程序每两轮输出一次正确结果-1061700625的回答

程序每两轮输出一次正确结果

2019-08-14 16:17发布

程序是这样的，运行第一次正常，第二次没反应，第三次正常，第四次没反应..............循环
地下是测试结果，显示的是Food_Flag错误，当为1的时候是正确结果。
为什么同样的顺序，第二次的Food_Flag会等于0？
u8 Start_Flag=0;
u16 Start_counter=0;
u8 End_Flag=0;    //舵机标志
u16 End_counter=0;
u8 Food_Flag=0;    //物品标志
u8 Cross_Flag=0;
u8 Road_Flag=0;
u8 Cross_counter=0;
u32 counter=0;//定时器2计数变量
u32 RFIDdownAddress=0;
u32 RFIDupAddress=0;
extern u8 UART1_RX_BUF[64]; //上边的
extern u8 UART1_RX_STA;
extern u8 UART3_RX_BUF[64]; //下边的
extern u8 UART3_RX_STA;

void PositionProcess(void);
void FoodProcess(void);

u32 wave_counter=0;
void Start(void)
{

if( (ReadRFIDdownAddress())&&(Start_Flag==0)&& (End_Flag==0) )
{
printf("进入 if( (ReadRFIDdownAddress())&&(Start_Flag==0)&& (End_Flag==0) ) ");
printf("  ReadRFIDdownAddress:  1 ");
printf("  Start_Flag:  %d ",Start_Flag);
printf("  End_Flag:  %d ",End_Flag);
printf("进入PositionProcess() ");
PositionProcess();
printf("  Stop_Flag: %d ",Stop_Flag);
printf("  Start_Flag: %d ",Start_Flag);
printf("  End_Flag:  %d ",End_Flag);
}

if((ReadRFIDupAddress())&&(Start_Flag==1)&&(Food_Flag==0) )
{
printf("进入 if((ReadRFIDupAddress())&&(Start_Flag==1)&&(Food_Flag==0) ) ");
   Stop_Flag=0;
Start_Flag=0;
printf("  ReadRFIDupAddress:  1 ");
printf("  Start_Flag:  %d ",Start_Flag);
printf("  Food_Flag:  %d ",Food_Flag);
printf("进入FoodProcess() ");
FoodProcess();
printf("  ReadRFIDupAddress:  1 ");
printf("  Start_Flag:  %d ",Start_Flag);
printf("  Food_Flag:  %d ",Food_Flag);
   }


//printf("进入  if(End_Flag==1)  //延时清除结束标志，避免二次检测 ");
if(End_Flag==1)  //延时清除结束标志，避免二次检测
{
//printf("  End_counter:  %d ",End_counter);
End_counter++;
if(End_counter==50)
{
DuojiQinXie();
}
if (End_counter==150)
{
DuojiPing();
}
if (End_counter>=180)
{
      End_Flag=0;
   Food_Flag=0;
   Stop_Flag=0;
   End_counter=0;

printf("进入  Ultrasonic_start(),若小于50cm则右转 ");
Ultrasonic_start();
if((int)distance<50)
{
TIM_CCxCmd(TIM3,TIM_Channel_1,TIM_CCx_Enable);//左轮转
      TIM_CCxCmd(TIM3,TIM_Channel_2,TIM_CCx_Disable);//右轮不转
      TIM_PrescalerConfig(TIM3,49,TIM_PSCReloadMode_Immediate);
delay_ms(4000);
TIM_CCxCmd(TIM3,TIM_Channel_2,TIM_CCx_Enable);
printf("  distance:  %f ",distance);
}

   printf("  End_Flag:  %d ",End_Flag);
      printf("  Food_Flag:  %d ",Food_Flag);
   printf("  Stop_Flag:  %d ",Stop_Flag);
   printf("  End_counter:  %d ",End_counter);

   }
}


   if(Start_Flag==0&&End_Flag==0)
   {
   wave_counter++;
   //printf("wave_counter:  %d ",wave_counter);
   if(wave_counter>10)
   {
      wave_counter=0;
      Ultrasonic();
   }
   }

   st188_control(ST188DATA);//直行st188控制

}

void PositionProcess(void)
{
switch(RFIDdownAddress)
{
case 0x1AA5D3AE:
   case 0x0AF6D1AE: //检测到起始标签
      if (Food_Flag==0)
{
LED2=0;
Stop_Flag=1;
Start_Flag=1;
}
break;
case 0xEAF3CFAE:
   case 0xDADACDAE:  //中间目标区1
         if(Food_Flag==1)
{
LED2=1;
Stop_Flag=1;
End_Flag=1;
}
         break;
case 0xFAC6C9AE:  //中间目标区2
         if(Food_Flag==2)
{
                  LED2=1;
Stop_Flag=1;
End_Flag=1;
}
         break;
case 0x2A37D0AE:  //中间目标区3
         if(Food_Flag==3)
{
LED2=1;
Stop_Flag=1;
End_Flag=1;
}
         break;
default:break;
}

