driver.h

全国电子设计大赛:智能电动车的设计.实现功能:以AT89C52单片机为核心

//*************************************************************************************************
//  Module Name :  Driver.H
//  CreateDate  :  2005-05-14
//  ModifData   :  2005-07-18
//  Description :  The driver for the car 
//  Author      :  李远正
//  Version     :  V1.0
//*************************************************************************************************
// 

#ifndef __Driver_H__
#define __Driver_H__

//-------------------------------------------------------------------------------------------------
// 需要设定的参数：
#define LOOP           170     // 车轮一圈为 170mm 
//#define SECTION_B      2500    // B段起始距离   SECTION_BPoint;  
//#define SECTION_CC     3000    // C段中间位置   SECTION_BCPoint;  

//-------------------------------------------------------------------------------------------------
// 由Driver.C定义 
// 
//#define Metal              P1_7 (T0  ) // (T0 use for PCA)
#define LeftOver0          P2_0 //(INT0) // 左边光电0 ( 1: 白线, 0: 黑线 ) 
//#define Circle             P2_1 (T1  ) // 车轮圈数  
#define RightOver0         P2_2 //(INT1) // 右边光电0 ( 1: 白线, 0: 黑线 ) 

#define LeftOver1            P2_3  // 左边光电1   ( 1: 白线, 0: 黑线 ) 
#define Center               P2_4  // 中央光电    ( 1: 白线, 0: 黑线 ) 
#define RightOver1           P2_5  // 右边光电1   ( 1: 白线, 0: 黑线 ) 
#define Metal                P2_6  // 霍尔传感器  ( 1: 无  , 0: 铁片 ) 
#define Barrier              P2_7  // 前方障碍物  ( 1: 障碍物, 0: 无 ) 

//-------------------------------------------------------------------------------------------------
//-------------------------------------------------------------------------------------------------
// 从外面取得的变量和子程序 
//-----------------------------------------------
// speed configure ( from Main.c )
extern unsigned char xdata SPEED, SPEED1; // The speed of the CAR 
extern unsigned char xdata FREQUENCY;     // The frequency of PWM 

// Time Setting
extern unsigned char xdata time_buf[7];
extern unsigned char xdata time_now,time_old;

extern bit LED_Glitter_Enable; 

//-------------------------------------------------------------------------------------------------
// Driver.C 产生的变量，向外传送 
//-------------------------------------------------------------------------------------------------
// distance
extern unsigned char xdata SECTION;         // The section of the way: A,B,C
extern unsigned int  xdata SECTION_BPoint, SECTION_CPoint, SECTION_BCPoint;    

extern unsigned int  xdata DistanceCount;          // The counts of the loops 
extern unsigned int  xdata DISTANCE, DISTANCE_C;   // The distance of the way ( 17cm/loop )

extern bit Flag_CArea;

//-------------------------------------------------------------------------------------------------
// time 
extern unsigned char xdata JourneyTime, TimeBPoint, TimeCPoint;

extern bit Start, Stop;

//-------------------------------------------------------------------------------------------------
// The flag of operation 
extern unsigned char xdata CarStatus;
extern bit B_SECTION; 

extern bit forward, backward, turnright, turnleft;
extern bit Flag_LeftOver0, Flag_LeftOver1, Flag_RightOver0, Flag_RightOver1, Flag_Center; 
extern bit Flag_Barrier;

//-------------------------------------------------------------------------------------------------
// The operation of Metal 
extern unsigned char xdata MetalNumber;   // 1--3 
extern unsigned int  xdata MetalDistance1, MetalDistance2; 
extern unsigned int  xdata MetalStartPoint, MetalEndPoint; 

extern bit Flag_Metal;  

//-------------------------------------------------------------------------------------------------
// The photoelectric cell 
extern unsigned int  xdata LightLeft, LightCenter, LightRight; 
extern unsigned char xdata INTENSITY;

//-------------------------------------------------------------------------------------------------
// Write file to USB 
extern bit Write; 

//=================================================================================================
// 从外面取得的子程序 
extern void mDelaymS( unsigned int msecond );    // 1 ms 延时子程序, Fosc =12MHz 

//-----------------------------------------------
// Driver.C 提供的子程序 
extern void Forward ( unsigned char speed );     // 前进的速度 
extern void Backward( unsigned char speed );     // 后退的速度 
extern void CarStop ( void );                    // 停车 
extern void TurnRight( unsigned char speed );    // 左拐弯 
extern void TurnLeft ( unsigned char speed );    // 右拐弯 

extern void CarDriver( void );   // 小车驱动 

//-------------------------------------------------------------------------------------------------
//-------------------------------------------------------------------------------------------------

#endif