spoker_4pm5.c

motor_control.zip

/////////////////////////////////////
//  COPYRIGHT RESERVED BY DU  //
/////////////////////////////////////

#include "c8051F020.h"
#include "intrins.h"
#include "CH452CMD.H"	// 定义常用命令码及外部子程序
#include "pin.h"
#include "math.h"
#include "key_display.h"		  


//定义端口
sbit LEDG	=	P3^4;
sbit BACK	=	P0^4;
sbit START	=	P0^5;
sbit SPOKER =   P0^6;
sbit IN0	=	P1^1;//左
sbit IN1	=	P1^3;//中
sbit IN2	=	P1^0;//右
sbit IN3	=	P1^5;//斜右
sbit IN4	=	P1^2;//斜左
ulong xdata data0[15];
ulong avge=0,avge0=0;
uchar keykey=0,time1=0,time2=0,counter1=0,counter2=0,black=0;
uchar a,bb,c,d,e,right,left;
// Peripheral specific initialization functions,
// Called from the Init_Device() function 系统设置，020初始化  DA_OUT  AD_IN

 
void Port_IO_Init()
{
    // P0.0  -  CEX0 (PCA),  Open-Drain, Digital
   // P0.1  -  CEX1 (PCA),  Open-Drain, Digital
       XBR0      = 0x10;	/*CEX0-->P0.0,CEX1-->P0.1*/
       XBR2      = 0x40;	
}

void Interrupts_Init()
{   
	IE        = 0x08; //使能定时器1中断
    IP        = 0x08;  //使定时器1优先级高
    EIE1      = 0x08; //使能PCA0中断
    EIE2      = 0x20;  //使能外部键盘中断
    EIP2      = 0x20;  //使外部键盘优先级高

}

// Initialization function for device,
// Call Init_Device() from your main program
void Init_Device(void)
{
    Reset_Sources_Init();
    ADC_Init();
	PCA_Init();
	Timer_Init();
	Oscillator_Init();
    Voltage_Reference_Init();
    Port_IO_Init();
    Interrupts_Init();
}


void speedchange(uchar duty,uchar i)
{
     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
	 if(i==1) PCA0CPH1=(uchar)((100-duty)*2.56); 

}
ulong pingjun (void)
{	  uchar i;
      ulong avgad1=0,avgad=0,state=0;
	  state=AD_IN();
      for(i=0;i<15;i++)
	      {
		
	   	    data0[i]=state;
		    avgad+=data0[i];		
		    //delayms(10);
	      }
	   avgad=avgad/15;
	   for(i=0;i<15;i++)
	      {
	   
	   	     data0[i]=state;
		     avgad1+=data0[i];
		     //delayms(10);
	      }
	   avgad1=avgad1/15;
	   avge=(avgad+avgad1)/4;
		
	   //CH452_Write(CH452_DIG1|bb);
	   //CH452_Write(CH452_DIG0|c);
	   return(avge);
}



void judgement (uchar modi,uchar modi1)
{
 					if((a==1&&bb==0&&c==0)||(a==1&&bb==1&&c==0))
					{	left=1;
						right=0;
						speedchange(modi1,1);
						speedchange(modi,0);
						delayms(20);
					 }
					else if((a==0&&bb==0&&c==1)||(a==0&&bb==1&&c==1))
					{
						left=0;
						right=1;	 
	     				speedchange(modi1,0);
						speedchange(modi,1);
					   delayms(20);
					 }
					else if((a==0&&bb==1&&c==0))
					{   
						left=0;
						right=0;
	    				speedchange(modi,0);
						speedchange(modi,1);
						delayms(20);
					}
					else //if (a==0&&bb==0&&c==0)
					{
	     				if(left==1)
		 				{
		 	  		    speedchange(modi1,0);
						speedchange(modi,1); }
		 				else if(right==1)
		 				{
		 	             speedchange(modi,0);
						 speedchange(modi1,1);}
		 				else
		  				{
	        		    speedchange(modi,0);
						speedchange(modi,1);}
						delayms(20);
					}



}

/****精确秒延时****/	

void delay_s(uchar n)
{	
	#pragma asm
	//USING 0
n_:
	MOV R2,#50		//系统时钟如果分别是2M,4M,8M,16M
					//则R2值分别为		25,50,100,200
R2_:
	MOV R1,#40
R1_:
	MOV R0,#50	
R0_:
	NOP
	NOP
	NOP
	NOP	   //1us

