main.c
来自「基于摩托罗拉（现在飞思卡尔）MC68HC908AZ60A系列单片机」· C语言 代码 · 共 1,308 行 · 第 1/2 页
C
1,308 行
}
} //end of CAN_Receive function
/**************************** 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 = rf_sta0;
TB0DSR1 = rf_sta1;
TB0IDR0 = 0x44; //id 赋值
TB0IDR1 = 0x00;
TB0IDR2 = 0x00;
TB0IDR3 = 0x00;
TB0TBPR = 0x01;
CTFLG = 0x01; //启动发送
}
else if(emptytest1 !=0)
{
TB1DLR = 0x02;
TB1DSR0 = rf_sta0;
TB1DSR1 = rf_sta1;
TB1IDR0 = 0x44; //id 赋值
TB1IDR1 = 0x00;
TB1IDR2 = 0x00;
TB1IDR3 = 0x00;
TB1TBPR = 0x01;
CTFLG = 0x02; //启动发送
}
else if(emptytest2 !=0)
{
TB2DLR = 0x02;
TB2DSR0 = rf_sta0;
TB2DSR1 = rf_sta1;
TB2IDR0 = 0x44; //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_PTB2=0x0;
PTB_PTB2=0x0;
while(SPSCR_SPTE==0) {; }
SPDR=SPI_data;
PTB_PTB2=0x0; PTB_PTB2=0x0; PTB_PTB2=0x0; PTB_PTB2=0x0;
PTB_PTB2=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(lf_sta2_mir_regu ==0x2&&lf_sta2_mir_sel==0x2 && mirror_x_position<MT)
{mirror_x_position++;}
if(lf_sta2_mir_regu ==0x1&&lf_sta2_mir_sel ==0x2 && mirror_x_position>0)
{mirror_x_position--;}
if(lf_sta2_mir_regu ==0x3&&lf_sta2_mir_sel ==0x2 && mirror_y_position<MT)
{mirror_y_position++;}
if(lf_sta2_mir_regu ==0x4&&lf_sta2_mir_sel ==0x2 && mirror_y_position>0)
{mirror_y_position--;}
if(rfwin_up_300_enable==1) {rf_up_count++;}
if(rfwin_dn_300_enable==1) {rf_dn_count++;}
if( (rf_sta1_rf_moto_sta ==0x1||rf_sta1_rf_moto_sta ==0x5) && window_position<WT) { window_position++;}
if( (rf_sta1_rf_moto_sta ==0x2 ||rf_sta1_rf_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();
DDRB_DDRB2=1;
DDRC_DDRC6=1;
DDRB_DDRB5=1;
DDRB_DDRB3=1;
DDRE_DDRE4=0;
DDRE_DDRE5=0;
PTB_PTB2=0x0;
PTC_PTC6=0x0;
PTB_PTB5=0x0;
PTB_PTB3=0x0;
DDRB_DDRB6=1;
DDRB_DDRB7=1;
PTB_PTB6=0x0;
PTB_PTB7=0x0;
DDRC_DDRC4=1;
DDRC_DDRC5=1;
PTC_PTC4=0x0;
PTC_PTC5=0x0;
DDRA_DDRA6=1;
DDRA_DDRA7=1;
PTA_PTA6=0x0;
PTA_PTA7=0x0;
DDRA_DDRA2=1;
DDRA_DDRA3=1;
PTA_PTA2=0x0;
PTA_PTA3=0x0;
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_PTB2=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;
while(1)
{
PTB_PTB3=0x0 ;
PTB_PTB5=0x0 ;
PTC_PTC6=0x0 ;
rf_butt_sta1[0]=PTE&0x10;
if(rf_butt_sta1[0]!=0) time_delay(5);
rf_butt_sta2[0]=PTE&0x10;
if(rf_butt_sta1[0]==rf_butt_sta2[0])
{ rf_button_sta[0]=rf_butt_sta1[0];
if(rf_button_sta[0]!=0) rfwin_dn_300_enable=1;
else rfwin_dn_300_enable=0;
}
if(rf_dn_count>=75) { rfwin_dn_300_reach=1; rfwin_dn_300_enable=0;}
else rfwin_dn_300_reach=0;
if(rfwin_dn_300_reach==1 && rf_button_sta[0]!=0)
{rf_sta1_rf_moto_sta=0x2;}
if(rfwin_dn_300_reach==0&& rf_dn_count>0 && rf_button_sta[0]==0)
{rf_sta1_rf_moto_sta=0x6;rf_dn_count=0;}
if((rf_sta1_rf_moto_sta==0x2 && rf_button_sta[0]==0)&¢_sta2_rf_manual_dn==0x0)
