444 lines
14 KiB
C
444 lines
14 KiB
C
#include <stdio.h>
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#include "stm32f4xx.h"
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#include "delay.h"
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#include "infrared.h"
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#include "cba.h"
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#include "ultrasonic.h"
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#include "CanP_HostCom.h"
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#include "hard_can.h"
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#include "bh1750.h"
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#include "syn7318.h"
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#include "power_check.h"
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#include "can_user.h"
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#include "data_base.h"
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#include "roadway_check.h"
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#include "tba.h"
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#include "data_base.h"
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#include "swopt_drv.h"
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#include "uart_a72.h"
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#include "Can_check.h"
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#include "Timer.h"
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#include "Rc522.h"
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#include "drive.h"
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#include "bkrc_voice.h"
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/***************************** 自定义变量 *****************************/
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static uint32_t Power_check_times; // 电量检测周期
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static uint32_t LED_twinkle_times; // LED闪烁周期
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static uint32_t WIFI_Upload_data_times; // 通过Wifi上传数据周期
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static uint32_t RFID_Init_Check_times; // RFID初始化检测时间周期
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uint8_t Go_Speed = 40; // 前进速度
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uint8_t wheel_Speed = 50; // 转弯速度
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uint16_t Go_Temp = 280; // 前进码盘值
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uint16_t dis_size = 0; // 超声波测距值缓存
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uint8_t make = 0; // 全自动驾驶标志位
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uint8_t SYN7318_Flag = 0; // SYN7318语音识别命令ID编号
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uint8_t number = 0; // 计数值
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uint8_t coordinate; //随机坐标点返回值
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int suduzhi1;//=0;//判断码盘值1
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int suduzhi2;//=0;//判断码盘值2
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int suduzhi3;//=0;//判断码盘值3
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static void KEY_Check(void); // 按键检测函数
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static void Hardware_Init(void); // 硬件初始化函数
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char Data[5];
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/* 全自动运行函数 */
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void Car_Thread(void)
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{
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switch(make)
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{
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case CITY_PATROL_INSPECTION:
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{
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Send_ZigbeeData_To_Fifo(SEG_TimOpen, 8); // LED显示 -> 计时模式开启
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delay_ms(200);
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Send_ZigbeeData_To_Fifo(SEG_TimOpen, 8); // LED显示 -> 计时模式开启
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delay_ms(200);
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Car_Track(Go_Speed); //循迹
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Car_Go(Go_Speed,Go_Temp); //前进
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delay_ms(500);
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Tba_L_LED = 0; //左转灯开
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Car_L(wheel_Speed); //左转
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delay_ms(500);
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Control(0,0);
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Tba_L_LED = 1; //左转灯关
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delay_ms(500);
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Car_Time_Track(30,800); //前进一半（路中间等待红绿灯）
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delay_ms(500);
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Send_ZigbeeData_To_Fifo(TrafficA_Open,8); //交通灯进入识别
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delay_ms(500);
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Send_ZigbeeData_To_Fifo(TrafficA_Red,8); //红灯状态
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delay_ms(500);
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Control(0,0); //停车
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delay_ms(15000);
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Send_ZigbeeData_To_Fifo(TrafficA_Open,8); //交通灯进入识别
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delay_ms(500);
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Send_ZigbeeData_To_Fifo(TrafficA_Green,8); //绿灯
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delay_ms(1500);
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Car_Track(Go_Speed); //循迹
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Car_Go(Go_Speed,Go_Temp); //前进
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delay_ms(500);
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Qv_Car_HW("前方无法通行");//立体显示路况
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delay_ms(500);
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Tba_L_LED = 0; //左转灯开
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Car_L(wheel_Speed); //左转
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delay_ms(500);
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Control(0,0);
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Tba_L_LED = 1; //左转灯关
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delay_ms(500);
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Infrared_Send(Alarm_Open,6);//烽火台开启
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delay_ms(1000);
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Car_L(90); // 右旋转
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delay_ms(500);
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Control(0,0);
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delay_ms(500);
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Car_Track(Go_Speed); //循迹
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Car_Go(Go_Speed,Go_Temp); //前进
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delay_ms(500);
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Gate_Open_Zigbee(); //开启道闸
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Gate_Show_Zigbee("A11451"); // 道闸显示车牌
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delay_ms(200);
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Gate_Show_Zigbee("A11451"); // 道闸显 示车牌
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delay_ms(600);
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YY_Comm_Zigbee(0x20, 0x01);
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Car_Track(Go_Speed); // 循迹
