红外遥控小车程序

附录一 程序代码红外遥控编码程序#include#define uchar unsigned char#define uint unsigned int#define uintlong unsigned longsbit p3_0=P30;sbit p2_1=P21;sbit p1_0=P10;sbit p1_1=P11;sbit p1_2=P12;sbit p1_3=P13;bit out;uint keyvalue=0x00,flag_key=0,value1,value2,keycount=0,i,j,flag_set=0,flag_press=0;uchar code keycode4=0x7f,0xbf,0xdf,0xef;uchar codeportvalue12=0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08,0x09,0x0a,0x00,0x0b;uchar code wy8=0x01,0x02,0x04,0x08,0x10,0x20,0x40,0x80;/*红外发送部分*/uchar user1=0x00,user2=0x00; uint count=0,endcount=0;uint irdata=0;void deltime(void);void key_scan(void);void sendirdata(void);main(void) EA = 1; TMOD = 0x11; ET0 = 1; p3_0=1; P1=0xff; TH0 = 0xFF; TL0 = 0xE4; TR0 = 0; while(1) key_scan(); if(flag_press=1) flag_press=0; TR0=1; sendirdata(); /*按键扫描*/void key_scan(void) for(i=0;i=3;i+) P1=keycodei; if(p1_3=0) keycount=i*3+0;flag_key=1; break; if(p1_2=0) keycount=i*3+1;flag_key=1;break; if(p1_1=0) keycount=i*3+2;flag_key=1;break; if(flag_key=1) flag_key=0; value1=P1; deltime(); value2=P1; if(value1=value2)keyvalue=portvaluekeycount;flag_set=1;flag_press=1; while(flag_set) value2=P1; if(value1!=value2) flag_set=0; /*延时*/void deltime(void) uint k; for(k=0;k=20;k+) /*定时中断*/void time0int(void) interrupt 1 TH0=0xFF; TL0=0xE4; count+;/*发送数据*/void sendirdata() uchar s=0,datapd=0; endcount=320; p3_0=0; count=0; dowhile(countendcount); endcount=180; count=0; p3_0=1; dowhile(countendcount); for(s=0;s=11;s+) endcount=20; count=0;p3_0=0; dowhile(countendcount);endcount=20; count=0;p3_0=1; dowhile(countendcount);irdata=keyvalue; for(s=0;s=7;s+) datapd=irdata & wys; if (datapd=0) endcount=20;count=0;else endcount=60;count=0; p3_0=0; dowhile(countendcount);endcount=20;count=0; p3_0=1; dowhile(countendcount); irdata=keyvalue; for(s=0;s=7;s+) datapd=irdata & wys; if (datapd=0) endcount=60;count=0; else endcount=20;count=0;p3_0=0; dowhile(countendcount); endcount=20;count=0; p3_0=1; dowhile(countendcount); TR0=0;红外遥控解码及驱动程序COUNT EQU 30H FLAG_USER1 EQU 45H FLAG_USER2 EQU 46H SAVEDATA EQU 47H CS1 EQU P3.0CS2 EQU P3.1RS EQU P3.3RW EQU P3.4E EQU P3.5PAGES EQU 56HCOLUMN EQU 57HNUM EQU 58HORG 0000HLJMP MAINORG 0003HLJMP EXTER0INTORG 000BHLJMP TIMER0INTORG 1000HMAIN:MOV P1,#0C5H SETB P3.6 SETB P3.7 MOV TMOD,#01H ;中断初始化 MOV TH0,#0FFH MOV TL0,#9CH SETB EA SETB