main.c

来自「这里有很多我自己做的凌阳单片机源程序」· C语言 代码 · 共 211 行

#include<spce061a_chf.h>
#include"bit.h"
#include"qiao3.h"
extern sec;
int main(void)
{
	unsigned int key_value=0;
	unsigned int end_flag=0;
	init_IO();
	display(0);
	while(key_value==0)
	{
		key_value=key_scanf();		
	}
	asm("irq on");
	while(1)
	{
		sec=0;
		if(key_value==1)//按下1号键的时候，执行的是全部的功能程序，否则执行的是基本部分的功能程序。
		{
			zonghe();
		}
lab1:	while((P1_0==0)|(P1_1==0))
		{
			if((P1_5==1)|(P1_4==1))
			{
				goto dd;				
			}
			else
			{
				control_up();
				*P_Watchdog_Clear=0x01;
			}
		}
dd:		while(P1_4==1)
		{
			control_right();
			*P_Watchdog_Clear=0x01;
		}
		while(P1_5==1)
		{
			control_left();
			*P_Watchdog_Clear=0x01;
		}
		control_stop();
		delay();
		delay();
		delay();	
		*P_Watchdog_Clear=0x01;
		if((P1_0==0)|(P1_1==0))
		{
			goto lab1;
		}
		sec=0;//向上的水银开关有一个跳变，就说明到达中心位置
		control_up();
		delay();
		control_stop();
		*P_Watchdog_Clear=0x01;
lab2:	while((P1_0==1)|(P1_1==1))
		{
			control_goback();
			delay();
			*P_Watchdog_Clear=0x01;
			control_stop();
			delay();
			delay();
			*P_Watchdog_Clear=0x01;
		}
		while((P1_2==1)|(P1_3==1))
		{
			control_up();			
			delay();
			*P_Watchdog_Clear=0x01;
			control_stop();
			delay();
			delay();
			*P_Watchdog_Clear=0x01;
		}		
		if(sec<12)//
		{				
			goto lab2;		
		}		
		else if((sec<18)&(sec>11))//修改？？？？？？？？？？？？？？
		{
			
			P1_15=0;//在这里单步调试?????????????????????????????????????
			goto lab2;
		}		
		P1_15=1;
		sec=0;		
lab3:	while((P1_4==0)&(P1_5==0))
		{	
			control_up();			
			//P1_15=0;修改？？？？？？？？？？？？？？？？？？				
			*P_Watchdog_Clear=0x01;			
		}
		control_stop();
		delay();		
		if(P1_4==1)
		{
			control_up();
			delay();
			*P_Watchdog_Clear=0x01;
			control_stop();
			if(P1_5==0)
			{				
				while(P1_4 ==1)
				{
					control_right();
					*P_Watchdog_Clear=0x01;
				}
				control_stop();
			}
			else
			{
				end_flag=1;
			}
		}
		else if(P1_5==1)
		{
			control_up();
			delay();
			control_stop();
			if(P1_4==0)
			{
				while(P1_5==1)
				{
					control_left();
					*P_Watchdog_Clear=0x01;
				}
				control_stop();				
			}
			else
			{
				end_flag=1;
			}
		}
		control_stop();
		delay();
		delay();
		if((P1_0==0)|(P1_1==0))
		{
			if((P1_3==1)|(P1_2==1))
			{
				sec=0;
				goto lab2;
			}
		}
		if(end_flag==0)
		{
			goto lab3;
			sec=0;
		}
		control_stop();//到达B端
		sec=0;
		while(sec<5);
		sec=0;
		end_flag=0;
lab4:	while((P1_6==0)&(P1_7==0))
		{
			control_goback();
			*P_Watchdog_Clear=0x01;
		}
		if(P1_6==1)
		{
			control_goback();
			delay();
			if(P1_7==0)
			{
				while(P1_6==1)
				{
					control_right();
				}
				control_stop();
			}
			else
			{
				end_flag=1;
			}
		}
		if(P1_7==1)
		{
			control_goback();
			delay();
			if(P1_6==0)
			{
				while(P1_7==1)
				{
					control_left();
					*P_Watchdog_Clear=0x01;
				}
				control_stop();
			}
			else
			{
				end_flag=1;
			}
		}
		if(end_flag==0)
		{
			goto lab4;
		}
		while(1)//走完全程后在此循环
		{
			control_stop();
			*P_Watchdog_Clear=0x01;
		}		
	}
	return 0;
}