#include <io8515v.h>
#include <macros.h>
#include <sl3010.c>

//聲控起動(dòng)遙控車(chē)程序，未起動(dòng)時(shí)，PA口的8 LED 呈廣告燈效果（霓虹燈）
//聲控起動(dòng)后，機(jī)器人開(kāi)始動(dòng)作
//遙控器無(wú)按鍵，機(jī)器人直行
//按住 < A > 鍵，機(jī)器人右轉(zhuǎn)，同時(shí)演奏右轉(zhuǎn)指示音樂(lè)；
//按住 < B > 鍵，機(jī)器人后退，同時(shí)演奏后退指示音樂(lè)；
//按住 < C > 鍵，機(jī)器人停止，同時(shí)演奏停止指示音樂(lè)；
//按住 < D > 鍵，機(jī)器人左轉(zhuǎn)，同時(shí)演奏左轉(zhuǎn)指示音樂(lè)；
//釋放遙控器按鍵，音樂(lè)停止
//連續(xù) 按住 < C > 鍵時(shí)間超過(guò) 10s，遙控機(jī)器人復(fù)位，等待聲控重新起動(dòng)

/*	  		    音階表				*/	
const unsigned int TONETABLE[15]={DO,RE,MI,FA,SO,LA,TI,DO_H,
			    	 	RE_H,MI_H,FA_H,SO_H,LA_H,TI_H,DO_HH};
/*			  音階重裝常數(shù)			*/						
unsigned int toneconst;								  							   						 				 	 	 
unsigned int sound_add=0;
unsigned int delay_time1,delay_time2,led_delayms=600;
unsigned char temp,temp1;
unsigned char pa,pb,pc,pd,remote_in,timers,cny_in,cny_times,rst_time,cds,pd_select,remote_select;
unsigned char gzsl,t0_times;
unsigned char sound_1,sound_2;

const unsigned char led_data[]=
    {//設(shè)置LED廣告燈數(shù)據(jù)表
     0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f,0xbf,0xdf,0xef,0xf7,0xfb,0xfd,
     0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f,0xbf,0xdf,0xef,0xf7,0xfb,0xfd,
     0x00,0x18,0x3c,0x7e,0xff,0x7e,0x3c,0x18,
     0x00,0x18,0x3c,0x7e,0xff,0x7e,0x3c,0x18,
     0xf8,0xf1,0xe3,0xc7,0x8f,0x1f,0x8f,0xc7,0xe3,0xf1,
     0xf8,0xf1,0xe3,0xc7,0x8f,0x1f,0x8f,0xc7,0xe3,0xf1,
     0xfe,0xfc,0xf8,0xf0,0xe0,0xc0,0x80,0x00,0x80,0xc0,0xe0,0xf0,0xf8,0xfc,
     0xfe,0xfc,0xf8,0xf0,0xe0,0xc0,0x80,0x00,0x80,0xc0,0xe0,0xf0,0xf8,0xfc,
     0xff,0xe7,0xdb,0xbd,0x7e,0xbd,0xdb,0xe7,
     0xff,0xe7,0xdb,0xbd,0x7e,0xbd,0xdb,0xe7,
     0xff,0x00,0xff,0x00,0xff,0x00,0xff,0x00,
	 
     0x0a,0x0a
    };

const unsigned char sound_none[]={0x28,0x27,0x36,0x16,0x45,0x47,0x46,0x46,0x46,0x23,0x25,0x46,0x4a,0x39,0x18,0x27,
	  		   0x28,0x48,0x48,0x28,0x27,0x36,0x16,0x45,0x27,0x26,0x46,0x46,0x46,0x46,0x46,0x46,0x00,0x00};
const unsigned char sound_right[]={0x23,0x25,0x46,0x4a,0x39,0x18,0x27,0x28,0x48,0x48,0x48,
	  		   0x28,0x27,0x36,0x16,0x45,0x47,0x46,0x46,0x46,0x00,0x00};
const unsigned char sound_back[]={0x2a,0x2c,0x4d,0x4d,0x4d,0x2a,0x2c,0x49,0x49,0x49,0x2a,0x2c,0x2d,0x4f,
	  		   0x2d,0x4c,0x1d,0x18,0x2a,0x49,0x49,0x49,0x00,0x00};
const unsigned char sound_stop[]={0x23,0x24,0x25,0x44,0x45,0x24,0x23,0x22,0x42,0x40,0x40,0x23,0x22,0x21,0x41,0x28,
	  		   0x48,0x23,0x25,0x45,0x40,0x40,0x00,0x00};
const unsigned char sound_left[]={0x68,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x41,0x41,0x23,0x25,
	  		   0x28,0x48,0x28,0x29,0x2a,0x29,0x26,0x45,0x45,0x45,0x00,0x00};