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Car_Go(Go_Speed,Go_Temp); // 前进
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delay_ms(500);
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delay_ms(200);
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Tba_R_LED = 0; //右转灯开
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Car_R(wheel_Speed); //右转
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delay_ms(500);
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Control(0,0);
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Tba_R_LED = 1; //右转灯关
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delay_ms(500);
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Car_Track(Go_Speed); //循迹
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Car_Go(Go_Speed,Go_Temp); //前进
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delay_ms(500);
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Tba_L_LED = 0; //左转灯开
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Car_L(wheel_Speed); //左转
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delay_ms(500);
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Control(0,0);
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delay_ms(500);
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Tba_L_LED = 1; //左转灯关
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delay_ms(200);
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Light_Inf(3); // 自动调节光照强度函数
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delay_ms(200);
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Car_R(80); // 右旋转
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delay_ms(500);
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Control(0,0);
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delay_ms(500);
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Car_Time_Track(20,1500); //人行道减速前进
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delay_ms(500);
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Control(0,0); //斑马线前停车观望
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delay_ms(5000);
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YY_Play_Zigbee("即将通行过斑马线，请注意");
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Car_Track(Go_Speed); // 循迹
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Car_Go(80,2000); //过人行道前进
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delay_ms(500);
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Tba_L_LED = 0; //左转灯开
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Car_L(wheel_Speed); //左转
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delay_ms(500);
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Control(0,0);
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Tba_L_LED = 1; //左转灯关
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delay_ms(500);
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Car_Track(Go_Speed); //循迹
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Car_Go(Go_Speed,Go_Temp); //前进
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delay_ms(500);
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Tba_L_LED = 0; //左转灯开
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Car_L(wheel_Speed); //左转
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delay_ms(500);
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Control(0,0);
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Tba_L_LED = 1; //左转灯关
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delay_ms(500);
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Car_Time_Track(20,1000);
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ETC_Get_Zigbee(); //ETC系统检测
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delay_ms(500);
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Car_Track(Go_Speed); //循迹
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Car_Go(Go_Speed,Go_Temp); //前进
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delay_ms(200);
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Car_Track(Go_Speed); //循迹
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Car_Go(Go_Speed,Go_Temp); //前进
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delay_ms(500);
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Tba_L_LED = 0; //左转灯开
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Car_L(wheel_Speed); //左转
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delay_ms(500);
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Control(0,0);
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Tba_L_LED = 1; //左转灯关
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delay_ms(500);
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Car_Back(Go_Speed,1000);//后退
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delay_ms(500);
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Garage_Cont_Zigbee('A', 1); // 立体车库A 到达第1层
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delay_ms(100);
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Send_ZigbeeData_To_Fifo(SMG_TimClose, 8); // 数码管计时 -> 关闭
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delay_ms(300);
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Send_ZigbeeData_To_Fifo(SMG_TimClose, 8); // 数码管计时 -> 关闭
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delay_ms(500);
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Send_ZigbeeData_To_Fifo(Charge_Open, 8); // 无线充电 -> 开启
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delay_ms(200);
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Send_ZigbeeData_To_Fifo(Charge_Open, 8); // 无线充电 -> 开启
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delay_ms(200);
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YY_Play_Zigbee("结束任务");
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delay_ms(500);
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Car_Go(0,0);
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make = 0x00;
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break;
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}
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case EXEC_DETECT_TASK:
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{
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Garage_Cont_Zigbee('A', 0); //立体车库到达0层
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//初始化计时器 _set_timer(SEG_TimOpen, 8);
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Send_ZigbeeData_To_Fifo(SEG_TimOpen, 8); // LED显示 -> 计时模式开启
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delay_ms(200);
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Send_ZigbeeData_To_Fifo(SEG_TimOpen, 8); // LED显示 -> 计时模式开启
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delay_ms(200);
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//debug zigbee stop the car
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delay_ms(10000);
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//
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{
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Car_Track(Go_Speed); //循迹
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Car_Go(Go_Speed,Go_Temp); //前进
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delay_ms(500);
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Tba_R_LED = 0; //右转灯开
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Car_R(wheel_Speed); //右转
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delay_ms(500);
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Control(0,0);
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Tba_R_LED = 1; //右转灯关
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delay_ms(500);
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}
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Ultrasonic_Ranging(); // 采集超声波测距距离
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dis_size = dis;
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TFT_Dis_Zigbee('A',dis_size); // LED显示标志物发送测距信息
