📄 调试程序._c
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ep0_txdone(); //端点0IN中断
}
if(i_st & 0x04)
{
ep1_rxdone(); //端点1OUT中断
}
if(i_st & 0x08)
{
ep1_txdone(); //端点1IN中断
}
if(i_st & 0x10)
{
main_rxdone(); //端点2OUT中断
}
if(i_st & 0x20)
{
main_txdone(); //端点2IN中断
}
}
EIMSK=0x01;
}
//断开USB总线
void disconnect_USB(void)
{
D12_SetMode(0x02, 0x40 | 0x03);
}
//连接USB总线
void connect_USB(void)
{
D12_SetDMA(0x80 | 0x40|0x10);
D12_SetMode(0x02|0x10, 0x40 | 0x03);
}
//重新连接到USB总线
void reconnect_USB(void)
{
ulong clk_cnt;
disconnect_USB();
for(clk_cnt=0;clk_cnt<0x0800;clk_cnt++);
connect_USB();
}
//恢复到未配置状态
void init_unconfig(void)
{
D12_SetEndpointEnable(0);
}
//设置配置状态
void init_config(void)
{
D12_SetEndpointEnable(1);
}
//从端点号1发送数据
void single_transmit(uchar * buf, uchar len)
{
if( len <= 16) {
D12_WriteEndpoint(1, len, buf);
}
}
//发送端点号1建立代码
void code_transmit(uchar * pRomData, ushort len)
{
ControlData.wCount = 0;
if(ControlData.wLength > len)
ControlData.wLength = len;
ControlData.pData = pRomData;
if( ControlData.wLength >= 16)
{
D12_WriteEndpoint(1, 16, ControlData.pData);//发送16字节数据
ControlData.wCount += 16;
EIMSK=0x00;
control_state = 1;
EIMSK=0x01;
}
else
{
D12_WriteEndpoint(1, ControlData.wLength, pRomData);//发送16字节内数据
ControlData.wCount += ControlData.wLength;
EIMSK=0x00;
control_state = 0;
EIMSK=0x01;
}
}
//获取固件版本号
void get_firmware_version()
{
unsigned char i;
i = 0x30; // firmware version number
single_transmit((unsigned char *)&i, 1);
}
//获取端点2缓存区大小
void get_buffer_size()
{
unsigned char i[4];
if(bNoRAM != 0) {
i[0] = 64;
i[1] = 0;
i[2] = 0;
i[3] = 0;
} else {
i[0] = 0;
i[1] = 1;
i[2] = 0;
i[3] = 0;
}
single_transmit((unsigned char *)&i, 4);
}
//厂商请求处理
void read_write_register(void)
{
unsigned char len,epstatus;
if(ControlData.DeviceRequest.bmRequestType & 0x80) {
if(ControlData.DeviceRequest.wIndex == 0x0472 &&
ControlData.DeviceRequest.wValue == 0 &&
ControlData.DeviceRequest.wLength == 1)
get_firmware_version();//获取固件版本号
else
if(ControlData.DeviceRequest.wIndex == 0x0474 &&
ControlData.DeviceRequest.wValue == 0 &&
ControlData.DeviceRequest.wLength == 4)
get_buffer_size();//获取缓冲区大小
else{
D12_SetEndpointStatus(0, 1);
D12_SetEndpointStatus(1, 1);
}
} // if read register
else{
if(ControlData.DeviceRequest.wIndex == 0x0471 &&
ControlData.DeviceRequest.wValue == 0 &&
ControlData.DeviceRequest.wLength == 6)
{
if(ControlData.dataBuffer[5]==0x81)
{
D12_WriteEndpoint(5, ControlData.dataBuffer[3], MainBuf);//发送数据
}
if(ControlData.dataBuffer[5]==0x80)
{
EIMSK=0x00;
outportb(D12_COMMAND, 0x80 + 4);//读取端点状态
epstatus = inportb(D12_DATA);
EIMSK=0x01;
epstatus &= 0x60;
if (epstatus == 0x60)
len = Isr_D12_ReadEndpoint(4, 64, MainBuf);//读取双缓冲区数据
}
single_transmit(0, 0);
}
else
D12_SetEndpointStatus(0, 1);
D12_SetEndpointStatus(1, 1);
}
}
//请求处理子程序
void control_handler()
{
uchar type, req;
type = ControlData.DeviceRequest.bmRequestType & (uchar)0x60; //设备请求类型
req = ControlData.DeviceRequest.bRequest & (uchar)0x0F; //USB请求类型
if (type == (uchar)0x00)
