serial.c

蛇形机器人程序

#include<reg52.h>
#include<FollowLine.h>
#include<intrins.h>

//
const unsigned char Baud12 = 0xCC;	//24M baudrate 1202

//~~~~~Function Declaration~~~~~~
extern void SensorSta(void);
extern void MotorLeft(char Speed,bit Direction);
extern void MotorRight(char Speed,bit Direction);
extern void Stop(void);
void SerialOut(unsigned char Command);

void Serial() interrupt 4 
{
	
	char Command;
	IE = 0xD0; //1101 1000 close T0 INT0 INT1
	if(RI)
	{
		RI = 0 ;
		Command = SBUF;
		switch(Command)
		{
			case 's':	 //stop
			{	
				Stop();
				StopFlag = 1;
				break; 
			}

			case 'm':
			{
				StopFlag = 0;
				break;	
			}//stop
			
			case 'M':
			{
				StopFlag = 0;
				FrontFlag = 1;
				break;
			}
			case 'r':	//resume
			{
			//	TR0=1;	SBUF='O'
				;break;
			}
			
			default: 	//not received exactly
			{ 
			//	SBUF='n';
				break;
			}
	}
	}
	else TI=0;
	IE = 0xD2;; // 1101 1100 forbiden other interrupt
				// Depends on the value in Initial
}
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
void SerialOut(unsigned char Command) 
{	

	_nop_();
	SBUF = Command;

}