📄 main.c
字号:
else if(emptytest1 !=0)
{
TB1DLR = 0x02;
TB1DSR0 = lr_sta0;
TB1DSR1 = lr_sta1;
TB1IDR0 = 0x42; //id 赋值
TB1IDR1 = 0x00;
TB1IDR2 = 0x00;
TB1IDR3 = 0x00;
TB1TBPR = 0x01;
CTFLG = 0x02; //启动发送
}
else if(emptytest2 !=0)
{
TB2DLR = 0x02;
TB2DSR0 = lr_sta0;
TB2DSR1 = lr_sta1;
TB2IDR0 = 0x42; //id 赋值
TB2IDR1 = 0x00;
TB2IDR2 = 0x00;
TB2IDR3 = 0x00;
TB2TBPR = 0x01;
CTFLG = 0x04; //启动发送
}
}
void time_delay(int n)
{
count=0;
while(count<n) {;}
}
void transmit_SPI(unsigned char SPI_data)
{
PTB_PTB3=0x0;
PTB_PTB3=0x0;
while(SPSCR_SPTE==0) {; }
SPDR=SPI_data;
PTB_PTB3=0x0;PTB_PTB3=0x0;PTB_PTB3=0x0;PTB_PTB3=0x0;;
PTB_PTB3=0x1;
}
void interrupt TimerInterrupt(void)
{
__RESET_WATCHDOG();
count++;
CAN_timer_count++;
SPI_count++;
if(CAN_timer_count==5)
{
CAN_TransmitF1();
CAN_timer_count=0;
}
if(SPI_count==25)
{
transmit_SPI(0xB3);
SPI_count=0;
}
if(lrwin_up_300_enable==1) {lr_up_count++;}
if(lrwin_dn_300_enable==1) {lr_dn_count++;}
if(lr_sta1_lr_moto_sta ==0x1 && window_position<WT) { window_position++;}
if(lr_sta1_lr_moto_sta ==0x5 && window_position<WT) { window_position++;}
if(lr_sta1_lr_moto_sta ==0x2 && window_position>0) { window_position--;}
if(lr_sta1_lr_moto_sta ==0x6 && window_position>0) { window_position--;}
if(PWM_flag2==0x4 && lock_moto_count<LT) {lock_moto_count++;}
if(PWM_flag2==0x1 && lock_moto_count>0) {lock_moto_count--;}
TBCR_TACK =1;
}
/*********************MSCAN初始化子程序 **********************/
static void Init_MSCAN08(void){
CMCR0 = 0x01; //CAN模块为软复位状态
CMCR1 = 0x00;
CBTR0 = 0x43;
CBTR1 = 0xA3; //波特率为62.5K
CIDAC = 0x00; //接收滤波为32位滤波
CIDAR0 = 0x00; //滤波使它接收一帧
CIDAR1 = 0x00; //standard identifiers
CIDMR0 = 0xFF;
CIDMR1 = 0xFF; //standard identifiers
CMCR0 = 0x00; //把CAN模块设置为数据输入输出状态
CRIER = 0x01; //CAN接收中断使能
}
static void Init_GZ16(void)
{
CONFIG2 =0x0D;
CONFIG1 =0x4a;
TBCR_TBIE =1;
TBCR_TACK =1;
TBCR_TBR0 =1;
TBCR_TBR1 =1;
TBCR_TBR2 =0;
TBCR_TBIF =0;
TBCR_TBON =1;
Init_MSCAN08();
EnableInterrupts;
}
void main(void)
{
Init_GZ16();
DDRC_DDRC2=1;
DDRC_DDRC3=1;
DDRC_DDRC4=1;
DDRE_DDRE4=0;
DDRE_DDRE5=0;
PTC_PTC2=0x0;
PTC_PTC3=0x0;
PTC_PTC4=0x0;
PTE_PTE4=0x0;
PTE_PTE5=0x0;
DDRB_DDRB3=1;
DDRE_DDRE0=0;
DDRA_DDRA6=1;
DDRA_DDRA7=1;
PTB_PTB3=0x0;
PTE_PTE0=0x0;
PTA_PTA6=0;
PTA_PTA7=1;
DDRE_DDRE3=0;
DDRA_DDRA2=1;
DDRA_DDRA3=1;
PTE_PTE3=0x0;
PTA_PTA2=0x0;
PTA_PTA3=0x1;
T1MODH = 0x03;
T1MODL = 0xe8;
T1CH0H = 0x03 ;
T1CH0L = 0x20 ;
T1CH1H = 0x03 ;
T1CH1L = 0x20 ;
T2MODH = 0x03;
T2MODL = 0xe8;
T2CH0H = 0x03 ;
T2CH0L = 0x20 ;
T2CH1H = 0x03 ;
T2CH1L = 0x20 ;
cent_sta0=0x14;
cent_sta1=0x05;
cent_sta2=0x00;
cent_sta3=0x00;
