caralarm.c

汽车防盗器主机吃C语言程序

	if(AutoLockTime==0&&AutoLock_F==1) {AutoLock_F=0;if(CenterTimeBit1&&CenterTimeBit0) LockTime=55;
													 else {if(CenterTimeBit1) LockTime=184;
																else LockTime=55;}
															   Lock_F=1;UnLock_F=0;} //Lock();//加控制时间
 }
void AutoUnlock()
 {
	if(AutoLockTime==0&&AutoUnlock_F==1) {
		LearnKeyCnt=0;KeyInputCnt=0;//退出系统编程ProgramSetMode
		if(DoubleUnlockF){AutoLockTime=90;DoubleUnlockF=0;} //两次脉冲间隔0.5s
		else AutoUnlock_F=0;
		if(!CenterTimeBit0) LockTime=184;
		else LockTime=55;UnLock_F=1;Lock_F=0;} //UnLock();//加控制时间
 }

void Trigger()	//触发报警时间到，停止
 {	
	if(AlarmTime==0&&VibrationF==1) {Trigger_F=0;Bugle=0;OpenTrunk=0;LightOFF();VibrationF=0;}
 }
void Passive()
 {								
	if(EnablePassiveF) 
	 {								//自动设防（不上锁）			若是误操作（上锁）
	  if(PassiveF&&AlarmTime==0) {GuardTime=65;if(ErrorPressRemoteF) {LockTime=55;Lock_F=1;UnLock_F=0;}BugleON(1,43);PassiveF=0;ErrorPressRemoteF=0;}
 	 }								//Guard_F=1;
 }
void DoorStatus() 		//Door Delay 30s chirp
 {
	if(!DoorWarningF&&!AlarmTime) {if(!DoorErrorNotWarningF) DoorWarningF=1;}
 }
void GuardStatus()
 {
  _clrwdt();
  if(Guard_F)
   {PowerOff=1;		//设防扫描
	if(AccInput) {Trigger_F=1;Fast_F=0;FlashTimesBackup=10;Bugle=1;LightFlash_F=1;LightON();VibrationF=1;AlarmTime=1900;if(TrunkSetBit1&TrunkSetBit0) OpenTrunk=1;}
	if(!TrunkInput||GateInput) {Trigger_F=1;Fast_F=0;FlashTimesBackup=6;if(DoorWarningF) {Bugle=1;LightFlash_F=1;LightON();VibrationF=1;AlarmTime=1900;if(TrunkSetBit1&TrunkSetBit0) OpenTrunk=1;}}
	if(EnableVibF&&CheckVibF) 		//是否临时取消振动功能;设防时有振动则等待，直到没有振动后3s才扫描
	 {if(!VibInput) 
	   { Delayms(100);  //170ms 防连动
	  	 if(!VibInput)
	   	 {					//声音控制与寻车相同FindF=1;
	  		if(!VibrationF) {FindF=1;BugleON(1,43);Delayms(250);VibrationF=1;AlarmTime=650;}
	  		else {if(!MuteModeF){if(!MuteF) Bugle=1;}LightFlash_F=1;LightON();AlarmTime=1900;//950;报警时间30s
								 Trigger_F=1;Fast_F=0;FlashTimesBackup=8;//Led闪烁4下
								if(TrunkSetBit1&TrunkSetBit0) OpenTrunk=1;}
	   	 }
	   }	
	 }
	if(!GateInput) DoorWarningF=1;//关门
   }
  else 			//解除扫描
	{if(!AccInput) 					//最后一个门关开始计时间
	  {if(!GateInput) {if(!PassiveF) //关门状态
						 {if(EnablePassiveF){	
							PassiveF=1;
							if(ErrorPressRemoteF) AlarmTime=3800;//误操作自动上锁时间60s
						  	else AlarmTime=1900;}	//关门自动上锁时间30s
						  }
					  }								//设防后恢复EnablePassiveF=0;避免再次进入设防
					   								//ErrorPressRemoteF=0;
		else {LED=0;if(ErrorPressRemoteF) EnablePassiveF=0;ErrorPressRemoteF=0;AlarmTime=650;}
	  }								//按遥控后开过门，取消被动设防
	 else {if(ErrorPressRemoteF) {EnablePassiveF=0;ErrorPressRemoteF=0;}//按遥控后开过钥匙，取消被动设防
			else {if(PassiveON_F) EnablePassiveF=1;}//设置为开启被动防盗模式时，开钥匙激活，
			PassiveF=0;} 
	if(!RepairOperationF) Passive(); //解除才扫描，维修状态下不自动设防,无中控自动化
	else {EnablePassiveF=0;PassiveF=0;ErrorPressRemoteF=0;}
	}	 
 }
void Once()
 {
  if(OnceTime) OnceTime--;
  else
	{if(KeyDown2s_F) TwoTimes=0;
	 KeyOnceF=0;
	 KeyDown2s_F=0;
	}
 }
void RobFunction()
 {	
	if(Rob0F)
	 {if(Rob1F) {if(!LearnKey) {Rob0F=0;Rob1F=0;LED=0;}} //15秒内按下，取消防抢
	  else {RobStatusF=1;Bugle=1;Delayms(255);Bugle=0;Delayms(255);}//50秒后开始间断叫，
	  if(!RobTime)
	   {if(Rob1F) {Rob1F=0;RobTime=1525;}	      
		else {PowerOff=1;Bugle=1;LightFlash_F=1;Rob0F=0;}	//再过25秒后引擎断电，方向灯闪烁，长叫
	   }													//总共：15+25=40s
	 }
 }
void Function()
 { //AccON_F=0;
	//ReceiveRight_F=0;
	data3=data3&0x0f;
	/*if(data3==01) goto key1;
	if(data3==02) goto key2;
	if(data3==04) goto key3;
	if(data3==08) goto key4;
	goto NotKey;//return();*/							//data3=0;只处理一次
	if(Program1_F||Program2_F||Program3_F) {if(KeyOnceF) data3=0;goto NotKey;}
	if(RobStatusF&&data3!=Disarm) goto NotKey; //防抢,只有解除键有效
	switch(data3)
	 {
		case Arm: 	 goto key1;break;
		case Disarm: goto key2;
		case Mute: 	 goto key3;
		case Find:   goto key4;
		case Arm_Disarm: goto key5;
		default: goto NotKey;
	 }
 key5:
	if(KeyOnceF) goto NotKey;
	if(!AccInput)
	 {
	  MuteF=1;
	  if(Guard_F) goto MuteKey2;
	  else goto MuteKey1;
	 }
	else 
	 {
	  if(Jacking_ON) 
		{LED=1;Rob0F=1;Rob1F=1;RobTime=950;Light=1;Delayms(250);Light=0;}//Bugle=1;LightFlash_F=1;}//防抢
	 }	  //防抢状态LED长亮
	goto NotKey;

