main.c

基于摩托罗拉（现在飞思卡尔）MC68HC908AZ60A系列单片机

/*********************************************/

/**file name: left_rear node program        **/

/**Author :Xiaoming Li                      **/

/**date/time: 13.3.2004                     **/

/**company: Tongji university               **/

/*********************************************/


#include <MC68HC908GZ16.H>

#include <hidef.h>

#include <signal_group.h>

#define WT 5000          
#define LT 2000          

unsigned int CAN_timer_count=0;       

unsigned int count=0;                 

unsigned int SPI_count=0;

unsigned int lr_up_count=0;              
unsigned int lr_dn_count=0;                      
             
unsigned long int window_position=0;            

unsigned long int lock_moto_count=0;           

unsigned char  lr_button_sta[3]={0,0,0};
unsigned char  lr_butt_sta1[3]={0,0,0};
unsigned char  lr_butt_sta2[3]={0,0,0};

unsigned char  lr_moto_sta[2]={0,0};

unsigned int inlock1=0;
unsigned int inlock2=0;
unsigned int inlock=0;

unsigned int outlock1=0;
unsigned int outlock2=0;
unsigned int outlock=0;

unsigned int rflock1=0;
unsigned int rflock2=0;
unsigned int rflock=0;

unsigned int judge=0;

unsigned int speedlock=0;
unsigned int speedlock1=0;
unsigned int speedlock2=0;

unsigned int childlock=0;
unsigned int childlock1=0;
unsigned int childlock2=0;

unsigned int PWM_flag1=0;     
unsigned int PWM_flag2=0;

void  open_lock_start(void)
{       PTA_PTA6=0;  
        PTA_PTA7=1;
        
        T1SC_TSTOP =1;
        T1SC_TRST =1;    
     
      
        T1SC0_MS0A =1;
        T1SC0_MS0B =0;   
        T1SC0_TOV0 =1;
        T1SC0_CH0MAX=0;
        T1SC0_ELS0A =0;           
        T1SC0_ELS0B =1;
        
        T1SC1_MS1A =1;    
        T1SC0_MS0B =1;
        T1SC1_TOV1 =0; 
        T1SC1_ELS1A =0;
        T1SC1_ELS1B =1;
        
        T1SC_TSTOP =0;       
        
}
        
 
void open_lock_stop(void)
{ 
  PTA_PTA6=1;
  PTA_PTA7=0;

  T1SC_TSTOP =1;
  T1SC_TRST =1;
  
        T1SC0_MS0A =1;
        T1SC0_ELS0A =0;           
        T1SC0_ELS0B =1;
        
        T1SC1_MS1A =1;   
        T1SC1_ELS1A =0;
        T1SC1_ELS1B =1;
  
  T1SC1_TOV1 =0;
  T1SC0_TOV0 =0;
 
  T1SC_TSTOP =0;
}



 void close_lock_start(void)
 {      PTA_PTA6=0;
        PTA_PTA7=1;  
 
        T1SC_TSTOP =1;
        T1SC_TRST =1;     
     
 
       
         T1SC0_MS0A =1;
         T1SC0_MS0B =1;  
         T1SC0_MS0B =0; 
         T1SC0_TOV0 =1;   
         T1SC0_CH0MAX=1;
         T1SC0_ELS0A =0;           
         T1SC0_ELS0B =1;
        
        T1SC1_MS1A =1;    
        T1SC1_TOV1 =1;
        T1SC1_CH1MAX=0;
        T1SC1_ELS1A =0;
        T1SC1_ELS1B =1;
        
        T1SC_TSTOP =0;  
}


void close_lock_stop(void)
{ 
  PTA_PTA6=1;
  PTA_PTA7=0;

  T1SC_TSTOP =1;
  T1SC_TRST =1;
  
        T1SC0_MS0A =1;
        T1SC0_ELS0A =0;           
        T1SC0_ELS0B =1;
        
        T1SC1_MS1A =1;  
        T1SC1_ELS1A =0;
        T1SC1_ELS1B =1;
 
  T1SC0_MS0B =0;      
  T1SC0_TOV0 =0;
  T1SC0_CH0MAX=1;
  
  T1SC1_TOV1 =1;
  T1SC1_CH1MAX=1;
 
   T1SC_TSTOP =0;       
 
   
 
}


void window_up_start(void)
{       PTA_PTA2=0;  
        PTA_PTA3=1;
     
        T2SC_TSTOP =1;
        T2SC_TRST =1;   
     
  
        T2SC0_MS0A =1;
        T2SC0_MS0B =0;  
        T2SC0_ELS0A =0;           
        T2SC0_ELS0B =1;
        
