📄 111.lst
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C51 COMPILER V8.02 111 09/06/2007 03:49:33 PAGE 1
C51 COMPILER V8.02, COMPILATION OF MODULE 111
OBJECT MODULE PLACED IN 111.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE 111.c BROWSE DEBUG OBJECTEXTEND
line level source
1 /////////////////////////////////////
2 // COPYRIGHT RERVERED BY BUANDXIAHU //
3 /////////////////////////////////////
4
5 #include "c8051F020.h"
6 #include "intrins.h"
7 #include "CH452CMD.H" // 定义常用命令码及外部子程序
8 #include "pin.h"
9 #include "math.h"
10 #include "key_display.h"
11
12
13 //定义端口
14 sbit LEDG = P3^4;
15 sbit BACK = P0^4;
16 sbit START = P0^5;
17 sbit SPOKER = P0^6;
18 sbit IN0 = P1^1;//左
19 sbit IN1 = P1^3;//中
20 sbit IN2 = P1^0;//右
21 //sbit IN3 = P1^5;//斜右
22 //sbit IN4 = P1^2;//斜左
23 sbit IN5 = P1^2;//正面左
24 sbit IN6 = P1^6;//正面右
25 sbit LASTS = P1^4;
26 sbit LASTB = P1^5;
27 sbit LASTF = P3^0;
28
29 //定义全局变量
30 ulong xdata data0[15]; //存储AD进来的数再进行运算
31 ulong avge=0,avge0=0; //avge为每30次的AD平均值 avge0为一开始的标准值
32 uchar time1=0,time2=0,counter1=0,counter2=0,counter3=2; //定时器0，1的标志位
33 uchar a,bb,c,d,e,f,g,right,left; //各红外传感器的输入值
34 uchar forward=0,black=0,keykey=0,backward=0,xianshi=1; //各段程序的标志位
35 uchar T0_OF=0,min=0,sec=0; //T0_OF时T0溢出次数 ,t_n=0
36 uchar stage_sec=0,stage_sec1=0,stage_clk_flag=0; //stage_clk_flag为1是阶段计时标志位.不用stage_min
37 uchar transform=1; //1，2两程序互换
38 uchar chazhi=5;
39
40 uchar wending=1,look=1,lalala=3;
41 ulong huang0,huang1;
42 uint wucha; //键盘控制差值
43 // Peripheral specific initialization functions,
44 // Called from the Init_Device() function
45
46
47 void Port_IO_Init()
48 {
49 1 // P0.0 - CEX0 (PCA), Open-Drain, Digital
50 1 // P0.1 - CEX1 (PCA), Open-Drain, Digital
51 1 XBR0 = 0x10; /*CEX0-->P0.0,CEX1-->P0.1*/
52 1 XBR2 = 0x40;
53 1 }
54
55 void Interrupts_Init()
C51 COMPILER V8.02 111 09/06/2007 03:49:33 PAGE 2
56 {
57 1
58 1 IE = 0x0A; //使能定时器1中断//使能定时器0中断
59 1 IP = 0x02; //使定时器1,0优先级高
60 1 EIE1 = 0x08; //使能PCA0中断
61 1 EIE2 = 0x20; //使能外部键盘中断
62 1 EIP2 = 0x20; //使外部键盘优先级高
63 1
64 1 }
65
66 // Initialization function for device,
67 // Call Init_Device() from your main program
68 void Init_Device(void)
69 {
70 1 Reset_Sources_Init();
71 1 ADC_Init();
72 1 PCA_Init();
73 1 Timer_Init();
74 1 Oscillator_Init();
75 1 Voltage_Reference_Init();
76 1 Port_IO_Init();
77 1 Interrupts_Init();
78 1 }
79 void speedchange(uchar duty,uchar i)
80 {
81 1 if(i==0) PCA0CPH0 =(uchar)((100-duty)*2.56); //把duty值转换，赋值给控制占空比的寄存器
82 1 if(i==1) PCA0CPH1=(uchar)((100-duty)*2.56);
83 1 }
84 ulong pingjun (void)
85 { uchar i;
86 1 ulong avgad1=0,avgad=0,state=0;
87 1 state=AD_IN();
88 1 for(i=0;i<15;i++)
89 1 {
90 2 data0[i]=state;
91 2 avgad+=data0[i];
92 2 }
93 1 avgad=avgad/15;
94 1 for(i=0;i<15;i++)
95 1 {
96 2 data0[i]=state;
97 2 avgad1+=data0[i];
98 2 }
99 1 avgad1=avgad1/15;
100 1 avge=(avgad+avgad1)/4;
101 1
102 1 if(look==1) /*确定是否晃动太厉害*/
103 1 {
104 2 look=0;
105 2
106 2 huang1=huang0;
107 2 huang0=avge;
108 2 wucha=abs(huang1-huang0);
109 2 if(lalala--==0)
110 2 {
111 3 CH452_Write(CH452_DIG0 | wucha%10);
112 3 CH452_Write(CH452_DIG7 | wucha/10);
113 3 lalala=3;
114 3 }
115 2 if(wucha>=6)
116 2 {
117 3 wending=0;
C51 COMPILER V8.02 111 09/06/2007 03:49:33 PAGE 3
118 3 START=0;
119 3 LASTS=1;
120 3 delayms(700);
121 3 }
122 2 else wending=1;
123 2 }
124 1 return(avge);