 key1:
	if(KeyOnceF) 
	 { 
	   if(KeyDown2s_F) {TwoTimes=0;KeyDown2s_F=0;goto FindKey4;}				 
	   else goto NotKey;
	 }
	else {if(!AccInput)
			{if(RepairOperationF) 
				{KeyDown2s_F=0;BugleON(0,42);goto RepairKey1;}
			}
		  else {LightOFF();Bugle=0;OpenTrunk=0;LED=0;goto NotKey;}	//开钥匙不处理，只停止报警
		 }
			
	MuteF=0;
MuteKey1:
	if(!DoKey1F) TwoTimes=0;	//按键间互不干扰
	DoKey1F=1;DoKey2F=0;DoKey3F=0;
	//OnceTime=5;
	//KeyOnceF=1;
	TwoTimes++;											//声音控制与寻车相同FindF=1;
	if(TwoTimes==2){TwoTimes=0;KeyDownTimeF=0;EnableVibF=0;FindF=1;BugleON(1,43);goto NotKey;}
	KeyDownTime=190;KeyDownTimeF=1;//打开定时AutoLock();

	{if(GateInput&&!Trigger_F) {DoorWarningF=0;AlarmTime=650;}}
	GuardTime=190;//3s后设防Guard_F=1
	EnableVibF=1;LightOFF();VibrationF=0;
	BugleON(1,43);LedFlash_F=0;LED=0;//停止闪
RepairKey1:
	AutoLockTime=0;AutoLock_F=1;
	//EnableVibF=1;LightOFF();VibrationF=0;
	EnablePassiveF=0;
	//GuardTime=190;//3s后设防Guard_F=1
	Trigger_F=0;OpenTrunk=0;//停止报警
	goto NotKey;
 key2:
	if(KeyOnceF) 
	 { 
	   if(KeyDown2s_F) {TwoTimes=0;KeyDown2s_F=0;if(TrunkSetBit1==0&&TrunkSetBit0==1){OpenTrunk_F=1;TrunkTime=80;}goto NotKey;}				 
	   else goto NotKey;
	 }
	else {if(!AccInput)
			{if(RepairOperationF) 
				{KeyDown2s_F=0;BugleON(0,102);goto RepairKey2;}
			}
		  else {LightOFF();Bugle=0;goto StopAlarm;}//OpenTrunk=0;Guard_F=0;LED=0;goto NotKey;}	//开钥匙不处理，只停止报警
		 }
	MuteF=0;
MuteKey2:
	if(!DoKey2F) TwoTimes=0;	//按键间互不干扰
	DoKey2F=1;DoKey1F=0;DoKey3F=0;
	//OnceTime=5;
	//KeyOnceF=1;
	if(TrunkSetBit1==1&&TrunkSetBit0==0) TwoTimes++;
	if(TwoTimes==2){TwoTimes=0;KeyDownTimeF=0;OpenTrunk_F=1;TrunkTime=80;goto NotKey;}
	KeyDownTime=123;KeyDownTimeF=1;//打开定时
	EnableVibF=1;LightOFF();VibrationF=0;
	if(FlashTimesBackup==2) BugleON(2,102); else BugleON(3,161);//被触发过后，解除时叫三下
RepairKey2:
	AutoLockTime=0;AutoUnlock_F=1;//AutoUnlock();
	//EnableVibF=1;LightOFF();VibrationF=0;
	if(Guard_F) {LedAutoF=1;LedFlash_F=1;}//LED闪烁
	//if(Guard_F) {ErrorPressRemoteF=1;EnablePassiveF=1;PassiveF=0;Guard_F=0;}//是否为误操作
	//AlarmTime=950;
	{ErrorPressRemoteF=1;EnablePassiveF=1;PassiveF=0;GuardTime=0;}//Guard_F=0;PowerOff=0;}//是否为误操作

	if(CenterTimeBit0&&CenterTimeBit1) DoubleUnlockF=1;else DoubleUnlockF=0;//双脉冲
	
	Trigger_F=0;
StopAlarm:
	OpenTrunk=0;//停止报警
	RobStatusF=0;LED=0;//解除防抢