	NOP
	NOP
	NOP
	NOP		//2us

	NOP
	NOP
	NOP
	NOP		//3us

	NOP
	NOP
	NOP
	NOP		//4us

	NOP
	NOP
	//NOP
	//NOP
	DJNZ R0,R0_	  //5us	*200=1ms
	DJNZ R1,R1_	  //1ms*10=10ms
	DJNZ R2,R2_	  //10ms*100=1s
	DJNZ n?648,n_  
	#pragma endasm
}
void confirm(void)
{	  
	uchar i,t;
	for(t=0;t<7;t++)
  		CH452_Write((CH452_DIG0+ (t<<8))|16);
	for(i=5;i>0;i--)
	{	
		CH452_Write(CH452_DIG7 | i);
		SPOKER=1;
		delay_s(1);
		SPOKER=0;
		delay_s(1);
	}
		CH452_Write(CH452_DIG7);

}




void main(void)
{	
	uchar chazhi=4;
	uchar chazhi1;
	Init_Device();
	CH452_Init();	  /* CH452初始化 */
	LEDG=0; 
	SPOKER=0;
	IN0=1;
	IN1=1;
	IN2=1;
	IN3=1;
	IN4=1;
	START=0;
	time1=1;
	time2=1;
	counter1=170;
	counter2=30;
	//BACK=0;         	
	while(1)
	{	 
		LEDG=~LEDG;
		EA=1;
		avge=pingjun();
		BCD_H_L(avge-200,0); 	   
		a=IN0;
		bb=IN1;
		c=IN2;
		d=IN3;
		e=IN4;
	   if(black==1)		
	   {
	    START=1;
	    TR1=1;
		time2=0;	    
		judgement(80,20);
		}
	   if(keykey==1) 
  		{
			chazhi1=abs((int)(avge-avge0));
			if(chazhi1>=20)    
			{
	  			START=1;
				counter2=30;
				if(avge>(avge0+chazhi-3)) 
		 		{ 
		   			BACK=0;
					judgement(50,0);
		 		}
	   			if(avge<(avge0-chazhi)) 
		  		{
		  
		   			BACK=1;
					judgement(50,0);
		  
		  		}	
	 		}		
			else if((chazhi1<20)&&(chazhi1>10))
	 		{	
			    counter2=30;
			  	if(avge>(avge0+chazhi-3)) 
		 		{ 
		  			 START=1;
					 
		  			 BACK=0;
		   			 judgement(50,0);
		 		}
	   			if(avge<(avge0-chazhi)) 
		  		{
		   			START=1;
		   			BACK=1;
		   			judgement(50,0);
				 }	
	 		}		
	 		else     
			{
				START=0;
				TR1=1;
				time1=0;
				time2=1;
				
			
			}	
    	}
	   //AMX0SL    =  0x03;
	   //state=(AD_IN(1,1));
	   //result=(int)state;
	   //BCDdisplay(result);
	   //delayms(20);
	}
}


/*PCA中断子程序*/
void PCA_ISR (void) interrupt 9
{
	
	CCF0 = 0;			/*清匹配中断标志*/

} 


 /*键盘中断子程序*/
void led(void)  interrupt 19
{ 
   uchar key;
   EA=0;
   
   key=CH452_Read();
   
   if(0x62==key)
   {
   	delayms(2);
	avge0=avge;
	black=0;	
	BCD_H_L(avge0-200,1); 
    }
  if(0x63==key)
	  {	
	  delayms(2);
	  black=1;
	  //START=1;
	  	  }	
	   EA=1;
  }

/*定时器中断子程序*/
void TIMER1_ISR (void) interrupt 3 using 1
{
	
	TF1=0;
	TH1=0x7D;
	TL1=0xFB;
	if(time1==1)
	{
	   if(--counter1==0)
	   {
	       TR1=0;
		   time1=0;
		   keykey=1;
		   black=0;
	   }
	  
	}
	if(time2==1)
	{ if(--counter2==0)
	   {
	       TR1=0;
		   time2=0;
		   confirm();
		   
	   } 
	}
}