        T2SC1_MS1A =1;    
        T2SC1_ELS1A =0;
        T2SC1_ELS1B =1;
        
        
        T2SC0_MS0B =1;
        T2SC1_TOV1 =0;   
           
        T2SC0_TOV0 =1;
        T2SC0_CH0MAX=0;
        
        T2SC_TSTOP =0; 
       
       
   
 }
 
 

 
void window_up_stop(void)
{ 
  PTA_PTA2=1;
  PTA_PTA3=0;

  T2SC_TSTOP =1;
  T2SC_TRST =1;
  
        T2SC0_MS0A =1;
     
        T2SC0_ELS0A =0;           
        T2SC0_ELS0B =1;
        
        T2SC1_MS1A =1;   
        T2SC1_ELS1A =0;
        T2SC1_ELS1B =1;
  
  T2SC1_TOV1 =0;
  T2SC0_TOV0 =0;
 
  T2SC_TSTOP =0;


}



 void window_down_start(void)
 {    
        PTA_PTA2=0;  
        PTA_PTA3=1;
 
        T2SC_TSTOP =1;
        T2SC_TRST =1;    
     
 
  
         T2SC0_MS0A =1;
         T2SC0_MS0B =1;   
         T2SC0_ELS0A =0;           
         T2SC0_ELS0B =1;
        
        T2SC1_MS1A =1;    
        T2SC1_ELS1A =0;
        T2SC1_ELS1B =1;
        
        T2SC0_MS0B =0; 
        T2SC0_TOV0 =1;   
        T2SC0_CH0MAX=1;
           
        T2SC1_TOV1 =1;
        T2SC1_CH1MAX=0;
        
        T2SC_TSTOP =0;   
     
  
}


void window_down_stop(void)
{ PTA_PTA2=1;
  PTA_PTA3=0;

  T2SC_TSTOP =1;
  T2SC_TRST =1;
  
        T2SC0_MS0A =1;
      
        T2SC0_ELS0A =0;           
        T2SC0_ELS0B =1;
        
        T2SC1_MS1A =1;   
        T2SC1_ELS1A =0;
        T2SC1_ELS1B =1;
 
  T2SC0_MS0B =0;      
  T2SC0_TOV0 =0;
  T2SC0_CH0MAX=1;
  
  T2SC1_TOV1 =1;
  T2SC1_CH1MAX=1;
 
   T2SC_TSTOP =0;  


}
 




/************************* CAN接收中断子程序***********************/
void interrupt CAN_Receive(void)
{
unsigned char doors_closed=0;
unsigned char idr0test;

idr0test = RBIDR0;

if(idr0test==0x50)          //接受中央控制器数据
{
cent_sta0=RBDSR0;
cent_sta1=RBDSR1;
cent_sta2=RBDSR2;
cent_sta3=RBDSR3;
}



else if(idr0test == 0x48)    //接受左前门数据
{
lf_sta0=RBDSR0;
lf_sta1=RBDSR1;
lf_sta2=RBDSR2;
}


else if(idr0test == 0x44)     //接受右前门数据
{
rf_sta0=RBDSR0;
rf_sta1=RBDSR1;
}


else if(idr0test == 0x41)     //接受右后门数据 
{
rr_sta0=RBDSR0;
rr_sta1=RBDSR1;
}


CRFLG = 0x01;          //receive buffer full

   
inlock2=cent_sta1_cent_inlock;
outlock2=cent_sta1_cent_outlock;
rflock2=rf_sta1_rf_cent_outlock;



speedlock2=cent_sta0_speed;
childlock2=cent_sta0_child_lock;



if(inlock2==inlock1)  {  inlock=0;   inlock1=inlock2;   }
if(inlock2!=inlock1)  {  inlock=1;   judge=inlock2;  inlock1=inlock2;   }


if(outlock2==outlock1)  {  outlock=0;   outlock1=outlock2;   }
if(outlock2!=outlock1)  {  outlock=1;   judge=outlock2;  outlock1=outlock2;   }


if(rflock2==rflock1)  {  rflock=0;   rflock1=rflock2;   }
if(rflock2!=rflock1)  {  rflock=1;   judge=rflock2;      rflock1=rflock2;   }



if( speedlock2==speedlock1) {speedlock=0;  speedlock1=speedlock2; }
if( speedlock2!=speedlock1) {speedlock=1;  speedlock1=speedlock2; }

if( childlock2==childlock1)  {childlock=0;  childlock1=childlock2; }
if( childlock2!=childlock1)  {childlock=1;  childlock1=childlock2; }

doors_closed=( lf_sta0_lf_sta==0x1 && rf_sta0_rf_sta==0x1&& lr_sta0_lr_sta==0x1&& rr_sta0_rr_sta==0x1 )  ;

if( ( inlock==1||outlock==1||rflock==1) &&lr_sta1_lr_lock_sta==0x2 && lr_sta0_lr_sta==0x1 )         
   {  if( judge==1 )
       {
      if(PWM_flag2!=1)
      { open_lock_start();   
       PWM_flag2=1;