{rf_sta1_rf_moto_sta=0x0;rf_dn_count=0;}
if(rf_sta1_rf_moto_sta==0x6 && rfwin_dn_300_reach==1 && rf_button_sta[0]!=0)
{rf_sta1_rf_moto_sta=0x2;}
if(rf_sta1_rf_moto_sta==0x6&& rfwin_up_300_reach==0 && rf_up_count>0 && rf_button_sta[1]==0)
{rf_sta1_rf_moto_sta=0x5;}
if(rf_sta1_rf_moto_sta==0x6&& rfwin_up_300_reach==1 && rf_button_sta[1]!=0)
{rf_sta1_rf_moto_sta=0x1;}
if( cent_sta2_rf_auto_dn==0x1 && window_position>0 )
{ rf_sta1_rf_moto_sta=0x6;
if(PWM_flag1!=1)
{ window_down_start();
PWM_flag1=1;}
}
if( cent_sta2_rf_manual_dn==0x1 && window_position>0 )
{ rf_sta1_rf_moto_sta=0x2;
if(PWM_flag1!=1)
{window_down_start();
PWM_flag1=1;}
}
if( (cent_sta2_rf_auto_dn==0x0&¢_sta2_rf_manual_dn==0x0)&& (rf_sta1_rf_moto_sta==0x2||rf_sta1_rf_moto_sta==0x6) && window_position>0 )
{
if(PWM_flag1!=1)
{ window_down_start();
PWM_flag1=1;}
}
if( rf_sta1_rf_moto_sta==0x0 && cent_sta2_rf_auto_up==0x0 && cent_sta2_rf_manual_up==0x0 && cent_sta2_rf_auto_dn==0x0 && cent_sta2_rf_manual_dn==0x0 && PWM_flag1==1 )
{
if(PWM_flag1!=2)
{ window_down_stop();
PWM_flag1=2;}
}
if( window_position<=0 )
{ if( rf_sta1_rf_moto_sta!=0x1 && rf_sta1_rf_moto_sta!=0x5)
{ rf_sta1_rf_moto_sta=0x3;
if(PWM_flag1!=2)
{ window_down_stop();
PWM_flag1=2;}
}
}
PTB_PTB3=0x1 ;
PTB_PTB5=0x0 ;
PTC_PTC6=0x0 ;
rf_butt_sta1[1]=PTE&0x10;
if(rf_butt_sta1[1]!=0) time_delay(5);
rf_butt_sta2[1]=PTE&0x10;
if(rf_butt_sta1[1]==rf_butt_sta2[1])
{ rf_button_sta[1]=rf_butt_sta1[1];
if(rf_button_sta[1]!=0) rfwin_up_300_enable=1;
else rfwin_up_300_enable=0;
}
if(rf_up_count>=75) { rfwin_up_300_reach=1; rfwin_up_300_enable=0;}
else rfwin_up_300_reach=0;
if(rfwin_up_300_reach==1 && rf_button_sta[1]!=0)
{rf_sta1_rf_moto_sta=0x1;}
if(rfwin_up_300_reach==0&& rf_up_count>0 && rf_button_sta[1]==0)
{rf_sta1_rf_moto_sta=0x5;rf_up_count=0;}
if((rf_sta1_rf_moto_sta==0x1 && rf_button_sta[1]==0)&& cent_sta2_rf_manual_up==0x0)
{rf_sta1_rf_moto_sta=0x0;rf_up_count=0;}
if(rf_sta1_rf_moto_sta==0x5 && rfwin_up_300_reach==1 && rf_button_sta[1]!=0)
{rf_sta1_rf_moto_sta=0x1;}
if(rf_sta1_rf_moto_sta==0x5&& rfwin_dn_300_reach==0 && rf_dn_count>0 && rf_button_sta[0]==0)
{rf_sta1_rf_moto_sta=0x6;}
if(rf_sta1_rf_moto_sta==0x5&& rfwin_dn_300_reach==1 && rf_button_sta[0]!=0)
{rf_sta1_rf_moto_sta=0x2;}
if( cent_sta2_rf_auto_up==0x1 && window_position<WT )
{rf_sta1_rf_moto_sta=0x5;
if(PWM_flag1!=4)
{ window_up_start();
PWM_flag1=4;}
}
if( cent_sta2_rf_manual_up==0x1 && window_position<WT )
{rf_sta1_rf_moto_sta=0x1;
if(PWM_flag1!=4)
{window_up_start();
PWM_flag1=4;}
}
if( (cent_sta2_rf_auto_up==0x0&¢_sta2_rf_manual_up==0x0)&& (rf_sta1_rf_moto_sta==0x1||rf_sta1_rf_moto_sta==0x5) && window_position<WT )
{
