m16io.h

通过红外遥控器可靠的控制小车能向前直线运动、向后直线运动、向前左转运动、向前右转运动、向后左转运动、向后右转运动、停止运动的功能.

#pragma ADDRESS port_0     3e0H        /* Port P0 register		*/
#pragma ADDRESS pd0        3e2H        /* Port P0 direction register 	*/
#pragma ADDRESS port_1     3e1H        /* Port P1 register		*/
#pragma ADDRESS pd1        3e3H        /* Port P1 direction register 	*/
#pragma ADDRESS port_2     3e4H        /* Port P2 register		*/
#pragma ADDRESS pd2        3e6H        /* Port P2 direction register 	*/
#pragma ADDRESS port_3     3e5H        /* Port P3 register		*/
#pragma ADDRESS pd3        3e7H        /* Port P3 direction register 	*/
#pragma ADDRESS port_4     3e8H        /* Port P4 register		*/
#pragma ADDRESS pd4        3eaH        /* Port P4 direction register 	*/
#pragma ADDRESS port_5     3e9H        /* Port P5 register		*/
#pragma ADDRESS pd5        3ebH        /* Port P5 direction register 	*/
#pragma ADDRESS pd5        3ebH        /* Port P5 direction register 	*/
#pragma ADDRESS pd6        3eeH        /* Port P6 direction register 	*/
#pragma ADDRESS port_7     3edH        /* Port P7 register		*/
#pragma ADDRESS pd7        3efH        /* Port P7 direction register 	*/
#pragma ADDRESS port_8     3f0h
#pragma ADDRESS pd8        3f2h
#pragma ADDRESS port_9     3f1H        /* Port P9 register		*/
#pragma ADDRESS pd9        3f3H        /* Port P9 direction register 	*/

unsigned char port_0, pd0;		/* 输出入口			*/
unsigned char port_1, pd1;
unsigned char port_2, pd2;
unsigned char port_3, pd3;
unsigned char port_7, pd7,pd6;
unsigned char port_8, pd8;
unsigned char port_9, pd9;

unsigned int  port_4, pd4;		/* 输入入口			*/
unsigned int  port_5, pd5;

/*************************************************************************
* 计时器入口的设定
*************************************************************************/

#pragma ADDRESS tabsr	   380H		/* Count start flag		*/
#pragma ADDRESS onsf       382H         /*  单次启动标志*/
#pragma ADDRESS udf	   384H		/* Up-down flag		*/
#pragma ADDRESS ta0	   386H		/* Timer A0 register	*/
#pragma ADDRESS ta1	   388H		/* Timer A1 register	*/
#pragma ADDRESS ta2	   38aH		/* Timer A2 register	*/
#pragma ADDRESS ta3	   38cH		/* Timer A3 register	*/
#pragma ADDRESS ta0mr	   396H		/* Timer A0 mode register	*/
#pragma ADDRESS ta1mr	   397H		/* Timer A1 mode register	*/
#pragma ADDRESS ta2mr	   398H		/* Timer A2 mode register	*/
#pragma ADDRESS ta3mr	   399H		/* Timer A3 mode register	*/
#pragma ADDRESS ta0ic	   55H   /* Timer A0 interrupt control register */
#pragma ADDRESS ta1ic	   56H   /* Timer A1 interrupt control register */
#pragma ADDRESS ta2ic	   57H   /* Timer A1 interrupt control register */
#pragma ADDRESS ta3ic	   58H   /* Timer A0 interrupt control register */

unsigned char	tabsr, udf,onsf;		/* 计时器			*/
unsigned char	ta0mr, ta0ic;
unsigned char	ta1mr, ta1ic;
unsigned char	ta2mr, ta2ic;
unsigned char	ta3mr, ta3ic;
unsigned int	ta0;
unsigned int	ta1;
unsigned int	ta2;
unsigned int	ta3;

/************************************************************************
  * 入口的设定（ UART0 ）                                             *
************************************************************************/

#pragma ADDRESS s0tic	0051H	/* UART0 送信插队控制记录器	*/
#pragma ADDRESS s0ric	0052H	/* UART0 收信插队控制记录器	*/
unsigned char	s0tic,  s0ric;

#pragma ADDRESS u0mr	03A0H	/* 收发信也－ dolezista			*/
#pragma ADDRESS u0brg	03A1H	/* 转送速度记录器			*/
#pragma ADDRESS u0tb	03A2H	/* 送信缓充器记录器			*/
#pragma ADDRESS u0c0	03A4H	/* 收发信控制记录器 0			*/
#pragma ADDRESS u0c1	03A5H	/* 收发信控制记录器 1			*/
#pragma ADDRESS u0rb	03A6H	/* 收信缓充器记录器			*/
#pragma ADDRESS ucon	03B0H	/* 收发信控制记录器			*/
unsigned int	u0tb;
unsigned int	u0rb;
unsigned char	u0mr, u0brg, u0c0, u0c1, ucon;

/************************************************************************
* 入口的设定（ AD0 ）                                              *
*************************************************************************/

#pragma ADDRESS adic	04eH	/* A-D interrupt control register */
#pragma ADDRESS ad0	3c0H	/* A-D 0 register	*/
#pragma ADDRESS ad1	3c2H	/* A-D 1 register	*/
#pragma ADDRESS adcon0	3d6H	/* A-D control-0 register	*/
#pragma ADDRESS adcon1	3d7H	/* A-D control-1 register	*/
#pragma ADDRESS adcon2	3d4H	/* A-D control-2 register	*/

#pragma ADDRESS pd10	3f6H	/* A- D 用途 Port P10 direction registe	*/
#pragma ADDRESS pur2	3feH	/* A- D 用途 Poll up registe	*/
unsigned char	pd10, pur2;

unsigned char	adic;
int		ad0;
int		ad1;
unsigned char	adcon0, adcon1, adcon2;

/************************************************************************
* 入口的设定（ INT0 ， INT1 ）                                  *
*************************************************************************/

#pragma ADDRESS int0ic	05dH	/* INT0 interrupt control register */
#pragma ADDRESS int1ic	05eH	/* INT1 interrupt control register */
#pragma ADDRESS ifsr	35fH	/* INT0 interrupt  register */
#pragma ADDRESS ifsr	35fH	/* INT  interrupt  register */
unsigned char	int0ic;
unsigned char	int1ic;
unsigned char	ifsr;