       }  
        
        lr_moto_sta[1]= PTE_PTE0;
       } 
    }       
                                       
      
   
if( ( inlock==1||outlock==1||rflock==1)  && lr_sta1_lr_lock_sta==0x1 && cent_sta0_crash==1 && doors_closed==1 )          
  {    if( judge ==2)
      {
      if(PWM_flag2!=4)
      { close_lock_start();  
       PWM_flag2=4;
       }
             
        lr_moto_sta[1]= PTE_PTE0;
             
       }        
   }       


if( cent_sta0_crash==2  && lr_sta1_lr_lock_sta==0x2 && lr_sta0_lr_sta==0x1 )  
 {
   if(PWM_flag2!=1)  
   { open_lock_start();   
     PWM_flag2=1;
     }
           
        lr_moto_sta[1]= PTE_PTE0;
       
   } 




if (  speedlock==1  && cent_sta0_crash==1  && lr_sta1_lr_lock_sta==0x1 && doors_closed==1 )   
 { if(speedlock2==1)
       {  
       if(PWM_flag2!=4)
       { close_lock_start();   
        PWM_flag2=4;
          }
            
         lr_moto_sta[1]= PTE_PTE0;
             
       }
  }
     
if (  childlock==1  && cent_sta0_crash==1  && lr_sta1_lr_lock_sta==0x1 && doors_closed==1)   
 { if(childlock2==1)
       { 
       
        if(PWM_flag2!=4)
       { close_lock_start();  
        PWM_flag2=4;
       }
       if(window_position<WT) 
        { 
          if(PWM_flag1!=4)
           { window_up_start();
             PWM_flag1=4;}
         }       
       
              
         lr_moto_sta[1]= PTE_PTE0;
             
       }
  }


if (  speedlock==1  && lock_moto_count==LT && lr_sta0_lr_sta==0x1 ) 
 { if ( speedlock2==0  && cent_sta1_cent_inlock ==0x1 && cent_sta1_cent_outlock ==0x1 && rf_sta1_rf_cent_outlock ==0x1 )
      { 
      
         if(PWM_flag2!=1)  
          { open_lock_start();   
             PWM_flag2=1;
           }
         
        lr_moto_sta[1]= PTE_PTE0;
        
        }
   } 


if (  childlock==1  && lock_moto_count==LT && lr_sta0_lr_sta==0x1 ) 
 { if ( childlock2==0 && cent_sta1_cent_inlock ==0x1 && cent_sta1_cent_outlock ==0x1 && rf_sta1_rf_cent_outlock ==0x1 )
      { 
      
         if(PWM_flag2!=1)  
          { open_lock_start(); 
             PWM_flag2=1;
          }    
         
        lr_moto_sta[1]= PTE_PTE0;
        
        }
   } 



if ( (cent_sta0_fire==1 && (cent_sta1_cent_outlock==2 || rf_sta1_rf_cent_outlock==0x2) ) && cent_sta0_crash==1 && lr_sta1_lr_lock_sta==0x1  && doors_closed==1 )
  {     if(PWM_flag2!=4)
       { close_lock_start();  
        PWM_flag2=4;
       } 
  
      if(window_position<WT)  
      {   if(PWM_flag1!=4)
         { window_up_start();
            PWM_flag1=4;}
      }       
  
                       
        lr_moto_sta[1]= PTE_PTE0;        
       
   }

      
}

        

/**************************** CAN发送子程序第一帧***************************/

void CAN_TransmitF1(void){

unsigned char emptytest;
unsigned char emptytest0;
unsigned char emptytest1;
unsigned char emptytest2;

emptytest = CTFLG;

emptytest0 = emptytest&0x01;        //判断接受区为空
emptytest1 = emptytest&0x02;
emptytest2 = emptytest&0x04;

if(emptytest0 !=0)
{
TB0DLR   =  0x02;

TB0DSR0 =  lr_sta0;
TB0DSR1 =  lr_sta1;



TB0IDR0  =   0x42;      //id 赋值
TB0IDR1  =   0x00;
TB0IDR2  =   0x00;  
TB0IDR3  =   0x00;



TB0TBPR  =  0x01;

CTFLG  =  0x01;        //启动发送
}