红外遥控小车程序

1、附录一 程序代码红外遥控编码程序#include<reg51.h>#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;ucha

2、r 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 sendir

3、data(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

4、=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&l

5、t;=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(count<endcount); endcount=180; count=0; p3_0=1; dowhile(count<endcount); for(s=0;s<=11;s+) endcount=20; count=0;p3_0=0; dowhile(c

6、ount<endcount);endcount=20; count=0;p3_0=1; dowhile(count<endcount);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(count<endcount);endcount=20;count=0; p3_0=1; dowhile(count<endcount); irdata=keyva

7、lue; 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(count<endcount); endcount=20;count=0; p3_0=1; dowhile(count<endcount); 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.

8、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

9、 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,

10、#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,#

11、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

12、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

13、 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 51

14、H,#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 RETDATASH

15、OW: ;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 ENDDA

16、TASHOW ;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

17、 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 D

18、PTR,#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.

19、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,#4

20、8 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 R

21、5,$ 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,#

22、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,

23、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

24、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:

25、 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,

26、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,1

27、5H,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

28、,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

29、,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

30、,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,3

31、0H,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