📄 osc2_0929.c.bak
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#include <OSC.h>
sbit message_enable=P1^5;
sbit stop=P3^5;
sbit gate=P4^1;
sbit osc_dir=P4^5;
sbit osc_enable=P4^4;
sbit osc_out=P4^6;
xdata unsigned char rbuffer[55] _at_ 0x0200;
unsigned char S_ANSW,POINTER0,POINTER1,work,RSUM,SSUM,s_byte_nums,r_byte_nums,sbuffer[6],c_t1,
c_decrease,temp_c_decrease,share_decrease,osc_add,osc_dec,share,nonce_sec,c_t42,
c_t42_l,c_t42_r,err,p_sec,c_change,temp_c_change,cross_machine,c_cm1;
unsigned char COMM,SLA,FF,GET;
unsigned int delt_a41,*point,delt_out1,delt_out0,n_dc41,const1,n_da41;
xdata unsigned long out0,out1,out2,const0,const2,const3,temp_out1,static_out1,temp_out0,static_out0,
out0_decrease,out1_decrease;
bit t_edge,osc_ok,decrease,decreased,stop_osc,new_sector,excursion_dir,
center_excursion,called,judge_ok,urgent_stop,in_sector,
start,over_i1,over_i2,resend,send,overtime,osc_l,osc_r,motor_stop,sec_change,
receive_p_out,receive_p_in,start_osc,ans,to_begin,decrease_ok,center_change,
need_para,osc_err,err_ok,breadth_add,breadth_dec,osc,osc_change,K4,sec_center,osc_started;
#define start_v 200;
void start_i2()
{
data unsigned int time;
P1_6=1; //SCL
P1_7=1; //SDA
S1CON=0x47; //ENS1=1 STA=0 STO=0 SI=0 AA=1
PS1=1;FF=0;
EA=1;
ES1=1;
STA=1;
time=0;
do
{
time++;
if(time>10000)
{
FF=1;
}
}while(FF==0);
FF=0;
ES1=0;
}
void start_t2()
{
TM2CON=0x81; //16位溢出，分频系数1，f/12
EA=1;
TM2IR=0;
}
void ini_sbuf(unsigned char a,b,c,d,e,f)
{
sbuffer[0]=a;
sbuffer[1]=b;
sbuffer[2]=c;
sbuffer[3]=d;
sbuffer[4]=e;
sbuffer[5]=f;
}
unsigned char get_byte_nums(unsigned char type)
{
unsigned char numbers;
switch(type)
{
case infor_sec:
case command:
case program:
case answer: numbers=4;
break;
case err_infor:
case parameter1: numbers=5;
break;
case parameter:
case infor: numbers=6;
break;
case parameter2: numbers=7;
break;
case call_result: numbers=8;
break;
case p_out_sec: numbers=55;
break;
case p_in_sec: numbers=24;
break;
case edit_sec: numbers=64;
break;
default: numbers=4;
break;
}
return numbers;
}
void TR_noans()
{
POINTER0=0;
SSUM=0;
send=1;
c_t1=0;
message_enable=0; //开发送使能
TR1=1;
while(POINTER0<s_byte_nums);
TR1=0;
message_enable=1; //关发送使能
}
void TR_ans()
{
ans=1;
REN=0;
POINTER1=0;
RSUM=0;
TB8=1;
POINTER0=0;
SSUM=0;
send=1;
c_t1=0;
message_enable=0; //开发送使能
TR1=1;
while(POINTER0<s_byte_nums);
TR1=0;
message_enable=1; //关发送使能
REN=1;
send=0;
c_t1=0;
// TR1=1;
while(POINTER1<r_byte_nums&&overtime==0);
TR1=0;
if(overtime==1)
{
err=3;
osc_err=1;
overtime=0;
}
ans=0;
}
void delay(int num)
{
data unsigned int i,j;
for(i=0;i<num;i++)
{
for(j=0;j<255;j++);
}
}
/*
void read_8574 () //过流1或过流2
{
unsigned char temp_GET;