IT0 SETB ET0 SETB EX0 MOV R0,52H ;数据接收初始化 MOV 52H,#00H MOV 53H,#00H MOV 54H,#00H MOV 55H,#00H MOV 51H,#00H MOV COUNT,#00H MOV R1,#08H MOV R2,#02H CLR PSW.5 ;数据接收标志 CLR PSW.1 ;数据处理标志 MOV FLAG_USER1,#00H LCALL CLEAR MOV DPTR,#TAB0 ;显示初始化 MOV PAGES,#1 MOV COLUMN,#0 LCALL LCD_DISP MOV DPTR,#TAB2 MOV PAGES,#1 MOV COLUMN,#16 LCALL LCD_DISP MOV DPTR,#TAB1 MOV PAGES,#1 MOV COLUMN,#32 LCALL LCD_DISP MOV DPTR,#TAB3 MOV PAGES,#1 MOV COLUMN,#48 LCALL LCD_DISP MOV DPTR,#TAB4 MOV PAGES,#1 MOV COLUMN,#64 LCALL LCD_DISP MOV DPTR,#TAB5 MOV PAGES,#1 MOV COLUMN,#80 ;显示红外遥控模式 LCALL LCD_DISP MOV DPTR,#TAB6 MOV PAGES,#3 MOV COLUMN,#0 LCALL LCD_DISP MOV DPTR,#TAB7 MOV PAGES,#3 MOV COLUMN,#16 LCALL LCD_DISP MOV DPTR,#TAB8 MOV PAGES,#3 MOV COLUMN,#32 LCALL LCD_DISP MOV DPTR,#TAB10 MOV PAGES,#3 MOV COLUMN,#64 LCALL LCD_DISP MOV DPTR,#TAB9 MOV PAGES,#3 MOV COLUMN,#48 LCALL LCD_DISP ;显示状态：初始LOOP: ;是否进行数据处理 JNB PSW.1,$ LCALL DATACHULI CLR PSW.1 MOV A,SAVEDATA LCALL DATASHOWENDLOOP: LJMP LOOPEXTER0INT: ;外部中断 SETB TR0 MOV 30H,#00H RETITIMER0INT: ;定时中断，数据的验证和接收. MOV TH0,#0FFH MOV TL0,#9CH INC 30H SETB P3.2 MOV C,P3.2 JB PSW.5,DATARECEIVEPD JNC ENDTIMER0INT MOV A,30H CLR C SUBB A,#90 JC ENDTIMER0INT SETB PSW.5 CLR TR0 MOV R1,#08H MOV 51H,#00H MOV R0,#52H MOV R2,#04H ;共接受两组数据 LJMP ENDTIMER0INT DATARECEIVEPD: ;数据接收判断 JNC ENDTIMER0INT CLR TR0 MOV A,30H CLR TR0 SUBB A,#10 JC ORECEIVE SETB C MOV A,51H RRC A MOV 51H,A LJMP WENDPDORECEIVE: CLR C MOV A,51H RRC A MOV 51H,AWENDPD: DJNZ R1,ENDTIMER0INT ;重复两次接收，确保存储. MOV R1,#08H MOV R0,51H MOV R0,51H INC R0 MOV 51H,#00H DJNZ R2,ENDTIMER0INT CLR PSW.5 SETB PSW.1 SETB P0.0ENDTIMER0INT: ;定时中断结束 RETIDATACHULI: ;数据处理 MOV A,52H CLR C SUBB A,FLAG_USER1 JNZ ENDDATACHULI MOV A,54H ANL A,55H JNZ ENDDATACHULI MOV A,54H MOV SAVEDATA,A MOV 52H,#00H MOV 53H,#00H MOV 54H,#00H MOV 55H,#00HENDDATACHULI: ;处理完成，返回主程序 RETDATASHOW: ;判断接收信号，进行相应处理 CJNE A,#00H,CON1 LJMP AOTO ;状态判断CON1:CJNE A,#02H,CON2 MOV P1,#0FAH MOV DPTR,#TAB11 MOV PAGES,#3 LJMP ENDDATASHOW ;后转并显示 CON2:CJNE A,#04H,CON3 MOV P1,#0E5H MOV DPTR,#TAB12 MOV PAGES,#3 LJMP ENDDATASHOW ;左转并显示CON3:CJNE A,#05H,CON4 MOV P1,#0C5H MOV DPTR,#TAB13 MOV PAGES,#3 LJMP ENDDATASHOW ;停转并显示CON4:CJNE A,#06H,CON5 MOV P1,#0D5H MOV DPTR,#TAB14 MOV PAGES,#3 LJMP ENDDATASHOW ;右转并显示CON5:CJNE A,#08H,CON6 MOV P1,#0F5H MOV DPTR,#TAB15 MOV PAGES,#3 