📄 totelbigchange.lst
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C51 COMPILER V8.02 TOTELBIGCHANGE 09/06/2007 01:13:17 PAGE 1
C51 COMPILER V8.02, COMPILATION OF MODULE TOTELBIGCHANGE
OBJECT MODULE PLACED IN totelbigchange.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE totelbigchange.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; //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; //键盘控制差值
39 // Peripheral specific initialization functions,
40 // Called from the Init_Device() function
41
42
43 void Port_IO_Init()
44 {
45 1 // P0.0 - CEX0 (PCA), Open-Drain, Digital
46 1 // P0.1 - CEX1 (PCA), Open-Drain, Digital
47 1 XBR0 = 0x10; /*CEX0-->P0.0,CEX1-->P0.1*/
48 1 XBR2 = 0x40;
49 1 }
50
51 void Interrupts_Init()
52 {
53 1
54 1 IE = 0x0A; //使能定时器1中断//使能定时器0中断
55 1 IP = 0x02; //使定时器1,0优先级高
C51 COMPILER V8.02 TOTELBIGCHANGE 09/06/2007 01:13:17 PAGE 2
56 1 EIE1 = 0x08; //使能PCA0中断
57 1 EIE2 = 0x20; //使能外部键盘中断
58 1 EIP2 = 0x20; //使外部键盘优先级高
59 1
60 1 }
61
62 // Initialization function for device,
63 // Call Init_Device() from your main program
64 void Init_Device(void)
65 {
66 1 Reset_Sources_Init();
67 1 ADC_Init();
68 1 PCA_Init();
69 1 Timer_Init();
70 1 Oscillator_Init();
71 1 Voltage_Reference_Init();
72 1 Port_IO_Init();
73 1 Interrupts_Init();
74 1 }
75 void speedchange(uchar duty,uchar i)
76 {
77 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
78 1 if(i==1) PCA0CPH1=(uchar)((100-duty)*2.56);
79 1 }
80 ulong pingjun (void)
81 { uchar i;
82 1 ulong avgad1=0,avgad=0,state=0;
83 1 state=AD_IN();
84 1 for(i=0;i<15;i++)
85 1 {
86 2 data0[i]=state;
87 2 avgad+=data0[i];
88 2 }
89 1 avgad=avgad/15;
90 1 for(i=0;i<15;i++)
91 1 {
92 2 data0[i]=state;
93 2 avgad1+=data0[i];
94 2 }
95 1 avgad1=avgad1/15;
96 1 avge=(avgad+avgad1)/4;
97 1 return(avge);
98 1 }
99 void stage_clk_start()
100 {
101 1 CH452_Write(CH452_TWINKLE);
102 1 DELAY_1US;DELAY_1US;DELAY_1US;DELAY_1US;DELAY_1US;
103 1 stage_clk_flag=1;
104 1 stage_sec=0;
105 1 CH452_Write(CH452_DIG4);
106 1 CH452_Write(CH452_DIG5 | 16);
107 1 }
108 /****精确秒延时****/
109 void delay_s(uchar n)
110 { unsigned char i,j;
111 1 for(i=0;i<200;i++)
112 1 for(j=0;j<25*n;j++)
113 1 {
114 2 DELAY_10US;
115 2 DELAY_10US;
116 2 DELAY_10US;
117 2 DELAY_10US;
C51 COMPILER V8.02 TOTELBIGCHANGE 09/06/2007 01:13:17 PAGE 3
118 2 DELAY_10US;
119 2 DELAY_10US;
120 2 DELAY_10US;
121 2 DELAY_10US;
122 2 DELAY_10US;
123 2 DELAY_10US; //100us
124 2 }
125 1
126 1
127 1 }
128 void judgement (uchar modi,uchar modi1,uchar dem)
129 {
130 1 uchar i;
131 1 if((a&&bb==0&&c==0)||(a&&bb&&c==0))
132 1 { left=1;
133 2 right=0;
134 2 speedchange(modi1,1);