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delay_ms(200);
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LED_Dis_Zigbee(dis_size); // LED显示标志物发送测距信息
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TFT_Dis_Zigbee('A',dis_size);
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delay_ms(500);
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Tba_L_LED = 0; //左转灯开
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Car_L(wheel_Speed); //左转
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delay_ms(500);
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Control(0,0);
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Tba_L_LED = 1; //左转灯关
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delay_ms(500);
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Car_Track(Go_Speed); //循迹
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Car_Go(Go_Speed,Go_Temp); //前进
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Car_Track(Go_Speed); //循迹
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Car_Go(Go_Speed,Go_Temp); //前进
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delay_ms(500);
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Tba_R_LED = 0; //右转灯开
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Car_R(wheel_Speed); //右转
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delay_ms(500);
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Control(0,0);
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Tba_R_LED = 1; //右转灯关
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delay_ms(500);
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Ultrasonic_Ranging(); // 采集超声波测距距离
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dis_size = dis;
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TFT_Dis_Zigbee('B',dis_size); // LED显示标志物发送测距信息
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delay_ms(200);
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LED_Dis_Zigbee(dis_size); // LED显示标志物发送测距信息
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TFT_Dis_Zigbee('B',dis_size);
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delay_ms(500);
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Car_R(40); // 右旋转
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delay_ms(500);
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Control(0,0);
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Car_Track(Go_Speed); //循迹
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Car_Go(Go_Speed,Go_Temp); //前进
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Car_Track(Go_Speed); //循迹
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Car_Go(Go_Speed,Go_Temp); //前进
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delay_ms(500);
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Car_R(80); // 右旋转
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delay_ms(500);
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Car_R(40); // 右旋转
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Car_Back(Go_Speed,1000);//后退
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Garage_Cont_Zigbee('A', 1); // 立体车库A 到达第1层
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delay_ms(100);
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Send_ZigbeeData_To_Fifo(SMG_TimClose, 8); // 数码管计时 -> 关闭
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delay_ms(300);
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Send_ZigbeeData_To_Fifo(SMG_TimClose, 8); // 数码管计时 -> 关闭
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delay_ms(500);
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Send_ZigbeeData_To_Fifo(Charge_Open, 8); // 无线充电 -> 开启
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delay_ms(200);
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Send_ZigbeeData_To_Fifo(Charge_Open, 8); // 无线充电 -> 开启
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delay_ms(200);
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YY_Play_Zigbee("结束任务");
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delay_ms(500);
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Car_Go(0,0);
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make = 0x00;
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}
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}
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}
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/* 按键检测函数 */
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void KEY_Check(void)
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{
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if(S1 == 0)
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{
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delay_ms(10);
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if(S1 == 0)
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{
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LED1 = !LED1;
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while(!S1);
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make=CITY_PATROL_INSPECTION;
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YY_Play_Zigbee("开始城市巡检");
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}
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}
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if(S2 == 0)
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{
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delay_ms(10);
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if(S2 == 0)
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{
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LED2 = !LED2;
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while(!S2);
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make = EXEC_DETECT_TASK;
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YY_Play_Zigbee("执行检测任务");
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}
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}
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if(S3 == 0)
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{
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delay_ms(10);
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if(S3 == 0)
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{
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LED3 = !LED3;
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while(!S3);
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// Infrared_Send(Alarm_Open,6);//烽火台开启
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// delay_ms(500);
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}
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}
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if(S4 == 0)
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{
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delay_ms(10);
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if(S4 == 0)
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{
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LED4 = !LED4;
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while(!S4);
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Car_Time_Track(20,3000);
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delay_ms(300);
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Car_R(80); // 右旋转
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delay_ms(300);
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Car_Time_Track(20,3000);
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delay_ms(300);
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Car_R(80); // 右旋转
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Car_Go(0,0);
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}
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}
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}
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int main(void)