LJMP ENDDATASHOW ;前转并显示CON6:JMP ENDDATASHOW1ENDDATASHOW: MOV COLUMN,#48 LCALL LCD_DISP MOV DPTR,#TAB16 MOV PAGES,#3 MOV COLUMN,#64 LCALL LcD_DISPENDDATASHOW1: RETAOTO:MOV P1,#0C0H ;寻迹壁障程序 MOV DPTR,#TAB17 MOV PAGES,#1 MOV COLUMN,#0 LCALL LCD_DISP MOV DPTR,#TAB18 MOV PAGES,#1 MOV COLUMN,#16 LCALL LCD_DISP MOV DPTR,#TAB19 MOV PAGES,#1 MOV COLUMN,#32 LCALL LCD_DISP MOV DPTR,#TAB20 MOV PAGES,#1 MOV COLUMN,#48 LCALL LCD_DISP ;显示寻迹避障 MOV DPTR,#TAB10 MOV PAGES,#3 MOV COLUMN,#64 LCALL LCD_DISP MOV DPTR,#TAB9 MOV PAGES,#3 MOV COLUMN,#48 LCALL LCD_DISP ;显示初始 LCALL DLY ;模式工作前等待3秒AOTO1: ;自动寻迹避障程序 MOV DPTR,#TAB15 MOV PAGES,#3 MOV COLUMN,#48 LCALL LCD_DISP MOV DPTR,#TAB16 MOV PAGES,#3 MOV COLUMN,#64 LCALL LCD_DISP ;显示前转 MOV P1,#0F5H JNB PSW.5,AOTO2 ;检测红外信号 LCALL CLEAR MOV P1,#0C5H LCALL DLY1 LJMP MAIN AOTO2: JNB P1.6,ZZ ;状态判断 JNB P1.7,YZ JNB P3.6,HT JNB P3.7,HT SJMP AOTO1 ZZ:MOV P1,#0E5H ;右寻迹灯亮 MOV DPTR,#TAB12 MOV PAGES,#3 MOV COLUMN,#48 LCALL LCD_DISP LCALL DLY SJMP DD YZ:MOV P1, #0D5H ;左寻迹灯亮 MOV DPTR,#TAB14 MOV PAGES,#3 MOV COLUMN,#48 LCALL LCD_DISP LCALL DLY LJMP DD HT:MOV P1,#0FAH ;发现障碍物 MOV DPTR,#TAB11 MOV PAGES,#3 MOV COLUMN,#48 LCALL LCD_DISP LCALL DLY SJMP ZZ DD:LJMP AOTO1DLY:MOV R7,#0BDH ;3秒延时DL1:MOV R6,#0E6HDL0:MOV R5,#21H DJNZ R5,$ DJNZ R6,DL0 DJNZ R7,DL1 RETDLY1:MOV R7,#0A7H ;1秒延时DL3:MOV R6,#0ABHDL2:MOV R5,#10H DJNZ R5,$ DJNZ R6,DL2 DJNZ R7,DL3 NOP RETCLEAR: MOV R4,#00H ;清屏程序CLEAR1:MOV A ,R4 ORL A,#0B8H MOV B,A LCALL WCL0 LCALL WCR0 MOV B,#40H LCALL WCL0 LCALL WCR0 MOV R3,#40HCLEAR2:MOV B,#00H LCALL WCL1 LCALL WCR1 DJNZ R3,CLEAR2 INC R4 CJNE R4, #08H, CLEAR1 RETLCD_DISP: ;汉字显示程序 MOV R1,#02H MOV R0,#00H MOV NUM,#10H DISP: MOV R4,NUMDISPWORD:MOV A,COLUMN CLR C SUBB A,#63 JNC YXP MOV A,COLUMN ORL A,#40H MOV B,A LCALL WCL0 MOV A,PAGES ORL A,#0B8H MOV B,A LCALL WCL0 DISPDATA1:INC COLUMN MOV A,R0 MOVC A,A+DPTR MOV B,A LCALL WCL1 LJMP NEXTDISP YXP:MOV A,COLUMN CLR C SUBB A,#64 ORL A,#40H MOV B,A LCALL WCR0 MOV A,PAGES ORL A,#0B8H MOV B,A LCALL WCR0DISPDATA2:INC COLUMN MOV A,R0 MOVC A,A+DPTR MOV B,A LCALL WCR1NEXTDISP:INC R0 DJNZ R4,DISPWORD MOV A,COLUMN CLR C SUBB A,#10H MOV COLUMN, A INC PAGES DJNZ R1,DISP RETWCL0: CLR CS1 SETB CS2 CLR RS SETB RWWCL00: MOV P2,#0FFH SETB E MOV A,P2 CLR E JB ACC.7,WCL00 CLR RW MOV P2, B SETB E NOP CLR E RETWCL1: CLR CS1 SETB CS2 CLR RS SETB