135 2 speedchange(modi,0);
136 2 delayms(dem);
137 2 }
138 1 else if((a==0&&bb==0&&c)||(a==0&&bb&&c))
139 1 {
140 2 left=0;
141 2 right=1;
142 2 speedchange(modi1,0);
143 2 speedchange(modi,1);
144 2 delayms(dem);
145 2 }
146 1 else if(a==0&&bb&&c==0)
147 1 {
148 2 left=0;
149 2 right=0;
150 2 speedchange(modi,0);
151 2 speedchange(modi,1);
152 2 delayms(dem);
153 2 }
154 1 else if(a&&bb&&c) //停止&&(d||e)
155 1 {
156 2
157 2 START=0;
158 2 LASTS=1;
159 2 forward=0;
160 2 stage_clk_flag=0;//stage_clk_stop();显示平衡后前进的时间
161 2 CH452_Write(CH452_DIG0|11);
162 2 CH452_Write(CH452_TWINKLE | 0x31);
163 2 for(i=5;i>0;i--)
164 2 {
165 3 CH452_Write(CH452_DIG7 | i);
166 3 SPOKER=1;
167 3 delay_s(1);
168 3 SPOKER=0;
169 3 delay_s(1);
170 3 }
171 2 CH452_Write(CH452_DIG7);
172 2 stage_clk_start();
173 2 CH452_Write((CH452_DIG0)|16);
174 2 if(transform==1)
175 2 {
176 3 forward=0;
177 3 black=0;
178 3 keykey=0;
179 3 xianshi=0;
C51 COMPILER V8.02 TOTELBIGCHANGE 09/06/2007 01:13:17 PAGE 4
180 3 backward=1;
181 3 }
182 2 }
183 1 else //if (a==0&&bb==0&&c==0)
184 1 {
185 2 if(left==1)
186 2 {
187 3 speedchange(modi1,0);
188 3 speedchange(modi,1); }
189 2 else if(right==1)
190 2 {
191 3 speedchange(modi,0);
192 3 speedchange(modi1,1);}
193 2 else
194 2 {
195 3 speedchange(modi,0);
196 3 speedchange(modi,1);}
197 2 delayms(dem);
198 2 }
199 1 }
200 void judgementback (uchar modi,uchar modi1,uchar dem,uchar i)
201 { if(i==1)
202 1 {if(stage_sec>30)
203 2 {
204 3 START=0;
205 3 LASTS=1;
206 3 stage_clk_flag=0;//stage_clk_stop();
207 3 CH452_Write(CH452_DIG0|10);
208 3 CH452_Write(CH452_TWINKLE | 0x31);
209 3 TR0=0;
210 3 forward=0;
211 3 black=0;
212 3 keykey=0;
213 3 backward=0;
214 3 xianshi=0;
215 3 }}
216 1 if(f==1&&g==0)
217 1 {
218 2 speedchange(modi1,1);
219 2 speedchange(modi,0);
220 2
221 2 }
222 1 else if(f==0&&g==1)
223 1 {
224 2 speedchange(modi,1);
225 2 speedchange(modi1,0);
226 2
227 2 }
228 1 else //if(f==0&&g==0)
229 1 {
230 2 speedchange(modi,1);
231 2 speedchange(modi,0);
232 2 }
233 1
234 1 delayms(dem);
235 1 }
236
237
238 void main(void)
239 {
240 1 uchar chazhi1;
241 1 Init_Device();
C51 COMPILER V8.02 TOTELBIGCHANGE 09/06/2007 01:13:17 PAGE 5
242 1 CH452_Init(); /* CH452初始化 */
243 1 LEDG=0;
244 1 SPOKER=0;
245 1 forward=0,
246 1 black=0,
247 1 keykey=0,
248 1 backward=0,
249 1 xianshi=1;
250 1 IN0=1;
251 1 IN1=1;
252 1 IN2=1;
253 1 //IN3=1;
254 1 //IN4=1;
255 1 IN5=1;
256 1 IN6=1;
257 1 START=0;
258 1 LASTS=1;
259 1 LASTB=0;
260 1 LASTF=0;
261 1 time1=1;
262 1 time2=1;
263 1 counter1=170;
264 1 counter2=50;
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