}

void FoodProcess(void)
{printf(" 已经进入FoodProcess ");
switch(RFIDupAddress)
{
case 0xAAF5D1AE: Food_Flag=1; break;
case 0xEA37D0AE: Food_Flag=1; break;
case 0x4AC0CBAE: Food_Flag=1; break;
case 0x4AF5D1AE: Food_Flag=1; break; //水果类

case 0x8A37D0AE: Food_Flag=2; break;
case 0xAA04CAAE: Food_Flag=2; break;
case 0x3A05CAAE: Food_Flag=2; break;
case 0x0A05CAAE: Food_Flag=2; break; //主食类

case 0x0ADBCDAE: Food_Flag=3; break;
case 0xDA28CEAE: Food_Flag=3; break;
case 0x6A29CEAE: Food_Flag=3; break;
case 0x9A10CCAE: Food_Flag=3; break;
case 0x9AC1CBAE: Food_Flag=3; break; //肉类

default:break;
}

}

u8 ReadRFIDdownAddress(void)
{
if((UART3_RX_STA&0x80)==0x80)
{
RFIDdownAddress=UART3_RX_BUF[6]*256*256*256 + UART3_RX_BUF[7]*256*256 + UART3_RX_BUF[8]*256 + UART3_RX_BUF[9];
   UART3_RX_STA=0;
   return 1;
}
else return 0;
}

u8 ReadRFIDupAddress(void)
{
if((UART1_RX_STA&0x80)==0x80)
{
RFIDupAddress=UART1_RX_BUF[6]*256*256*256 + UART1_RX_BUF[7]*256*256 + UART1_RX_BUF[8]*256 + UART1_RX_BUF[9];
   UART1_RX_STA=0;
   return 1;
}
else return 0;

}

测试：
第一次，正确

进入 if( (ReadRFIDdownAddress())&&(Start_Flag==0)&& (End_Flag==0) )
  ReadRFIDdownAddress:  1
  Start_Flag:  0
  End_Flag:  0
进入PositionProcess()
  Stop_Flag: 1
  Start_Flag: 1
  End_Flag:  0

进入 if((ReadRFIDupAddress())&&(Start_Flag==1)&&(Food_Flag==0) )
  ReadRFIDupAddress:  1
  Start_Flag:  0
  Food_Flag:  0
进入FoodProcess()
已经进入FoodProcess
ReadRFIDupAddress:  1
  Start_Flag:  0
  Food_Flag:  1

进入 if( (ReadRFIDdownAddress())&&(Start_Flag==0)&& (End_Flag==0) )
  ReadRFIDdownAddress:  1
  Start_Flag:  0
  End_Flag:  0
进入PositionProcess()
  Stop_Flag: 1
  Start_Flag: 0
  End_Flag:  1

进入  Ultrasonic_start(),若小于50cm则右转
  distance:  123.589996

  End_Flag:  0
  Food_Flag:  0
  Stop_Flag:  0
  End_counter:  0

*********************************************************************************
第二次，错误

进入 if( (ReadRFIDdownAddress())&&(Start_Flag==0)&& (End_Flag==0) )
  ReadRFIDdownAddress:  1
  Start_Flag:  0
  End_Flag:  0
进入PositionProcess()
  Stop_Flag: 1
  Start_Flag: 1
  End_Flag:  0

进入 if((ReadRFIDupAddress())&&(Start_Flag==1)&&(Food_Flag==0) )
  ReadRFIDupAddress:  1
  Start_Flag:  0
  Food_Flag:  0
进入FoodProcess()
已经进入FoodProcess
ReadRFIDupAddress:  1
  Start_Flag:  0
  Food_Flag:  0          //这里出错

进入 if( (ReadRFIDdownAddress())&&(Start_Flag==0)&& (End_Flag==0) )
  ReadRFIDdownAddress:  1
  Start_Flag:  0
  End_Flag:  0
进入PositionProcess()
  Stop_Flag: 0
  Start_Flag: 0
  End_Flag:  0

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1条回答

1061700625

2019-08-14 18:21

找到原因了，是舵机翻转时候，RFID模块对MCU输出了00 00 00 00；
舵机连A9，RFID连A10，为什么两者会干扰呢？

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