timer0.c

keil c open

/*
*********************************************************************************************************
*                                               timer0
*                                               实时内核
*
*                        (c) Copyright 2003-9-10   pearmain
*                                               版权所有
*
*                                            MCU-51 专用代码
*                                           KEIL C51大模式编译
*
* 文件名 :timer0
* 作者   : 曹承福
* 改编   :
*********************************************************************************************************
*/


#include "extern.h"
void	timer0(void)	interrupt	1
{
  	TF0=0;

   // msec1++;
    time_sec++;
	ultrac_tell++;
	time_stop_add++;
	sub_senddata_time++;
	if(sub_senddata_time>0xf0)
	{
		sub_senddata_time=0xf0;
	}
	if(time_sec>=28)
    {
		if(call_team_flag==1)
		{
			msec=0;
		}
		if((return_call_team_flag==1)&&(direction==1)&&(call_team_flag==0))
		{
   			msec++;
		}
		if((return_call_team_flag==2)&&(direction==1)&&(trade_idle_run_brush_flag==1)&&(call_team_flag==0))
		{
			trade_idle_msec++;
		}
		time_sec=0;
		time_brush=1;
	//	f_time_brush();
	

    }
	
	if(selection==4)
	{
		if(time_stop_add>10)
		{
			time_stop_add=0;
			if(brush_stop_flag==1)
			{
				brush_stop_flag=0;
				OS_send_stop();	
			}
		}
	}

	if(direction==1)	
	{
	if(return_call_team_flag==1)
	{
		if(call_team_flag==0)
		{
		if(idle_run_shot_time<10)
		{
			idle_run_shot_time=10;
		}
		if(msec>idle_run_shot_time)
		{
			if(idle_run_shot_time<10)
			{
				idle_run_shot_time=10;	
			}
			msec=0;
			trade_idle_msec=0;
			call_team_flag=1;
			EA=0;
			preset_dot=os_read_lenth(31);
			EA=1;
			number=1;
		}
		}
	}
	}
if(direction==1)
{		
	if(return_call_team_flag==2)
		if(idle_run_track_flag==1)
		{	
		if(trade_idle_run_brush_flag==1)	
		if(trade_idle_msec>idle_run_track_time)
			{
				if(idle_run_track_time<10)
				{
					return;
				}
				trade_idle_msec=0;
				trade_idle_run_brush_flag=0;
				trade_idle_run_flag=1;	
				sendone=0xaa;
				sendtwo=0xa3;
	   			sendthree=0x3;
				f_sendbytes1234();
			}
			}
	
}	
}

void	init_timer2(void)
{
	ET2=1;
	ET2=1;
	TR2=1;
	TH2=0;
	TL2=0;
	TF2=0;
}
void	timer2(void)	interrupt	5
{
	TF2=0;

	TH2=0XAA;
	TL2=0x55;
	if(call_team_flag==0)
	if(direction==1)
	{
		time_msec++;
	if(time_msec>30)
	{
		time_msec=0;	
		hard_address_brush_flag++;
		iic_recieve_time++;	
	}
	}
	if(direction==1)
//	if(iic_recieve_time<2000)
	{
		test_master_show();
	}	
		TF2=0;
}
void test_master_show()
{
	uchar	i,j;
	EA=0;
	if(IRcvByte(0xf0,&j)==1)
	{	
	 
		for(i=1;i<20;i++)
		display_moto[i-1]=display_moto[i];
		display_moto[19]=j;
		if(display_moto[0]==0x55)
		if(display_moto[19]==0xaa)
		{
		moto_h_position=display_moto[1],moto_v_position=display_moto[2];
		//f_character_position(moto_h_position,moto_v_position);
		f_character_position(10,4);
		cs_to_6453=1;
		cs_to_6453=0;
		f_input_6453(0xce);	
	//	f_input_6453(t[20]++);
		for(i=4;i<19;i++)
		f_input_6453(display_moto[i]);
		cs_to_6453=1;
		}
	}	
	recieveing_flag=0;
	EA=1;

}