电子设计大赛跷跷板程序.doc

sfr16 DP = 0x82; / data pointersfr16 TMR3RL = 0x92; / Timer3 reload valuesfr16 TMR3 = 0x94; / Timer3 countersfr16 ADC0 = 0xbe; / ADC0 datasfr16 ADC0GT = 0xc4; / ADC0 greater than windowsfr16 ADC0LT = 0xc6; / ADC0 less than windowsfr16 RCAP2 = 0xca; / Timer2 capture/reloadsfr16 T2 = 0xcc; / Timer2sfr16 RCAP4 = 0xe4; / Timer4 capture/reloadsfr16 T4 = 0xf4; / Timer4sfr16 DAC0 = 0xd2; / DAC0 datasfr16 DAC1 = 0xd5; / DAC1 data/sbit sensor1=P20;/从左往右数,寻迹用sbit sensor2=P21;sbit sensor3=P22;/LCD初始化置位sbit led=P24;sbit LCD_E=P27;sbit LCD_RW=P26;sbit LCD_RS=P25;/测试的sbit pingheng=P21;/函数定义/-void Timer3_Init (int counts);/计100ms/void LCD_Display(void);void SYSCLK_Init(void);void PORT_Init(void);void Timer3_ISR (void);/时间void delay(void);void Timer(void);void Timer_5S(void);/显示void LCD_Init(void);void LCD_Display(void);void trans(unsigned int dat);/unsigned long x; unsigned char xdata First_data16=0x41,0x43,0x3a; unsigned char ascii10=0,1,2,3,4,5,6,7,8,9;unsigned char ascii_p4=0,0,0,0;unsigned int k,m,chushi,bac; /时间，平衡，初始计时信号 unsigned char *lcdpoint; /指向 lcddata数组的指针unsigned char lcd_data_count;long int delay1;/动作函数/void PORT_Init (void);void PCA0_Init (void);void PCA1_Init (void);void xunji(void);/寻迹void left(void);void right(void);void stop(void);void move(void);void back(void);void left_back(void);void right_back(void);/void main(void) WDTCN = 0xde; / disable watchdog timer WDTCN = 0xad;SYSCLK_Init ();bac=0;chushi=1; PORT_Init(); LCD_Init(); PCA0_Init(); PCA1_Init (); Timer3_Init (65535); /P0=0x00; /P3=0x00;PCA0CPH0 = 0x00;PCA0CPH1 = 0x00;/闪电 速度 EA=1;TMR3CN |= 0x04; /stop(); /xunji(); /初始计时 label: P2=0x0f; if(sensor2=0&chushi=1) delay(); / while(1) P2=0x0f; if(sensor2=0&chushi=1) chushi=2; Timer(); /elsebreak; /chushi=1; /xunji(); P2=0x0f; if(sensor2=0&chushi=2) delay(); /while(1) P2=0x0f; if(sensor2=0&chushi=2) chushi=3; PCA0CPL0 = 0x00; PCA0CPH0 = 0x00; PCA0CPL1 = 0x00; PCA0CPH1 = 0x00; Timer(); / elsebreak; /chushi=2; / xunji(); goto label;/计时 void Timer(void) / switch(chushi) case 2: stop();for (delay1=0;delay1600000;delay1+ );k=0;TMR3CN |= 0x04;led=1;Timer_5S();led=0; k=0; TMR3CN |= 0x04; move(); for (delay1=0;delay11000000;delay1+ ); PCA0CPL0 =0x1f;PCA0CPH0=0x1f; PCA0CPL1=0x1f;PCA0CPH1=0x1f;break; case 3:stop();k=0;led=1;Timer_5S();led=0;back();bac=1; k=0;TMR3CN |= 0x04; for (delay1=0;delay11000000;delay1+ ); break;/backxunji();/ case 4: / start Timer3 void xunji(void)/while(1)if(bac=0) P2=0x0f; if(sensor1=0)&( sensor3=1) / delay();/延时 / c0=0; right(); while(1) P2=0x0f; if(sensor1=1)&( sensor3=1) move(); break; else ; P2=0x0f; if(sensor1=1)&( sensor3=0) / delay();/延时 left();/c1=0; while(1) P2=0x0f; if(sensor1=1)&( sensor3=1) move();/c1=1; break; else; P2=0x0f; if(sensor1=1)&( sensor3=1) /delay();/延时 /move();/c1=0; while(1) P2=0x0f; if(sensor1=1)&( sensor3=1) move();/c1=1; break; else; else P2=0x0f; if(sensor1=0)&( sensor3=0) stop();TMR3CN |= 0x00;EA=0; / P2=0x0f; /if(sensor1=0)&(sensor3=0) /stop();/break; /Timer_5S(); /back(); /j计回车 /计时/ TMR3CN= 0x00; / Stop Timer3; Clear TF3;void SYSCLK_Init (void) int i; / delay counter OSCXCN = 0x67; / start external oscillator with for (i=0; i 256; i+) ; / Wait for osc. to start up while (!(OSCXCN & 0x80) ; / Wait for crystal osc. to settle OSCICN = 0x88; / select external oscillator as SYSCLK/端口配置 / void PORT_Init (void) XBR0=0x28; XBR1=0x00; XBR2=0x40; / Enable crossbar and weak pull-ups P1MDIN=0x00; P0MDOUT=0xFF; P1MDOUT=0xFF; P2MDOUT=0xF0; / P2口设为推挽方式 P3MDOUT=0xFF; / P2口设为推挽方式 P74OUT=0xFF; P2=0x0F;/void right(void)P4=0x20;void left (void)P4=0x02;void stop(void)P4=0x00;void move(void)P4=0x22;void back(void)P4=0x88;void left_back(void)P4=0x80;void right_back(void)P4=0x08;/脉宽void PCA0_Init (void) /8位脉宽输出 / 允许PCA工作 PCA0CPM0 = 0x42; PCA0CPL0 = 0x00; PCA0CPH0 = 0x00; PCA0L=0x88; PCA0CN = 0x40; void PCA1_Init (void)/0.1口输出 PCA0CPM1 = 0x42; /8位脉宽输出 PCA0CPL1 = 0x00; PCA0CPH1 = 0x00;PCA0L=0x88;PCA0CN = 0x40; /平衡函数 void balence(void) TMR3CN= 0x00; / Stop Timer3; Clear TF3; k=0; TMR3CN |= 0x04; / start Timer3 while(k=5) trans(k); LCD_Display(); / void Timer3_Init (counts)/counts=20000个时钟周期 TMR3CN= 0x00; / Stop Timer3; Clear TF3; TMR3RL= -counts; / Init reload values TMR3= 0xffff; / set to reload immediately EIE2|= 0x01; / enable Timer3 interrupts / TMR3CN |= 0x04; / start Timer3 EIP2=0x01;/void Timer3_ISR (void) interrupt 14 static int i=0; TMR3CN &= (0x80); / clear TF3 （溢出标志清零） TMR3CN |= 0x04; / start Timer3 i+; if(i=45) i=0; k+;trans(k);LCD_Display(); / void LCD_Display(void) static unsigned char data1; LCD_RS=1; LCD_RW=0; LCD_E=1; for(x=0;x0;lcd_data_count-) data1=*lcdpoint; /读出数据 P3=data1; /写数据到端口 LCD_E=0; LCD_E=1; /控制LCD lcdpoint+; for(x=0;x1000;x+); LCD_RS=0; LCD_RW=0; LCD_E=1; P3=0xc0; LCD_E=0; /void trans(unsigned int dat) ascii_p3=dat%10; dat=dat/10; ascii_p2=dat%10; dat=dat/10; ascii_p1=dat%10; dat=dat/10; ascii_p0=dat%10; dat=dat/10; First_data6=ascii ascii_p3 ; First_data5=ascii ascii_p2 ; First_data4=ascii ascii_p1 ; First_data3=ascii ascii_p0 ; /LCD初始化void LCD_Init(void) LCD_RS=0; LCD_RW=0; LCD_E=1; for(x=0; x10000; x+); P3=0x38; LCD_E=0; LCD_E=1; for(x=0; x2000; x+); P3=0x0e; LCD_E=0; LCD_E=1; for(x=0; x2000; x+); P3=0x06;