RWWCL11: MOV P2,#0FFH SETB E MOV A,P2 CLR E JB ACC.7,WCL11 CLR RW SETB RS MOV P2, B SETB E CLR E RETWCR0: SETB CS1 CLR CS2 CLR RS SETB RWWCR00: MOV P2,#0FFH SETB E MOV A,P2 CLR E JB ACC.7,WCR00 CLR RW MOV P2, B SETB E CLR E RETWCR1: SETB CS1 CLR CS2 CLR RS SETB RWWCR11: MOV P2,#0FFH SETB E MOV A,P2 CLR E JB ACC.7,WCR11 CLR RW SETB RS MOV P2, B SETB E CLR E RETTAB0:DB 20H,30H,0ACH,63H,20H,10H,04H,04H,04H,04H,0FCH,04H,06H,04H,00H,00H,22H,67H,22H,12H,12H,52H,40H,40H,40H,40H,7FH,40H,40H,60H,40H,00H ; 红TAB1:DB 40H,42H,44H,0CCH,00H,42H,36H,2AH,22H,0FEH,21H,29H,25H,80H,00H,00H,00H,40H,20H,1FH,21H,41H,5DH,49H,49H,4FH,49H,49H,5DH,61H,21H,00H ; 外TAB2:DB 00H,80H,0E0H,18H,17H,10H,90H,70H,00H,0FFH,20H,40H,80H,00H,00H,00H,01H,40H,20H,11H,0AH,04H,03H,00H,00H,0FFH,00H,00H,00H,01H,03H,00H ; 遥TAB3:DB 10H,10H,10H,0FFH,90H,50H,0CH,44H,24H,15H,06H,14H,24H,54H,0CH,00H,02H,42H,81H,7FH,00H,40H,42H,42H,42H,42H,7EH,42H,43H,62H,40H,00H ; 控TAB4:DB 10H,10H,0D0H,0FFH,94H,14H,0E4H,0BFH,0A4H,0A4H,0A4H,0BFH,0F4H,26H,04H,00H,04H,03H,00H,0FFH,08H,89H,8BH,4AH,2AH,1EH,2AH,2AH,4BH,0C8H,48H,00H ; 模TAB5:DB 10H,10H,90H,90H,90H,90H,90H,10H,0FFH,10H,12H,14H,10H,18H,10H,00H,00H,20H,60H,20H,1FH,10H,10H,08H,01H,06H,18H,20H,40H,80H,70H,00H ; 式TAB6:DB 00H,08H,30H,00H,0FFH,20H,20H,20H,20H,0FFH,20H,22H,24H,30H,20H,00H,08H,0CH,02H,01H,0FFH,40H,20H,1CH,03H,00H,03H,0CH,30H,60H,20H,00H; 状TAB7:DB 04H,04H,84H,84H,44H,24H,54H,8FH,14H,24H,44H,44H,84H,86H,84H,00H,01H,21H,1 CH,00H,3CH,40H,42H,4CH,40H,40H,70H,04H,08H,31H,00H,00H; 态TAB8:DB 000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,036H,036H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H ;:TAB9:DB 10H,10H,91H,0D6H,30H,98H,00H,08H,08H,0F8H,08H,08H,08H,0FCH,08H,00H,02H,01H,00H,0FFH,01H,82H,40H,20H,18H,07H,40H,80H,40H,3FH,00H,00H ; 初TAB10:DB 10H,10H,0F0H,1FH,10H,0F0H,40H,60H,58H,47H,40H,40H,50H,60H,0C0H,00H,40H,22H,15H,08H,16H,61H,00H,0FEH,42H,42H,42H,42H,42H,0FFH,02H,00H;始TAB11:DB 00H,00H,0FCH,24H,24H,24H,24H,24H,24H,22H,22H,23H,0A2H,30H,20H,00H,40H,30H,0FH,00H,00H,0FFH,41H,41H,41H,41H,41H,41H,0FFH,01H,00H,00H;后TAB12:DB 08H,08H,08H,08H,88H,78H,0FH,08H,08H,08H,08H,88H,0CH,08H,00H,00H,20H,50H,48H,46H,41H,41H,41H,41H,7FH,41H,41H,41H,41H,60H,40H,00H;左TAB13:DB 40H,20H,0F8H,07H,00H,04H,74H,54H,55H,56H,54H,54H,76H,04H,00H,00H,00H,00H,0FFH,04H,03H,01H,05H,45H,85H,7DH,05H