lf_sta0=0x08;
lf_sta1=0x40;
lf_sta2=0x00;
rf_sta0=0x08;
rf_sta1=0x42;
lr_sta0=0x08;
lr_sta1=0x40;
rr_sta0=0x08;
rr_sta1=0x40;
win_moto_sta0=0x00;
win_moto_sta1=0x00;
SPCR_SPE =1;
SPSCR_SPR0=0;
SPSCR_SPR1=0;
PTB_PTB3=0x1;
transmit_SPI(0xB3);
transmit_SPI(0x11);
transmit_SPI(0x53);
transmit_SPI(0x31);
transmit_SPI(0x90);
inlock1=cent_sta1_cent_inlock;
outlock1=cent_sta1_cent_outlock;
rflock1=rf_sta1_rf_cent_outlock;
speedlock1=cent_sta0_speed;
childlock1=cent_sta0_child_lock;
while(1)
{
PTC_PTC2=0x1 ;
PTC_PTC3=0x0 ;
PTC_PTC4=0x1 ;
lr_butt_sta1[0]=PTE&0x10;
if(lr_butt_sta1[0]!=0) time_delay(5);
lr_butt_sta2[0]=PTE&0x10;
if(lr_butt_sta1[0]==lr_butt_sta2[0])
{ lr_button_sta[0]=lr_butt_sta1[0];
if(lr_button_sta[0]!=0) lrwin_dn_300_enable=1;
else lrwin_dn_300_enable=0;
}
if(lr_dn_count>=75) { lrwin_dn_300_reach=1; lrwin_dn_300_enable=0;}
else lrwin_dn_300_reach=0;
if(lrwin_dn_300_reach==1 && lr_button_sta[0]!=0)
{lr_sta1_lr_moto_sta=0x2;}
if(lrwin_dn_300_reach==0 && lr_dn_count>0 && lr_button_sta[0]==0)
{lr_sta1_lr_moto_sta=0x6;lr_dn_count=0;}
if((lr_sta1_lr_moto_sta==0x2 && lr_button_sta[0]==0)&¢_sta3_lr_manual_dn==0x0)
{lr_sta1_lr_moto_sta=0x0;lr_dn_count=0;}
if(lr_sta1_lr_moto_sta==0x6 && lrwin_dn_300_reach==1 && lr_button_sta[0]!=0)
{lr_sta1_lr_moto_sta=0x2;}
if(lr_sta1_lr_moto_sta==0x6 && lrwin_up_300_reach==0 && lr_up_count>0 && lr_button_sta[1]==0)
{lr_sta1_lr_moto_sta=0x5;}
if(lr_sta1_lr_moto_sta==0x6&& lrwin_up_300_reach==1 && lr_button_sta[1]!=0)
{lr_sta1_lr_moto_sta=0x1;}
if( cent_sta3_lr_auto_dn==0x1 && window_position>0 )
{ lr_sta1_lr_moto_sta=0x6;
if(PWM_flag1!=1)
{ window_down_start();
PWM_flag1=1;}
lr_moto_sta[0]= PTE_PTE3 ;
}
if( cent_sta3_lr_manual_dn==0x1 && window_position>0 )
{ lr_sta1_lr_moto_sta=0x2;
if(PWM_flag1!=1)
{window_down_start();
PWM_flag1=1;}
lr_moto_sta[0]= PTE_PTE3 ;
}
if( cent_sta0_child_lock==0x0 &&(cent_sta3_lr_auto_dn==0x0&¢_sta3_lr_manual_dn==0x0)&& (lr_sta1_lr_moto_sta==0x2||lr_sta1_lr_moto_sta==0x6) && window_position>0 )
{
if(PWM_flag1!=1)
{ window_down_start();
PWM_flag1=1;}
lr_moto_sta[0]= PTE_PTE3 ;
}
if( lr_sta1_lr_moto_sta==0x0 && cent_sta3_lr_auto_up==0x0 && cent_sta3_lr_manual_up==0x0 && cent_sta3_lr_auto_dn==0x0 && cent_sta3_lr_manual_dn==0x0 && PWM_flag1==1 )
{
if(PWM_flag1!=2)
{ window_down_stop();
PWM_flag1=2;}
lr_moto_sta[0]= PTE_PTE3 ;
}
if( window_position<=0 )
{ if( lr_sta1_lr_moto_sta!=0x1 && lr_sta1_lr_moto_sta!=0x5)
{ lr_sta1_lr_moto_sta=0x3;
if(PWM_flag1!=2)
{ window_down_stop();
PWM_flag1=2;}
}
lr_moto_sta[0]= PTE_PTE3 ;
}
PTC_PTC2=0x0 ;
PTC_PTC3=0x1 ;