	Guard_F=0;PowerOff=0;
	WriteSys();
	//data1=SysValue1;data2=SysValue2;
	//WriteMemory(&data1,0);//AddrBuf);
	goto NotKey;
 key3:
	if(Trigger_F) goto NotKey;
	if(KeyOnceF) 
	 { 
	   if(KeyDown2s_F) {TwoTimes=0;KeyDown2s_F=0;if(TrunkSetBit1==0&&TrunkSetBit0==1){OpenTrunk_F=1;TrunkTime=80;} goto NotKey;}				 
	   else goto NotKey;
	 }
	else {if(!AccInput)
			{if(RepairOperationF) goto NotKey;}//不在维修模式，钥匙关了，就处理
		  else goto NotKey;	//开钥匙不处理
		 }
	if(!DoKey3F) TwoTimes=0;	//按键间互不干扰
	DoKey3F=1;DoKey2F=0;DoKey1F=0;
	//OnceTime=5;
	//KeyOnceF=1;
	if(TrunkSetBit1) TwoTimes++;//即不在行旅箱输出if(TrunkSetBit1==0&&TrunkSetBit0==1)下
	if(TwoTimes==2){TwoTimes=0;KeyDownTimeF=0;goto FindKey4;}//BugleON(3,161);goto NotKey;}
	KeyDownTime=123;KeyDownTimeF=1;//打开定时
	//BugleON(1,43);
	goto NotKey;
 key4:
	if(Trigger_F) goto NotKey;
	if(KeyOnceF) goto NotKey;
	else {if(!AccInput)
			{if(RepairOperationF) goto NotKey;}//不在维修模式，钥匙关了，就处理
		  else goto NotKey;	//开钥匙不处理
		 }
	//KeyOnceF=1;
 FindKey4:
	FindF=1;
	BugleON(3,161);
 NotKey:
	_clrwdt();
	KeyOnceF=1;
	OnceTime=15;
 }
void ProgramI()
 {
	if(Program1_F){
		if(KeyInputTime) 
			{//if(AccInput) {Program1_F=0;KeyInputTime=0;DisBugleExit_F=0;}//BugleON(3,161);}
			 if(data3==Arm&&ReceiveRight_F) {MuteModeF=!MuteModeF;//ChirpsON_F=!ChirpsON_F;
							if(MuteModeF) BiBugle(2);
							else BiBugle(1);KeyInputTime=950;}
			 else
			 if(data3==Mute&&ReceiveRight_F) {DoorErrorNotWarningF=!DoorErrorNotWarningF;
							if(DoorErrorNotWarningF) BiBugle(2);
							else BiBugle(1);KeyInputTime=950;}
			 //data3=0;//只处理一次
			 //ReceiveRight_F=0;
			}   //加设置模式，补15s时间
		else Program1_F=0;  
		}
 }
void ProgramII()
 {
	unsigned char TimeSet=0;
	if(Program2_F){
		if(KeyInputTime) 
			{
			 if(data3==Arm&&ReceiveRight_F) {_c=CenterTimeBit1;_rlc(&TimeSet);
							_c=CenterTimeBit0;_rlc(&TimeSet);
							switch(TimeSet) //加1递增
							  { case 03: //默认为01
								case 00: CenterTimeBit1=0;CenterTimeBit0=1;break;
								case 01: CenterTimeBit1=1;CenterTimeBit0=0;break;
								case 02: CenterTimeBit1=1;CenterTimeBit0=1;break;
								//default: CenterTimeBit1=0;CenterTimeBit0=0;break;
							  }	
							if(++TimeSet==04) TimeSet=1;
							BiBugle(TimeSet);//BugleON(TimeSet,TimeSet);
							KeyInputTime=950;}

			 if(data3==Disarm&&ReceiveRight_F) {PassiveON_F=!PassiveON_F;
							if(PassiveON_F) BiBugle(2);
							else BiBugle(1);KeyInputTime=950;}

			 if(data3==Mute&&ReceiveRight_F) {AutoCenterLockOFF=!AutoCenterLockOFF;
							if(AutoCenterLockOFF) BiBugle(2);
							else BiBugle(1);KeyInputTime=950;}
			 //data3=0;//只处理一次
			 //ReceiveRight_F=0;
			}   //加设置模式，补15s时间
		else Program2_F=0;  
		}
 }
void ProgramIII()
 {
	unsigned char TrunkSet=0;
	if(Program3_F){
		if(KeyInputTime) 
			{
			 if(data3==Disarm&&ReceiveRight_F) {_c=TrunkSetBit1;_rlc(&TrunkSet);
							_c=TrunkSetBit0;_rlc(&TrunkSet);
							switch(TrunkSet) //加1递增
							  { case 03: //默认为01
								case 00: TrunkSetBit1=0;TrunkSetBit0=1;break;
								case 01: TrunkSetBit1=1;TrunkSetBit0=0;break;
								case 02: TrunkSetBit1=1;TrunkSetBit0=1;break;
								//default: TrunkSetBit1=0;TrunkSetBit0=0;break;
							  }	
							if(++TrunkSet==04) TrunkSet=1;
							BiBugle(TrunkSet);//BugleON(TrunkSet,TrunkSet);
							KeyInputTime=950;}

			 if(data3==Mute&&ReceiveRight_F) {Jacking_ON=!Jacking_ON; //防抢功能设置
							if(Jacking_ON) BiBugle(2);
							else BiBugle(1);KeyInputTime=950;}
			 //data3=0;//只处理一次
			 //ReceiveRight_F=0;
			}   //加设置模式，补15s时间
		else Program3_F=0;  
		}
 }

void KeyInput()
 {
	_clrwdt();
	if(AccInput)
	 {	
		if(Flag0&Flag1) _clrwdt();//第3次

		else {if(Flag0) {Flag1=1;KeyInputCnt++;if(KeyInputCnt==3) {Wait10s_F=1;LED=1;}
						 RepairTime=650;//修车
						 if(Guard_F) KeyInputTime=650;			//第2次															//修车模式下，没有中控自动化
						 else {LedFlash_F=0;Fast_F=1;FlashTimesBackup=2;KeyInputTime=65;AutoLockTime=250;if(!AutoCenterLockOFF&&!RepairOperationF) AutoLock_F=1;}
						 AccON_F=1;DisBugleExit_F=1;AutoUnlock_F=0;TimeOutF=0;
						if(Program1_F||Program2_F||Program3_F) {Program1_F=0;Program2_F=0;Program3_F=0;KeyInputTime=0;DisBugleExit_F=0;}} //退出系统编程ProgramSetMode
				else Flag0=1;	//第1次按下，除抖动
			 }
	 }
	else {Flag0=0;Flag1=0;Flag2=0;
		  if(Guard_F) KeyInputCnt=0;
			else {AutoLock_F=0;if(TimeOutF) {TimeOutF=0;if(!AutoCenterLockOFF&&!RepairOperationF) AutoUnlock_F=1;AutoLockTime=10;}}//修车模式下，没有中控自动化
		  if(WaitRemoteF) {WaitRemoteF=0;KeyInputTime=0;DisBugleExit_F=0;}//退出学习模式
		  //if(CenterTimeBit0&&CenterTimeBit1) DoubleUnlockF=1;else DoubleUnlockF=0;//双脉冲
		 }
 }

void Volet()
 {if(KeyInputTime)
   {
		//if(AccInput) 
		//if(!LearnKey) Free_F=1;	//紧急解除
	if(Guard_F||RobStatusF) 
	  {
		if(AccInput) 
		 if(!LearnKey) Free_F=1;	//紧急解除
	  }
	else
	if(KeyInputCnt==3) 				//解除下，ProgramSetMode allow
	 {
		if(WaitRemoteF==1||Program1_F==1||Program2_F==1||Program3_F==1) {KeyInputCnt=0;EnablePassiveF=0;}//不重复进入设置模式
		_clrwdt();_delay(500);_clrwdt(); //_delay(1000);	//抖动										//EnablePassiveF=0;设置模式下，不自动设防
		if(AccInput)
		 {	
			VoletStatus_F=1;
			ProgramSetMode_F=0;
			CheckLearnKey();
		 } 
		else {if(VoletStatus_F) LearnKeyCnt=0; //关钥匙时重新计
				CheckLearnKey();
				ProgramSetMode_F=1;VoletStatus_F=0;
				LED=0;
			 } 
	 }
   }
  //if(KeyInputCnt!=3) if(LearnKey) KeyDownTime=100;
 }
void RepairFunction()	//修车功能
 {
  if(RepairTime)
	{if(KeyInputCnt!=3) 
		{if(!LearnKey) 
			if(++RepairCnt==200) {RepairTime=0;RepairOperationF=!RepairOperationF;if(RepairOperationF) LED=1;else LED=0;}
			else RepairTime=650; //补偿
		 else RepairCnt=0;
		}
	}
 if(RepairOperationF) LED=1;//修车状态，LED长亮
 }
void CheckLearnKey(void)
 {
	if(!LearnKey)
	 {
		if(Flag3&&Flag4) {_clrwdt();KeyDownTimeF=1;} 	//第3次  
		else {
			  if(Flag3) {Flag4=1;LearnKeyCnt++;KeyDownTime=100;
						 if(VoletStatus_F) KeyInputTime=950;
						 else KeyInputTime=190;} //第2次
			  else Flag3=1;	//第1次按下，除抖动
		 	 }
	 }
	else {Flag3=0;Flag4=0;KeyDownTimeF=0;KeyDown2s_F=0;}//KeyDownTime=100;}
 }
void LedInit()
 {LED=0;Fast_F=1;
  LedTime=LedTimeBackup=10;			//时间
  FlashTimes=FlashTimesBackup=2;	//闪烁次数*2
  //LedAutoF=1;
  LedFlash_F=0;//上电解除状态LED不闪烁,不自动设防
 }
void LedStatus()
 {
  if(Guard_F||LedFlash_F)
   {if(Guard_F) Fast_F=0;else {if(FlashTimesBackup==2) Fast_F=1;else Fast_F=0;}
    if(!LedTime) 
	 { LED=!LED;
	   if(Fast_F) LedTime=12;	//Fast_F=1 快闪
	   else
	   {
	    if(--FlashTimes) LedTime=LedTimeBackup;
	    else		
		  {LedTime=60;LED=0;FlashTimes=FlashTimesBackup;}
	   }
	 }		//停顿时间
   }	
  //else {if(LedAutoF) {if(GateInput||AccInput) LedAutoF=0;if(!LedTime) {LED=!LED;LedTime=12;LedFlash_F=0;}}}
  if(!Guard_F&&LedAutoF) {if(GateInput||AccInput) {LedFlash_F=0;LedAutoF=0;if(!RepairOperationF) LED=0;}}
 }
void main()
{     	
	//if(_to) goto WdtReset;
#asm	
	nop ;sz [0ah].5;To
	nop ;jmp WdtReset
	mov A,20h
	mov [01h],A ;Fsr,A
ClearLoop:			;initialize register
	clr Wdt
	clr [00h];Indf
	mov A,[01h];Fsr
	and A,7fh
	xor A,7fh
	sz [0ah].2;Fz
	jmp ReadLearnCode
	inc [01h];Fsr
	jmp ClearLoop
ReadLearnCode:
#endasm
	//Delayms(250);//等待24c02初始化
	Init();//要改
	LedInit();
WdtReset:
	Delayms(250);//等待24c02初始化
	ReadSys();
	_nop();//_pac=0b10000000;
	_nop();//_pbc=0x0f;
	_nop();//_pcc=0b00010000;
	//_pdc=0;
	//ReadSys();
	_nop();//AccON_F=0;//_nop();//Delayms(250);//等待24c02初始化
	_nop();//Init();//要改
	_nop();//RepairOperationF=0;//_nop();//ReadSys();
	_nop();//SysFlag=0;//_nop();
	_nop();//Exit_ModeF=0;//_nop();
	_nop();//Program1_F=0;Program2_F=0;Program3_F=0;
	_nop();
	_nop();
	_nop();
	_intc=0x05;
	_tmrc=0x87;
	_tmr=0;
	_ton=1;
//WdtReset:
	//_pac=0b10000000;
	//_pbc=0x0f;
	//_pcc=0b00110000;
	//_pdc=0;

	//加IO输入输出控制设置
	//_intc=0x05;
	//_tmrc=0x87;
	//_adcr=0;	//pb AD all OFF

	/*data1=0x47;//B1;
    data2=0x30;//B2;
	data3=0x30;//B3;
	WriteMemory(&data1,0x10);
	_delay(5000);
	ReadMemory(0x10);*/
	//_nop(); 				//for test
	//WaitRemoteF=0;
	//Program1_F=0;Program2_F=0;Program3_F=0;
	//BugleON(3,102);
	//VoletStatus_F=1;
	//ProgramSetMode_F=1;
	//Free_F=1;

	while(1)
	 {  _clrwdt();
		LedStatus();

		KeyInput();
					//if(Exit_ModeF||(WaitRemoteF==1&&AccInput==0))
		if(Exit_ModeF) {BiBugle(3);Exit_ModeF=0;WaitRemoteF=0;WriteSys();}//ReadSys();}//加BI,BI,BI提示
		Volet();
		RepairFunction();																																//AddrBuf=0x10;
		if(LearnKeyCnt==3&&VoletStatus_F) {BiBugle(1);VoletStatus_F=0;LearnKeyCnt=0;WaitRemoteF=1;KeyInputTime=950;AccON_F=1;DisBugleExit_F=0;AddrBuf=_24c_StartAddr;WriteCnt=4;}//不是马上回去扫描LearnKey
		if(LearnKeyCnt==2&&ProgramSetMode_F) 
		  {
			if(KeyDown2s_F) {Program1_F=1;KeyDown2s_F=0;KeyInputTime=950;AccON_F=1;DisBugleExit_F=0;
							 LearnKeyCnt=0;BiBugle(1);ProgramSetMode_F=0;}
		  }
		if(LearnKeyCnt==4&&ProgramSetMode_F) 
		  {
			if(KeyDown2s_F) {Program2_F=1;KeyDown2s_F=0;KeyInputTime=950;AccON_F=1;DisBugleExit_F=0;
							 LearnKeyCnt=0;BiBugle(2);ProgramSetMode_F=0;} //KeyInputCnt=0;}
		  }
		if(LearnKeyCnt==6&&ProgramSetMode_F) 
		  {
			if(KeyDown2s_F) {Program3_F=1;KeyDown2s_F=0;KeyInputTime=950;AccON_F=1;DisBugleExit_F=0;
							 LearnKeyCnt=0;BiBugle(3);ProgramSetMode_F=0;} //KeyInputCnt=0;}
		  }
		if(Free_F) {Rob0F=0;Rob1F=0;RobStatusF=0;LightOFF();Bugle=0;BiBugle(3);Free_F=0;Guard_F=0;PowerOff=0;LED=0;}
					//紧急解除
		if(SysFlag) {SysFlag=0;WriteSys();}
		_clrwdt();
		Receive();
		if(ReceiveRight_F) Function();
		else Once();
		AutoLock();
		AutoUnlock();
		Lock();
		Unlock();
		Trunk();
		//Receive();
		//if(ReceiveRight_F) Function();
		//else Once();
		ProgramI();
		ProgramII();
		ProgramIII();
		GuardStatus();
		Trigger();
		LightON();
		DoorStatus();
		RobFunction();
	 }
}