{
switch(req) //调用标准请求
{
case 0x00:get_status();
break;
case 0x01:clear_feature();
break;
case 0x03:set_feature();
break;
case 0x05:set_address();
break;
case 0x06:get_descriptor();
break;
case 0x08:get_configuration();
break;
case 0x09:set_configuration();
break;
case 0x0a:get_interface();
break;
case 0x0b:set_interface();
break;
case 0x04:
case 0x02:
case 0x07:
case 0x0c:
case 0x0d:
case 0x0e:
case 0x0f:D12_SetEndpointStatus(0, 1);
D12_SetEndpointStatus(1, 1);
break;
default :break;
}
}
else if (type == (uchar)0x40)
{
switch(req) //调用标准请求
{
case 0x0c:read_write_register();
break;
case 0x00:
case 0x01:
case 0x02:
case 0x03:
case 0x04:
case 0x05:
case 0x06:
case 0x07:
case 0x08:
case 0x09:
case 0x0a:
case 0x0b:
case 0x0d:
case 0x0e:
case 0x0f:
case 0x10:D12_SetEndpointStatus(0, 1);
D12_SetEndpointStatus(1, 1);
break;
default :break;
}
}
else
{
D12_SetEndpointStatus(0, 1);
D12_SetEndpointStatus(1, 1);
}
}
//中断设置
void INT_Init(void)
{
EIMSK = 0x00;
MCUCR = 0X80;
EICRA = 0x00; ///
EIMSK = 0x00;
XMCRA = 0X00;
}
//***************************************************//
//延时函数
//***************************************************//
void DelayMs(uint TimeNum) //delay Ms
{
uint i;
for(;TimeNum>0;TimeNum--)
{
for(i=0;i<30000;i++);
}
}
//*****************************************************//
//清洗针头（时间）
//*****************************************************//
void Pump_Delay(uint delayTime) //Delay Ms 1//17Ms
{
PORTF&=0XFC;
DelayMs(10);
PORTF&=0XFE;
DelayMs(delayTime);
PORTF|=0X02;
DelayMs(10);
PORTF|=0X01;
}
//*****************************************************//
// 进样泵排气泡
//*****************************************************//
void push_air (void)
{
PORTF&=0XFC;
DelayMs(10);
PORTF&=0XFE;
mustermotor_contorl (17000,1);
mustermotor_contorl (17000,0);
DelayMs(30);
mustermotor_contorl (17000,1);
mustermotor_contorl (17000,0);
DelayMs(30);
PORTF|=0X02;
DelayMs(10);
PORTF|=0X01;
}
//*****************************************************//
// 吸样针头保护
//*****************************************************//
void needle_egis (void)
{
PIND=PORTD;
g[5]=PIND&0x10;
while(g[5]==0)
{
PIND=PORTD;
g[5]=PIND&0x10;
}
}
//*****************************************************//
// 进样器初始化
//*****************************************************//
void muster_init (void)
{
arm_up ();
plate_oneround ();
plate_init();
armround_init();
find_light();
DelayMs(15);
arm_down(200);
OutputMotor(0x02,0x00,0x00);
needle_egis ();
arm_down(2900);
mustermotor_init();
push_air ();
}
//*******************************************************//
//连电脑主机的进样过程
//*******************************************************//
void one_course (void)
{ uint i;
arm_up ();
plate_round(Work.strat_number,Work.mission_number);
mustermotor_contorl (6500,1);
armround_control (1,Work.mission_number,1);
DelayMs(18);
//arm_down(200);
OutputMotor(0x02,0x00,0x00);
needle_egis ();
arm_down(3300);
mustermotor_contorl (volume,1);
DelayMs(20);
if(Work.clear_select==2)
DelayMs(50);
arm_up ();