PTC_PTC4=0x1 ;
lr_butt_sta1[1]=PTE&0x10;
if(lr_butt_sta1[1]!=0) time_delay(5);
lr_butt_sta2[1]=PTE&0x10;
if(lr_butt_sta1[1]==lr_butt_sta2[1])
{ lr_button_sta[1]=lr_butt_sta1[1];
if(lr_button_sta[1]!=0) lrwin_up_300_enable=1;
else lrwin_up_300_enable=0;
}
if(lr_up_count>=75) { lrwin_up_300_reach=1; lrwin_up_300_enable=0;}
else lrwin_up_300_reach=0;
if(lrwin_up_300_reach==1 && lr_button_sta[1]!=0)
{lr_sta1_lr_moto_sta=0x1;}
if(lrwin_up_300_reach==0 && lr_up_count>0 && lr_button_sta[1]==0)
{lr_sta1_lr_moto_sta=0x5;lr_up_count=0;}
if((lr_sta1_lr_moto_sta==0x1 && lr_button_sta[1]==0)&& cent_sta3_lr_manual_up==0x0)
{lr_sta1_lr_moto_sta=0x0;lr_up_count=0;}
if(lr_sta1_lr_moto_sta==0x5 && lrwin_up_300_reach==1 && lr_button_sta[1]!=0)
{lr_sta1_lr_moto_sta=0x1;}
if(lr_sta1_lr_moto_sta==0x5&& lrwin_dn_300_reach==0 && lr_dn_count>0 && lr_button_sta[0]==0)
{lr_sta1_lr_moto_sta=0x6;}
if(lr_sta1_lr_moto_sta==0x5&& lrwin_dn_300_reach==1 && lr_button_sta[0]!=0)
{lr_sta1_lr_moto_sta=0x2;}
if( cent_sta3_lr_auto_up==0x1 && window_position<WT )
{lr_sta1_lr_moto_sta=0x5;
if(PWM_flag1!=4)
{ window_up_start();
PWM_flag1=4;}
lr_moto_sta[0]= PTE_PTE3 ;
}
if( cent_sta3_lr_manual_up==0x1 && window_position<WT )
{lr_sta1_lr_moto_sta=0x1;
if(PWM_flag1!=4)
{window_up_start();
PWM_flag1=4;}
lr_moto_sta[0]= PTE_PTE3 ;
}
if( cent_sta0_child_lock==0x0 && (cent_sta3_lr_auto_up==0x0&¢_sta3_lr_manual_up==0x0)&& (lr_sta1_lr_moto_sta==0x1||lr_sta1_lr_moto_sta==0x5) && window_position<WT )
{
if(PWM_flag1!=4)
{ window_up_start();
PWM_flag1=4;}
lr_moto_sta[0]= PTE_PTE3 ;
}
if( lr_sta1_lr_moto_sta==0x0 && cent_sta3_lr_auto_up==0x0 && cent_sta3_lr_manual_up==0x0 && cent_sta3_lr_auto_dn==0x0 && cent_sta3_lr_manual_dn==0x0 && PWM_flag1==4 )
{
if(PWM_flag1!=8)
{ window_up_stop();
PWM_flag1=8;}
lr_moto_sta[0]= PTE_PTE3 ;
}
if( window_position>=WT )
{
if( lr_sta1_lr_moto_sta!=2 && lr_sta1_lr_moto_sta!=6)
{ lr_sta1_lr_moto_sta=0x4;
if(PWM_flag1!=8)
{window_up_stop();
PWM_flag1=8;}
}
lr_moto_sta[0]= PTE_PTE3 ;
}
lr_butt_sta1[2]=PTE&0x20;
if(lr_butt_sta1[2]!=0) time_delay(5);
lr_butt_sta2[2]=PTE&0x20;
if(lr_butt_sta1[2]==lr_butt_sta2[2])
{ lr_button_sta[2]= lr_butt_sta1[2];
if(lr_button_sta[2]!=0) lr_sta0_lr_sta=0x1;
else lr_sta0_lr_sta=0x2;
}
if(lock_moto_count<=0)
{
if(PWM_flag2==1)
{ open_lock_stop();
PWM_flag2=2;}
lr_sta1_lr_lock_sta=0x01;
lr_moto_sta[1]= PTE_PTE0;
}
if(lock_moto_count>=LT)
{ if(PWM_flag2==4)
{ close_lock_stop();
PWM_flag2=8;}
lr_sta1_lr_lock_sta=0x2;
lr_moto_sta[1]= PTE_PTE0;
}
}
}
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -