main.c

此代码是我精心调试而成

#include <LPC213x.h>
#include "NOKIA_LCD\nokia_5110.h"
#include "MOTOR\MOTOR.h"
#include "KEY\KEY.h"
#include <stdio.h>

 int T1_TEMP=0;int T2_TEMP=0;
 int LEFT_RIGHT_SWITCH=0;
#define LEFT_V 0
#define RIGHT_V 1
void __irq IRQ_Timer1 (void)
 {
 	LEFT_RIGHT_SWITCH++;
	

   	if(LEFT_RIGHT_SWITCH%2==0)
	{
		T1_TEMP=T0TC;
	 	 
	 	T0CTCR =(0x02 << 0) |(0x03 << 2);
	 }	 
	 else 
	 {	
	  	T2_TEMP=T0TC;
	 	  
		T0CTCR =(0x02 << 0) |(0x00 << 2);
	  }	
	    

   
	T0TC  = 0;
	T0TCR=0x01;
  	
   	T1IR = 0x01;				/* 清除中断标志									*/
	VICVectAddr = 0x00;			/* 通知VIC中断处理结束							*/
 }
void IRQ_INIT()
{
    VICIntEnClr = 0xffffffff;
    VICVectAddr = 0;
    VICIntSelect = 0;
	/* 定时器0初始化 */
	T1TC   = 0;			/* 定时器设置为0										*/
	T1PR   = 0;			/* 时钟不分频											*/
	T1MCR  = 0x03;		/* 设置T0MR0匹配后复位T0TC，并产生中断标志				*/
	T1MR0  = 12000000*4;	/* 4秒钟定时											*/
	T1TCR  = 0x01;		/* 启动定时器											*/
	
	/* 设置定时器0中断IRQ */
	VICIntSelect = 0x00;				/* 所有中断通道设置为IRQ中断			*/
	VICVectCntl0 = 0x20 | 0x05;			/* 设置定时器0中断通道分配最高优先级	*/
	VICVectAddr0 = (uint32)IRQ_Timer1;	/* 设置中断服务程序地址					*/
	VICIntEnable = 1 << 0x05;			/* 使能定时器0中断						*/


}
  
int main(void)
 {
    int COUNETR1=0;	
	int COUNETR2=0;
 
	char s1[10]; 
	char s2[10];
	
	IO1DIR |=1<<23;


   	LCD_init(); //初始化液晶    
	MOTOR_INIT();
	CAPTURE_INIT();
	IRQ_INIT();
 	KEY_INIT();
		while(1)  
	{
	    	IO1SET |=1<<23;
	    COUNETR1=T1_TEMP;//(T1_TEMP/2/18)*36/10;
	 	COUNETR2=T2_TEMP;//(T1_TEMP/2/18)*36/10;
		sprintf(s1, "%4d", COUNETR1);	
		sprintf(s2, "%4d", COUNETR2);
		LCD_write_english_string(0,1,"Velocity is :");
		LCD_write_english_string(0,2, s1);
 	  	LCD_write_english_string(0,3, s2);
		 //LCD_write_chinese_string(0,0,12,7,0,0);
	//	LCD_write_chinese_string(0,4,12,7,0,0);
		MOTOR_RUN();
 	
	   }
	return  0;
 }
/*********************************************************************************************************
**                            End Of File
********************************************************************************************************/