for(i=0;i<1500;i++)
{
motor_right (2,1,1000);
}
find_light();
// armround_control (0，Work.mission_number,1);
if(Work.clear_select==1)
{
armround_control (0,Work.mission_number,0);
DelayMs(20);
arm_down(200);
OutputMotor(0x02,0x00,0x00);
needle_egis ();
arm_down(6400+zx_value);
mustermotor_contorl (volume+300,0);
DelayMs(10);
arm_up ();
over_flag=1;
//armround_control (Work.mission_number,0);
for(i=0;i<1500;i++)
{
motor_left (2,1,1000);
}
find_light ();
}
DelayMs(20);
// arm_down(200);
OutputMotor(0x02,0x00,0x00);
needle_egis ();
arm_down(3300);
mustermotor_init();
Pump_Delay(clear_S);
DelayMs(220);
if(Work.clear_select==0)
over_flag=2;
}
//******************************************************//
//电机逆时针旋转
//******************************************************//
void motor_right (uchar motor_number,uchar modulus ,uint delaytime)
{ uint t;
uchar change;
OutputMotor(motor_number,H1DACData[step1[motor_number]],H2DACData[step1[motor_number]]);
step1[motor_number]+=modulus;
for(t=0;t<delaytime;t++);
}
//******************************************************//
//电机顺时针旋转
//******************************************************//
void motor_left (uchar motor_number,uchar modulus,uint delaytime)
{ uint t;
uchar change;
OutputMotor(motor_number,H1DACData[step1[motor_number]],H2DACData[step1[motor_number]]);
step1[motor_number]-=modulus;
for(t=0;t<delaytime;t++);
}
//*******************************************************//
//旋转臂找光点
//*******************************************************//
/*void find_light ()
{
uint i;
PIND=PORTD;
g[1]=PIND&0x08;
if(g[1]==0)
{
PIND=PORTD;
g[1]=PIND&0x08;
PIND=PORTD;
g[5]=PIND&0x10;
while(g[5]==0)
{
PIND=PORTD;
g[5]=PIND&0x10;
motor_right (2,1,600);
}
for(i=0;i<100;i++)
{
motor_right (2,1,600);
}
while(g[5]==0);
}
else
{
PIND=PORTD;
g[1]=PIND&0x08;
PIND=PORTD;
g[5]=PIND&0x10;
while(g[5]==0)
{
PIND=PORTD;
g[5]=PIND&0x10;
motor_left (2,1,600);
}
for(i=0;i<100;i++)
{
motor_left (2,1,600);
}
while(g[5]==0);
}
}*/
void find_light (void)
{
uint i;
PIND=PORTD;
g[1]=PIND&0x08;
if(g[1]==0)
{
while(g[1]==0)
{
PIND=PORTD;
g[1]=PIND&0x08;
motor_right (2,1,1000);
}
}
else
{
while(g[1])
{
PIND=PORTD;
g[1]=PIND&0x08;
motor_left (2,1,1000);
}
}
}
//******************************************************//
//上升臂上升
//******************************************************//
void arm_up (void)
{ uint i;
PIND=PORTD;
g[0]=PIND&0x04;
while(g[0])
{
PIND=PORTD;
g[0]=PIND&0x04;
motor_right (1,8,800);
}
for(i=0;i<10;i++)
{
motor_left (1,8,800);
}
for(i=0;i<60;i++)
{
motor_right (1,8,800);
}
while(g[0]);
OutputMotor(0x01,0x00,0x00);
}
//***************************************************//
//旋转臂旋转初使化
//***************************************************//
void armround_init (void)
{ uint i;
PIND=PORTD;
g[1]=PIND&0x08;
if(g[1]==0)
{
while(g[1])
{
for(i=0;i<1000;i++)
{
motor_right (2,1,1000);
}
}
if(g[1]==0)
find_light();
for(i=0;i<1000;i++)
{
motor_right (2,1,1000);
}
}
else
{
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