//TIMER0 initialisation - prescale:1024
// desired value: 25mSec
// actual value: 24.960mSec (0.2%)
void timer0_init(void)
{
 TCCR0 = 0x00; //stop timer
 TCNT0 = 0x3D; //set count value
 TCCR0 = 0x05; //start timer
}

#pragma interrupt_handler timer0_ovf_isr:iv_TIMER0_OVF
void timer0_ovf_isr(void)
{
 TCNT0 = 0x3D; //reload counter value
 t0_times++;
 if(gzsl == 0x88)
   {
    if(t0_times == 10)
      {
	   timers++;
	   t0_times = 0;
	   pa = led_data[timers];
	   if(pa==0x0a){timers=0;}
	   PORTA = pa;	   
      }
   }
 if(gzsl == 0x33)
   {
    sw_touch();
	if(t0_times == 8)     //8*25ms=200ms
      {
	   t0_times = 0;
	   remote_in = PINB & 0x0F;
	   sound_1 = remote_in;
       if(sound_2 != sound_1)
	     {sound_add=0;sound_2 = sound_1;}
	   switch (remote_in)
      	 {//檢測(cè)遙控器是否有鍵按下
          case 0x00:
		      forward();           //前行
		      rst_time=0;
			  sound_add=0x00;
			  temp1=0x00;
      	    break;
          case 0x04:  // < A >
		      turn_right();        //右轉(zhuǎn)
		      rst_time=0;
			  temp1=sound_right[sound_add];
      	    break;
          case 0x02:  // < B >
		      backward();          //后退
		      rst_time=0;
			  temp1=sound_back[sound_add];
      	    break;
          case 0x08:  // < C >
		      stop();              //停止運(yùn)動(dòng)
		      rst_time++;
			  temp1=sound_stop[sound_add];
      	    break;
          case 0x01:  // < D >
              turn_left();         //左轉(zhuǎn)
		      rst_time=0;
			  temp1=sound_left[sound_add];
      	    break;
      	}
      }
   }
}

void stop_timer0()
{
	CLI();
	TCCR0 = 0x00;//停止timer0
	MCUCR = 0x00;
    GIMSK = 0x00;
    TIMSK = 0x00;
    SEI();
}

#pragma interrupt_handler timer1_ovf_isr:iv_TIMER1_OVF
void timer1_ovf_isr(void)
	 {
	    {
		 TCNT1=toneconst;
	     PORTC^=1;
		}
	 }	 	 
	 
void remote_car()
{//遙控車(chē)程序
 
 port_init();//調(diào)用端口初始化函數(shù)
 
 work_status = 0x60;//置對(duì)應(yīng)的工作狀態(tài)標(biāo)志

remote_rst: 
 PORTA = 0x0F;

  gzsl=0x88;timers=0;t0_times=0;
  CLI(); //disable all interrupts
  timer0_init();

  MCUCR = 0x00;
  GIMSK = 0x00;
  TIMSK|=(1<<TOIE0);
  SEI(); //re-enable interrupts
 
 mic_startup();//等待聲控啟動(dòng)函數(shù)

  gzsl=0x33;t0_times=0;
	  TCCR1A = 0x00;
	  TCCR1B =(1<<CS11);//8分頻
n01:
  temp=temp1 = 0;
  sound_add = 0;	  
	  while(temp1!=0)
  	    {
			temp=temp1; 
			temp&=0x0f;
			if(temp!=0)
			  {
			   TIMSK|=(1<<TOIE1);//根據(jù)SOUNDTABLE中數(shù)據(jù)的低四位選擇音調(diào)頻率
			   temp--;			   
        	   toneconst=TONETABLE[temp];
			   TCNT1=toneconst;
 			  }
			temp=temp1;
			temp>>=4;
			temp&=0x0f;
			delay_ms(temp*129);//根據(jù)SOUNDTABLE中數(shù)據(jù)的高四位*5后，為音調(diào)持續(xù)時(shí)間
			TIMSK&=~(1<<TOIE1);
			sound_add++;

	     if(rst_time > 50)
	       {//當(dāng)按住< C > 鍵的持續(xù)時(shí)間超過(guò)10S，遙控機(jī)器人復(fù)位，等待聲控重起運(yùn)行
		    rst_time=0;
			stop_timer0();
			PORTA = 0x0f;
			delay_ms(1000);
		    goto remote_rst;
	       }
	   }
	goto n01;
}

void main()
{
 remote_car();
}