = 0;
}
if (bemfreerun == 2) {
// A key was pressed while freerunning; disable freerun temporarily
// until no key is pressed any more.
if (!key_any_down())
bemfreerun = 1;
}
if ((fcount > 0 || (bemfreerun == 1) || (motor && fasttape)))
{
if (autoboot) autoboot--;
fcount--;
framesrun++;
if (bemfreerun || (motor && fasttape)) fcount=0;
if (x65c02) m65c02_exec();
else m6502_exec();
ddnoiseframes++;
if (ddnoiseframes >= 5)
{
ddnoiseframes = 0;
ddnoise_mix();
}
key_check();
poll_joystick();
for (c = 0; c < 2; c++)
{
joybutton[c] = 0;
for (d = 0; d < joy[c].num_buttons; d++)
{
if (joy[c].button[d].b) joybutton[c] = 1;
}
}
if (savestate_wantload) savestate_doload();
if (savestate_wantsave) savestate_dosave();
if (key[KEY_F10] && (debug_core || debug_tube)) debug_step = 1;
if (key[KEY_F12] && !resetting)
{
m6502_reset();
video_reset();
i8271_reset();
wd1770_reset();
sid_reset();
music5000_reset();
if (curtube != -1) tubes[curtube].reset();
tube_reset();
}
resetting = key[KEY_F12];
}
else
{
framesrun = 0;
rest(1);
}
if (key[KEY_PGDN] && !old_key_pgdn)
bempause ^= 1;
old_key_pgdn = key[KEY_PGDN];
if (key[KEY_RIGHT] && !old_key_right && bempause)
bemstep = 1;
old_key_right = key[KEY_RIGHT];
if (framesrun > 10) fcount = 0;
}