if(PWM_flag1!=4)
{ window_up_start();
PWM_flag1=4;}
}
if( rf_sta1_rf_moto_sta==0x0 && cent_sta2_rf_auto_up==0x0 && cent_sta2_rf_manual_up==0x0 && cent_sta2_rf_auto_dn==0x0 && cent_sta2_rf_manual_dn==0x0 && PWM_flag1==4 )
{
if(PWM_flag1!=8)
{ window_up_stop();
PWM_flag1=8;}
}
if( window_position>=WT )
{
if( rf_sta1_rf_moto_sta!=2 && rf_sta1_rf_moto_sta!=6)
{ rf_sta1_rf_moto_sta=0x4;
if(PWM_flag1!=8)
{window_up_stop();
PWM_flag1=8;}
}
}
PTB_PTB3=0x0 ;
PTB_PTB5=0x1 ;
PTC_PTC6=0x0 ;
rf_butt_sta1[2]=PTE&0x10;
if(rf_butt_sta1[2]!=0) time_delay(5);
rf_butt_sta2[2]=PTE&0x10;
if(rf_butt_sta1[2]==rf_butt_sta2[2])
{ rf_button_sta[2]= rf_butt_sta1[2];
if(rf_button_sta[2]!=0) rf_sta0_rf_sta=0x1;
else rf_sta0_rf_sta=0x2;
}
PTB_PTB3=0x1 ;
PTB_PTB5=0x1 ;
PTC_PTC6=0x0 ;
rf_butt_sta1[3]=PTE&0x10;
if(rf_butt_sta1[3]!=0) time_delay(5);
rf_butt_sta2[3]=PTE&0x10;
if(rf_butt_sta1[3]==rf_butt_sta2[3])
{ rf_button_sta[3]= rf_butt_sta1[3];
if(rf_button_sta[3]!=0) rf_sta1_rf_cent_outlock =0x1;
else rf_sta1_rf_cent_outlock =0x2;
}
if(lock_moto_count<=0)
{ if(PWM_flag2==1)
{ open_lock_stop();
PWM_flag2=2;}
rf_sta1_rf_lock_sta=0x1;
}
if(lock_moto_count>=LT)
{ if(PWM_flag2==4)
{ close_lock_stop();
PWM_flag2=8;}
rf_sta1_rf_lock_sta=0x2;
}
if( (lf_sta2_mir_regu ==0x2&&lf_sta2_mir_sel==0x2&&mirror_x_position<MT) && cent_sta0_fire ==0x2)
{
if(PWM_flag3!=4)
{ mirror_x_forward_start();
PWM_flag3=4; }
}
if( ( lf_sta2_mir_regu==0x0 || lf_sta2_mir_sel!=0x2 || mirror_x_position>=MT || cent_sta0_fire ==0x1) && PWM_flag3==4)
{
if(PWM_flag3!=8)
{ mirror_x_forward_stop();
PWM_flag3=8 ;}
}
if( (lf_sta2_mir_regu ==0x1&& lf_sta2_mir_sel ==0x2&& mirror_x_position>0) && cent_sta0_fire ==0x2 )
{
if(PWM_flag3!=1)
{ mirror_x_reverse_start();
PWM_flag3=1; }
}
if( ( lf_sta2_mir_regu==0x0 || lf_sta2_mir_sel!=0x2 || mirror_x_position<=0 || cent_sta0_fire ==0x1 ) &&PWM_flag3==1)
{
if(PWM_flag3!=2)
{ mirror_x_reverse_stop();
PWM_flag3=2;}
}
if( (lf_sta2_mir_regu ==0x3&&lf_sta2_mir_sel ==0x2&& mirror_y_position<MT) && cent_sta0_fire ==0x2 )
{
if(PWM_flag4!=1)
{ mirror_y_forward_start();
PWM_flag4=1;}
}
if( ( lf_sta2_mir_regu==0x0 || lf_sta2_mir_sel!=0x2 || mirror_y_position>=MT || cent_sta0_fire ==0x1) && PWM_flag4==1)
{
if(PWM_flag4!=2)
{ mirror_y_forward_stop();
PWM_flag4=2;}
}
if( (lf_sta2_mir_regu ==0x4 && lf_sta2_mir_sel ==0x2&& mirror_y_position>0) && cent_sta0_fire ==0x2)
{
if(PWM_flag4!=4)
{ mirror_y_reverse_start();
PWM_flag4=4;}
}
if( ( lf_sta2_mir_regu==0x0 || lf_sta2_mir_sel!=0x2 || mirror_y_position<=0 || cent_sta0_fire ==0x1) && PWM_flag4==4 )
{
if(PWM_flag4!=8)
{ mirror_y_reverse_stop();
PWM_flag4 =8;}
}
}
}
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