main.c

智能车控制

#include <hidef.h>      /* common defines and macros */
#include <mc9s12dg128.h>     /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12dg128b"

#define uch unsigned char

extern void HardwareInit(void);
extern void PCCommunicate(void);
extern void _Startup(void);

uch pic[40][40];

void mysci(void) {
  unsigned char q;
  if((SCI0SR1&0x20)==0) {} else{
    q=SCI0DRL;
    if(q=='q'||q=='Q')
      PCCommunicate();
  }
}

void ldelay(void) {
  unsigned int x,y;
  x=0;
  mysci();
    while(x<0x001A) {
    x++;y=0;
    while(y<0xFFFF)
    y++;
  }
} 

void sdelay(void) {
  unsigned int x,y;
  x=0;
  mysci();
    while(x<0x0010) {
    x++;y=0;
    while(y<0xFFFF)
    y++;
  }
}

void tdelay(void) {
  unsigned int x,y;
  x=0;
  mysci();
    while(x<0x0004) {
    x++;y=0;
    while(y<0xFFFF)
    y++;
  }
}

void main(void) {
  /* put your own code here */
  unsigned char i;
  HardwareInit();
  EnableInterrupts;
//  PCCommunicate();
  DDRB=0xFF;
  //ITV[0]=1;
  for(;;) {
  for(i=0;i<4;i++) {
    PORTB=0x00;
    sdelay();
    PORTB=0xFF;
    ldelay();
    PORTB=0x00;
  }
  for(i=0;i<2;i++){
    PORTB=0b11111110;
    tdelay();
    PORTB=0b11111101;
    tdelay();
    PORTB=0b11111011;
    tdelay();
    PORTB=0b11110111;
    tdelay();
    PORTB=0b11101111;
    tdelay();
    PORTB=0b11011111;
    tdelay();
    PORTB=0b10111111;
    tdelay();  
    PORTB=0b01111111;
    tdelay();
    tdelay();
    PORTB=0b01111111;
    tdelay();
    PORTB=0b10111111;
    tdelay();
    PORTB=0b11011111;
    tdelay();
    PORTB=0b11101111;
    tdelay();
    PORTB=0b11110111;
    tdelay();
    PORTB=0b11111011;
    tdelay();
    PORTB=0b11111101;
    tdelay();  
    PORTB=0b11111110;
    tdelay();
    tdelay();
  }
  for(i=0;i<4;i++){
    PORTB=0b01111110;
    tdelay();
    PORTB=0b10111101;
    tdelay();
    PORTB=0b11011011;
    tdelay();
    PORTB=0b11100111;
    tdelay();
    PORTB=0b11011011;
    tdelay();
    PORTB=0b10111101;
    tdelay();  
    PORTB=0b01111110;
    tdelay();
    tdelay();
  }


    PORTB=0b11111110;
    tdelay();
    PORTB=0b11111101;
    tdelay();
    PORTB=0b11111011;
    tdelay();
    PORTB=0b11110111;
    tdelay();
    PORTB=0b11101111;
    tdelay();
    PORTB=0b11011111;
    tdelay();
    PORTB=0b10111111;
    tdelay();  
    PORTB=0b01111111;
    tdelay();
    PORTB=0b01111110;
    tdelay();
    PORTB=0b01111101;
    tdelay();
    PORTB=0b01111011;
    tdelay();
    PORTB=0b01110111;
    tdelay();
    PORTB=0b01101111;
    tdelay();
    PORTB=0b01011111;
    tdelay();
    PORTB=0b00111111;
    tdelay();  
    PORTB=0b00111110;
    tdelay();
    PORTB=0b00111101;
    tdelay();
    PORTB=0b00111011;
    tdelay();
    PORTB=0b00110111;
    tdelay();
    PORTB=0b00101111;
    tdelay();
    PORTB=0b00011111;
    tdelay();
    PORTB=0b00011110;
    tdelay();
    PORTB=0b00011101;
    tdelay();
    PORTB=0b00011011;
    tdelay();
    PORTB=0b00010111;
    tdelay();
    PORTB=0b00001111;
    tdelay();
    PORTB=0b00001110;
    tdelay();
    PORTB=0b00001101;
    tdelay();
    PORTB=0b00001011;
    tdelay();
    PORTB=0b00000111;
    tdelay();
    PORTB=0b00000110;
    tdelay();
    PORTB=0b00000101;
    tdelay();
    PORTB=0b00000011;
    tdelay();  
    PORTB=0b00000010;
    tdelay();
    PORTB=0b00000001;
    tdelay();
    PORTB=0b00000000;
    tdelay();


  } /* wait forever */
  /* please make sure that you never leave this function */
}