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{
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uint16_t Light_Value = 0; // 光强度值
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uint16_t CodedDisk_Value = 0; // 码盘值
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Hardware_Init(); // 硬件初始化
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LED_twinkle_times = gt_get() + 50;
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Power_check_times = gt_get() + 200;
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WIFI_Upload_data_times = gt_get() + 200;
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RFID_Init_Check_times = gt_get() + 200;
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Principal_Tab[0] = 0x55; // 主车数据上传指令包头
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Principal_Tab[1] = 0xAA;
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Follower_Tab[0] = 0x55; // 智能运输车数据上传指令包头
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Follower_Tab[1] = 0x02;
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Send_UpMotor(0, 0);
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while(1)
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{
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KEY_Check(); // 按键检测
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Can_WifiRx_Check(); // Wifi交互数据处理
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Can_ZigBeeRx_Check(); // Zigbee交互数据处理
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Car_Thread(); // 全自动运行函数
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if(gt_get_sub(LED_twinkle_times) == 0) // 运行指示灯
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{
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LED_twinkle_times = gt_get() + 50; // LED4状态取反
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LED4 = !LED4;
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}
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if(gt_get_sub(Power_check_times) == 0) // 电池电量检测
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{
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Power_check_times = gt_get() + 200;
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Power_Check();
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}
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#if 1
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if(gt_get_sub(RFID_Init_Check_times) == 0) // RFID初始化检测
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{
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RFID_Init_Check_times = gt_get() + 200;
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if(Rc522_GetLinkFlag() == 0)
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{
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Readcard_daivce_Init();
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MP_SPK = !MP_SPK;
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}
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else
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{
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MP_SPK = 0;
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LED1 = !LED1;
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Rc522_LinkTest();
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}
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}
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#endif
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if(gt_get_sub(WIFI_Upload_data_times) == 0) // 数据上传
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{
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WIFI_Upload_data_times = gt_get() + 500;
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if(Host_AGV_Return_Flag == RESET) // 主车数据上传
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{
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Principal_Tab[2] = Stop_Flag; // 运行状态
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Principal_Tab[3] = Get_tba_phsis_value(); // 光敏状态
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Ultrasonic_Ranging(); // 超声波数据采集
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Principal_Tab[4] = dis % 256; // 超声波数据低八位
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Principal_Tab[5] = dis / 256; // 超声波数据高八位
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Light_Value = Get_Bh_Value(); // 光强度传感器数据采集
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Principal_Tab[6] = Light_Value % 256; // 光强度数据低八位
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Principal_Tab[7] = Light_Value / 256; // 光强度数据高八位
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CodedDisk_Value = CanHost_Mp; // 码盘值
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Principal_Tab[8] = CodedDisk_Value % 256;
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Principal_Tab[9] = CodedDisk_Value / 256;
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Principal_Tab[10] = coordinate; //随机救援坐标点返回值
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Send_WifiData_To_Fifo(Principal_Tab, 13); // 通过Wifi上传主车数据
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UartA72_TxClear();
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UartA72_TxAddStr(Principal_Tab, 13); // 通过串口上传主车数据
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UartA72_TxStart();
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coordinate = 0 ;
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}
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else if((Host_AGV_Return_Flag == SET) && (AGV_data_Falg == SET))
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{
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UartA72_TxClear();
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UartA72_TxAddStr(Follower_Tab, 50); // 通过串口上传主车数据
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UartA72_TxStart();
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Send_WifiData_To_Fifo(Follower_Tab, 50); // 通过Wifi上传主车数据
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AGV_data_Falg = 0;
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}
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}
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}
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}
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/* 硬件初始化函数 */
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void Hardware_Init(void)
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{
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0); // 中断分组
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delay_init(168); // 延时初始化
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Tba_Init(); // 任务板初始化
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Infrared_Init(); // 红外初始化
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Cba_Init(); // 核心板初始化
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Ultrasonic_Init(); // 超声波初始化
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Hard_Can_Init(); // CAN总线初始化
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BH1750_Configure(); // BH1750初始化配置
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SYN7318_Init(); // 语音识别初始化
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Electricity_Init(); // 电量检测初始化
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UartA72_Init(); // A72硬件串口通讯初始化
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Can_check_Init(7, 83); // CAN总线定时器初始化
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roadway_check_TimInit(999, 167); // 路况检测
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Timer_Init(999, 167); // 串行数据通讯时间帧
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Readcard_daivce_Init(); // RFID初始化
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BKRC_Voice_Init(); // 小创语音初始化
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}
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