SLA=0x43;
start_i2();
temp_GET=GET;
temp_GET=temp_GET&0X01;
if(temp_GET==0)
over_i1=1;
temp_GET=GET;
temp_GET=temp_GET&0X02;
if(temp_GET==0)
over_i2=1;
}
*/
void write_8574(unsigned char col) //出错显示
{
SLA=0x42;
COMM=col;
start_i2();
}
void com_type()
{
switch(rbuffer[2])
{
case com_calling: called=1;break;
case com_motor_stop: motor_stop=1;break;
case com_start: start=1;break; //启动
case com_decrease: {
if(osc_ok==1)
{
if(osc_add>osc_dec)
{
delt_a41=pp.da41*(osc_add-osc_dec);
const1=const1+delt_a41;
}
else if(osc_add<osc_dec)
{
delt_a41=pp.da41*(osc_dec-osc_add);
const1=const1-delt_a41;
}
if(in_sector==0)
{
const0=pp.v41*pp.t17;
const3=120*const1;
const2=pp.t42_l+pp.t42_r;
const2=const2*pp.v41;
const3=const3+const2;
}
else if(osc_ok==1)
{
const0=pp.x[nonce_sec][3]*pp.t17;
const3=120*const1;
const2=pp.x[nonce_sec][1]+pp.x[nonce_sec][2];
const2=const2*pp.x[nonce_sec][3];
const3=const3+const2;
}
c_decrease=const0/const3+1;
out1_decrease=out1;
out0_decrease=out0;
temp_c_decrease=1;
share_decrease=0;
}
decrease=1;
}break;
case com_osc: start_osc=1;break; //启动CT0
case com_osc_l: {
if(work==0) //点动
{
if(osc_l==0)
osc_l=1;
}
else
{
if(center_excursion==0&&judge_ok==0)
{
excursion_dir=0;
center_excursion=1;
}
}
}break;
case com_osc_r: {
if(work==0) //点动
{
if(osc_r==0)
osc_r=1;
}
else
{
if(center_excursion==0&&judge_ok==0)
{
excursion_dir=1;
center_excursion=1;
}
}
}break;
case com_breadth_add: if(osc_ok==1&&osc==0)
{
osc=1; //启动横摆
osc_change=1;
}break;
case com_breadth_dec: if(osc_ok==1&&osc==0)
{
osc=1; //启动横摆
osc_change=0;
}break;
case com_goto_begin: to_begin=1;break;
case com_err_ok: err_ok=1;break;
default: break;
}
}
void data_type() //对接收到的数据分辨类型
{
switch(rbuffer[1])
{
case command: com_type();break;
case infor: {
if(rbuffer[2]==com_sector)
{
in_sector=1;
new_sector=1;
nonce_sec=rbuffer[3];
K4=pp.x[nonce_sec][0];
}
}break;
case p_out_sec: receive_p_out=1;break;
case p_in_sec: {
nonce_sec=rbuffer[2];
receive_p_in=1;
}break;
default: break;
}
}
void EX0_INT (void) interrupt 0 //急停
{
EX0=0;
message_enable=1; //关发送使能
REN=1;
gate=0;
CTCON=CTCON&0xF0;
while(err_ok==0)
{
if(called==1)
{
if(osc_err==0)
{
ini_sbuf(M_main,answer,OK,0,0,0);
s_byte_nums=4;
TR_noans();
}
else
{
ini_sbuf(M_main,err_infor,M_OSC,err,0,0);
s_byte_nums=5;
TR_noans();
osc_err=0;
err=0;
stop=1;
}
called=0;
}
}
urgent_stop=1;
}
void EX1_INT (void) interrupt 2
{
unsigned char get_err;
EX1=0;
get_err=P5;
get_err=get_err&0x10;
if(get_err==0)
{
err=14; //横摆过流
write_8574(0xF4);
}
else
{
get_err=P5;
get_err=get_err&0x08;
if(get_err==0)
{
err=13; //横摆右限位
write_8574(0xF2);
}
else
{
get_err=P5;
get_err=get_err&0x04;
if(get_err==0)
{
err=12; //横摆左限位
write_8574(0xF1);
