motorturn.i

用m16驱动的l298n直流电机转向程序

#line 55 "C:\iccv7avr\include\macros.h"
void _StackCheck(void);
void _StackOverflowed(char);

#line 8 "F:\avr编程\电机转向程序\motorturn.c"
void Delay_1ms(void) 
{ unsigned int i;
 for(i=1;i<(unsigned int)(8*143-2);i++)
 ;
}

void Delay_nms(unsigned int n) 
{
 unsigned int i=0;
 while(i<n)
 {Delay_1ms();
 i++;
 }
}
void xpwm0(unsigned char f0)
{

 (*(volatile unsigned char *)0x53)=0X2B; 

 (*(volatile unsigned char *)0x5C)=f0;
}
void xpwm2(unsigned char f2)
{

 (*(volatile unsigned char *)0x45)=0X2B; 

 (*(volatile unsigned char *)0x43)=f2;
}
void io_inti(void) 
{
 (*(volatile unsigned char *)0x37)|=(1 << (1)); 
 (*(volatile unsigned char *)0x37)|=(1 << (2)); 
 (*(volatile unsigned char *)0x37)|=(1 << (4)); 
 (*(volatile unsigned char *)0x37)|=(1 << (5)); 
 (*(volatile unsigned char *)0x37)|=(1 << (6)); 
 (*(volatile unsigned char *)0x37)|=(1 << (7)); 
 (*(volatile unsigned char *)0x37)|=(1 << (3)); 
 (*(volatile unsigned char *)0x31)|=(1 << (7)); 
}
void forward()
{ 
 (*(volatile unsigned char *)0x38)|=(1 << (1));
 (*(volatile unsigned char *)0x38)|=(1 << (2));
 (*(volatile unsigned char *)0x38)|=(1 << (4)); 
 (*(volatile unsigned char *)0x38)&=~(1 << (5)); 
 (*(volatile unsigned char *)0x38)|=(1 << (6)); 
 (*(volatile unsigned char *)0x38)&=~(1 << (7)); 
 xpwm0(56); 
 xpwm2(56);
}
void back()
{ 
 (*(volatile unsigned char *)0x38)|=(1 << (1));
 (*(volatile unsigned char *)0x38)|=(1 << (2));
 (*(volatile unsigned char *)0x38)&=~(1 << (4)); 
 (*(volatile unsigned char *)0x38)|=(1 << (5)); 
 (*(volatile unsigned char *)0x38)&=~(1 << (6)); 
 (*(volatile unsigned char *)0x38)|=(1 << (7)); 
 xpwm0(65); 
 xpwm2(65);
}
faststop()
{ 
 (*(volatile unsigned char *)0x38)|=(1 << (1));
 (*(volatile unsigned char *)0x38)|=(1 << (2));
 (*(volatile unsigned char *)0x38)|=(1 << (4)); 
 (*(volatile unsigned char *)0x38)|=(1 << (5)); 
 (*(volatile unsigned char *)0x38)|=(1 << (6)); 
 (*(volatile unsigned char *)0x38)|=(1 << (7)); 
 (*(volatile unsigned char *)0x53)=0x00;
 (*(volatile unsigned char *)0x45)=0x00;
}
void slowstop()
 { (*(volatile unsigned char *)0x38)&=~(1 << (1));
 (*(volatile unsigned char *)0x38)&=~(1 << (2));
 (*(volatile unsigned char *)0x53)=0x00;
 (*(volatile unsigned char *)0x45)=0x00;

 }

void turnleft(void)
{ (*(volatile unsigned char *)0x38)|=(1 << (1));
 (*(volatile unsigned char *)0x38)|=(1 << (2));
 (*(volatile unsigned char *)0x38)|=(1 << (4)); 
 (*(volatile unsigned char *)0x38)&=~(1 << (5)); 
 (*(volatile unsigned char *)0x38)|=(1 << (6)); 
 (*(volatile unsigned char *)0x38)&=~(1 << (7)); 
 xpwm0(89); 
 xpwm2(98);
 delay_nms(200); 
 }
 void turnright()
{
 (*(volatile unsigned char *)0x38)|=(1 << (1));
 (*(volatile unsigned char *)0x38)|=(1 << (2));
 (*(volatile unsigned char *)0x38)|=(1 << (4)); 
 (*(volatile unsigned char *)0x38)&=~(1 << (5)); 
 (*(volatile unsigned char *)0x38)|=(1 << (6)); 
 (*(volatile unsigned char *)0x38)&=~(1 << (7)); 
 xpwm0(98); 
 xpwm2(89);
 delay_nms(200); 
 }
void backturnleft()
{
 (*(volatile unsigned char *)0x38)|=(1 << (1));
 (*(volatile unsigned char *)0x38)|=(1 << (2));
 (*(volatile unsigned char *)0x38)&=~(1 << (4)); 
 (*(volatile unsigned char *)0x38)|=(1 << (5)); 
 (*(volatile unsigned char *)0x38)&=~(1 << (6)); 
 (*(volatile unsigned char *)0x38)|=(1 << (7)); 
 xpwm0(89); 
 xpwm2(98);
 delay_nms(200); 
}
void backturnright()
{
 (*(volatile unsigned char *)0x38)|=(1 << (1));
 (*(volatile unsigned char *)0x38)|=(1 << (2));
 (*(volatile unsigned char *)0x38)&=~(1 << (4)); 
 (*(volatile unsigned char *)0x38)|=(1 << (5)); 
 (*(volatile unsigned char *)0x38)&=~(1 << (6)); 
 (*(volatile unsigned char *)0x38)|=(1 << (7)); 
 xpwm0(98); 
 xpwm2(89);
 delay_nms(200); 
}



void port_inti(void)
{ (*(volatile unsigned char *)0x3A)&=~(1 << (1));
 (*(volatile unsigned char *)0x3A)&=~(1 << (2)); 
 (*(volatile unsigned char *)0x3A)&=~(1 << (3));
 (*(volatile unsigned char *)0x3B)|=(1 << (1));
 (*(volatile unsigned char *)0x3B)|=(1 << (2));
 (*(volatile unsigned char *)0x3B)|=(1 << (3));
 }

 void hongwaixunxian() 
 { unsigned char temp;
 port_inti();
 while(1)
 {temp=(*(volatile unsigned char *)0x39);
 if(temp|0xfd==0xfd) 
 {
 if((temp|0xfb=0xfd)&&(temp|0xf7==0xf7)) 
 forward();
 else 
 {turnleft();delay_nms();} 
 }
 else if((temp|0xf7==0xf7)) 
 { if((temp|0xfb=0xfd)&&(temp|0xfd==0xfd)
 forword();
 else 
 {trunright();delay_nms();}
 }

 else
 {forward();} 

 }
 }