125 1 }
126 void stage_clk_start()
127 {
128 1 CH452_Write(CH452_TWINKLE);
129 1 DELAY_1US;DELAY_1US;DELAY_1US;DELAY_1US;DELAY_1US;
130 1 stage_clk_flag=1;
131 1 stage_sec=0;
132 1 CH452_Write(CH452_DIG4);
133 1 CH452_Write(CH452_DIG5 | 16);
134 1 }
135 /****精确0.5 * n秒延时****/
136 void delay_s(uchar n)
137 { unsigned char i,j;
138 1 for(i=0;i<200;i++)
139 1 for(j=0;j<25*n;j++)
140 1 {
141 2 DELAY_10US;
142 2 DELAY_10US;
143 2 DELAY_10US;
144 2 DELAY_10US;
145 2 DELAY_10US;
146 2 DELAY_10US;
147 2 DELAY_10US;
148 2 DELAY_10US;
149 2 DELAY_10US;
150 2 DELAY_10US; //100us
151 2 }
152 1
153 1
154 1 }
155 void judgement (uchar modi,uchar modi1,uchar dem)
156 {
157 1 uchar i;
158 1 if((a&&bb==0&&c==0)||(a&&bb&&c==0))
159 1 { left=1;
160 2 right=0;
161 2 speedchange(modi1,1);
162 2 speedchange(modi,0);
163 2 delayms(dem);
164 2 }
165 1 else if((a==0&&bb==0&&c)||(a==0&&bb&&c))
166 1 {
167 2 left=0;
168 2 right=1;
169 2 speedchange(modi1,0);
170 2 speedchange(modi,1);
171 2 delayms(dem);
172 2 }
173 1 else if(a==0&&bb&&c==0)
174 1 {
175 2 left=0;
176 2 right=0;
177 2 speedchange(modi,0);
178 2 speedchange(modi,1);
179 2 delayms(dem);
C51 COMPILER V8.02 111 09/06/2007 03:49:33 PAGE 4
180 2 }
181 1 else if(a&&bb&&c) //停止&&(d||e)
182 1 {
183 2
184 2 START=0;
185 2 LASTS=1;
186 2 forward=0;
187 2 stage_clk_flag=0;//stage_clk_stop();显示平衡后前进的时间
188 2 CH452_Write(CH452_DIG0|11);
189 2 CH452_Write(CH452_TWINKLE | 0x31);
190 2 for(i=5;i>0;i--)
191 2 {
192 3 CH452_Write(CH452_DIG7 | i);
193 3 SPOKER=1;
194 3 delay_s(1);
195 3 SPOKER=0;
196 3 delay_s(1);
197 3 }
198 2 CH452_Write(CH452_DIG7);
199 2 stage_clk_start();
200 2 CH452_Write((CH452_DIG0)|16);
201 2 if(transform==1)
202 2 {
203 3 forward=0;
204 3 black=0;
205 3 keykey=0;
206 3 xianshi=0;
207 3 backward=1;
208 3 }
209 2 }
210 1 else //if (a==0&&bb==0&&c==0)
211 1 {
212 2 if(left==1)
213 2 {
214 3 speedchange(modi1,0);
215 3 speedchange(modi,1); }
216 2 else if(right==1)
217 2 {
218 3 speedchange(modi,0);
219 3 speedchange(modi1,1);}
220 2 else
221 2 {
222 3 speedchange(modi,0);
223 3 speedchange(modi,1);}
224 2 delayms(dem);
225 2 }
226 1 }
227 void judgementback (uchar modi,uchar modi1,uchar dem,uchar i)
228 { if(i==1)
229 1 {if(stage_sec>29)
230 2 {
231 3 START=0;
232 3 LASTS=1;
233 3 stage_clk_flag=0;//stage_clk_stop();
234 3 CH452_Write(CH452_DIG0|10);
235 3 CH452_Write(CH452_TWINKLE | 0x31);
236 3 TR0=0;
237 3 forward=0;
238 3 black=0;
239 3 keykey=0;
240 3 backward=0;
241 3 xianshi=0;
C51 COMPILER V8.02 111 09/06/2007 03:49:33 PAGE 5
242 3 }}
243 1 if(f==1&&g==0)
244 1 {
245 2 speedchange(modi1,1);
246 2 speedchange(modi,0);
247 2
248 2 }
249 1 else if(f==0&&g==1)
250 1 {
251 2 speedchange(modi,1);
252 2 speedchange(modi1,0);
253 2
254 2 }
255 1 else //if(f==0&&g==0)
256 1 {
257 2 speedchange(modi,1);
258 2 speedchange(modi,0);
259 2 }
260 1
261 1 delayms(dem);
262 1 }
263
264
265 void main(void)
266 {
267 1 uchar chazhi1;
268 1 Init_Device();
269 1 CH452_Init(); /* CH452初始化 */
270 1 LEDG=0;
271 1 SPOKER=0;
272 1 forward=0,
273 1 black=0,
274 1 keykey=0,
275 1 backward=0,
276 1 xianshi=1;
277 1 IN0=1;
278 1 IN1=1;
279 1 IN2=1;
280 1 //IN3=1;
281 1 //IN4=1;
282 1 IN5=1;
283 1 IN6=1;
284 1 START=0;
285 1 LASTS=1;
286 1 LASTB=0;
287 1 LASTF=0;
288 1 time1=1;
289 1 time2=1;
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