}
}
}
if(err!=0)
{
osc_err=1;
stop=0;
}
else
EX1=1;
}
void T1_INT (void) interrupt 3
{
c_t1++;
if(send==1)
{
if(c_t1==7)
{
S0BUF=sbuffer[POINTER0];
c_t1=0;
}
}
else
{
if(c_t1==100)
{
TR1=0;
overtime=1;
}
}
}
void TR_INT (void) interrupt 4 //串行口中断
{ //关中断
if(TI==1) //发送完成
{
TI=0;
POINTER0++;
if(POINTER0<s_byte_nums-1)
SSUM=SSUM+sbuffer[POINTER0]; //6个数据字节求和
else
sbuffer[s_byte_nums-1]=SSUM+sbuffer[0]; //数据和加地址生成校验码
if(POINTER0==s_byte_nums)
REN=1;
}
if(RI==1) //接收完成
{
RI=0;
POINTER1++; //接收缓冲指针加1
rbuffer[POINTER1-1]=S0BUF; //从接收缓冲读出数据
if(rbuffer[0]==M_OSC||rbuffer[0]==M_ALL)
{
SM2=0;
if(POINTER1==2)
r_byte_nums=get_byte_nums(rbuffer[1]);
if(POINTER1<r_byte_nums)
RSUM=RSUM+rbuffer[POINTER1-1]; //生成校验码
else
{
SM2=1;
if(RSUM==rbuffer[r_byte_nums-1])
{
if(ans==0)
{
POINTER1=0;
RSUM=0;
}
S_ANSW=OK;
data_type();
}
else
{
POINTER1=0;
RSUM=0;
S_ANSW=FAIL;
if(resend==0)
resend=1;
}
}
}
else
POINTER1=0;
} //开中断
}
void S1_int (void) interrupt 5 //I2C
{
if (S1STA==0x00)
{
FF=1;
S1CON=0xD5; //STA=0 STO=1 SI=0 AA=1
}
if (S1STA==0x08)
{
S1DAT=SLA;
S1CON=0xC5; //STA=0 STO=0 SI=0 AA=1
}
if (S1STA==0x10)
{
S1DAT=SLA;
S1CON=0xC5; //STA=0 STO=0 SI=0 AA=1
}
if (S1STA==0x18)
{
S1DAT=COMM;
S1CON=0xC5; //STA=0 STO=0 SI=0 AA=1
}
if (S1STA==0x20)
{
FF=1;
S1CON=0xD5; //STA=0 STO=1 SI=0 AA=1
}
if (S1STA==0x28)
{
S1CON=0xD5; //STA=0 STO=1 SI=0 AA=1
FF=1;
}
if (S1STA==0x30)
{
FF=1;
S1CON=0xD5; //STA=0 STO=1 SI=0 AA=1
}
if (S1STA==0x38)
{
S1CON=0xE5; //STA=1 STO=0 SI=0 AA=1
}
if (S1STA==0x40)
{
S1CON=0xC5; //STA=0 STO=0 SI=0 AA=1
}
if (S1STA==0x48)
{
FF=1;
S1CON=0xD5; //STA=0 STO=1 SI=0 AA=1
}
if (S1STA==0x50)
{
GET=S1DAT;
S1CON=0xC1; //STA=0 STO=0 SI=0 AA=0
}
if (S1STA==0x58)
{
FF=1;
S1CON=0xD5; //STA=0 STO=1 SI=0 AA=1
}
}
void CT0_int (void) interrupt 6 //横摆中心
{
CTI0=0;
CTCON=CTCON&0xFC;
if(center_change==1)
{
IEN1=IEN1&0XFE;
gate=0;
osc_enable=1;
center_excursion=0;
center_change=0;
}
else
{
if(decrease==1)
{
temp_c_decrease++;
if(temp_c_decrease%2==0)
share_decrease++;
if(share_decrease<c_decrease)
{
CTCON=CTCON|0x08;
out0=out0_decrease*c_decrease/(c_decrease-share_decrease);
out1=out1_decrease*(c_decrease-share_decrease)/c_decrease;
out2=2*out1;
COM=0X36;
COUNT0=out0%256;
COUNT0=out0/256;
COM=0X76;
COUNT1=out1%256;
COUNT1=out1/256;
COM=0XB6;
COUNT2=out1%256;
COUNT2=out1/256;
sec_center=1;
IEN1=IEN1|0x02;
}
else
{
gate=0; //关8254门控信号
CTCON=CTCON&0XF0;
IEN1=IEN1&0XFC; //禁止CT0，CT1
decrease_ok=1;
}
if(decreased==0)
decreased=1;
}
else
{
if(osc==1)
{
// gate=0; //关8254门控信号
// delay(15);
if(osc_change==1)
{
out1=out1+n_da41;
if(out1<26666)
osc_add++;
else
out1=out1-n_da41;
}
else
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