#ifndef _CONFIG_H
#define _CONFIG_H
/*通用頭文件包含*/
#include <STC12C5A60S2.h>
#include<intrins.h>
/*循跡模塊相關引腳定義*/
#define P0_PORT P0
sbit D1=P0^0;
sbit D2=P0^1;
sbit D3=P0^2;
sbit D4=P0^3;
sbit D5=P0^4;
sbit D6=P0^5;
sbit D7=P0^6;
sbit D8=P0^7;
/*電機驅動模塊相關引腳定義*/
sbit ENA=P1^3; //右側電機使能
sbit IN1=P1^0; //右側電機控制端口
sbit IN2=P1^1;
sbit ENB=P1^4; //左側電機使能
sbit IN3=P1^5; //左側電機控制端口
sbit IN4=P1^6;
/*紅外接收頭引腳定義*/
sbit Ird=P3^3;
/*晶振頻率*/
#define FOSC 11059200UL
/*類型替換*/
typedef unsigned char uint8;
typedef unsigned short int uint16;
typedef unsigned long int uint32;
typedef signed char int8;
typedef signed short int int16;
typedef signed long int int32;
#endif
#define _DELAY_C
#include"Config.h"
#include"Delay.h"
/*10ms延時函數*/
void Delay10ms(uint8 tt)
{
uint8 i, j;
while(tt--)
{
_nop_();
_nop_();
i = 108;
j = 144;
do
{
while (--j);
} while (--i);
}
}
/*100ms延時函數*/
void Delay100ms(uint8 tt) //@11.0592MHz
{
uint8 i, j, k;
while(tt--)
{
i = 5;
j = 52;
k = 195;
do
{
do
{
while (--k);
} while (--j);
} while (--i);
}
}
/*10us延時函數*/
void Delay10us(void) //@11.0592MHz
{
uint8 i;
_nop_();
_nop_();
_nop_();
i = 24;
while (--i);
}
#ifndef _DELAY_H
#define _DELAY_H
extern void Delay10ms(uint8 tt);
extern void Delay100ms(uint8 tt);
extern void Delay10us(void);
#ifndef _DELAY_C
#endif
#endif
#define _INFRARED_C
#include"Config.h"
#include"Infrared.h"
#include"main.h"
uint8 IrdCode[4];
bit Irdflag=0;
/*紅外按鍵掃描函數*/
void IrdScan (void)
{
if (Irdflag)
{
Irdflag=0;
IrdAction (IrdCode[2]);
}
}
/*配置紅外函數*/
void ConfigIrd (void)
{
Ird=1; //初始化引腳
TMOD&=0x0F;
TMOD|=0x10;
TL1=0;
TH1=0;
TR1=0;
ET1=0; //關閉T1中斷
IT1=1; //設置外部中斷1為下降沿觸發方式
EX1=1; //使能外部1中斷
}
/*獲取低電平時間函數*/
uint16 GetLowTime (void)
{
TH1=0;
TL1=0;
TR1=1;
while (!Ird)
{
if (TH1>0x40) //防止因信號異常導致程序假死在這里
{
break;
}
}
TR1=0;
return (TH1*256+TL1);
}
/*獲取高電平時間函數*/
uint16 GetHighTime (void)
{
TH1=0;
TL1=0;
TR1=1;
while (Ird)
{
if (TH1>0x40)
{
break;
}
}
TR1=0;
return (TH1*256+TL1);
}
/*外部中斷1中斷服務函數*/
void ExternalSubroutine (void) interrupt 2
{
uint16 time;
uint8 i;
uint8 j;
time=GetLowTime ();
if ((time>8755)||(time<7833))
{
IE1=0; //清零外部中斷1中斷標志，防止重復進入中斷
return ;
}
time=GetHighTime ();
if ((time>4608)||(time<3686))
{
IE1=0; //清零外部中斷1中斷標志，防止重復進入中斷
return ;
}
for (i=0;i<4;++i)
{
for (j=0;j<8;++j)
{
time=GetLowTime ();
if ((time>718)||(time<313))
{
IE1=0; //清零外部中斷1中斷標志，防止重復進入中斷
return ;
}
time=GetHighTime ();
if ((time<718)&&(time>313))
{
IrdCode[i]>>=1;
}
else if ((time>1345)&&(time<1751))
{
IrdCode[i]>>=1;
IrdCode[i]|=0x80;
}
else
{
IE1=0; //清零外部中斷1中斷標志，防止重復進入中斷
return;
}
}
}
Irdflag=1;
IE1=0; //清零外部中斷1中斷標志，防止重復進入中斷
}
#ifndef _INFRARED_H
#define _INFRARED_H
extern void IrdScan (void);
extern void ConfigIrd (void);
#ifndef _INFRARED_C
#endif
#endif
#define _MAIN_C
#include"Config.h"
#include"main.h"
//#include"Delay.h"
#include"PWM.h"
void Self_Tracing (void);
void Stop (void);
/*主函數*/
void main (void)
{
InitPCA (); //初始化PWM模塊
EA=1;
while (1)
{
Self_Tracing ();
}
}
/*慢左轉函數*/
void SlowTurnLeft (void)
{
IN3=0; //左側停
IN4=0;
IN1=0; //右側運動
IN2=1;
CCAP0L=CCAP0H=0xFF; //占空比
PCA_PWM0=0x03;
CCAP1L=CCAP1H=0; //占空比
PCA_PWM1=0;
}
/*慢右轉函數*/
void SlowTurnRight (void)
{
IN3=0; //左側運動
IN4=1;
IN1=0; //右側停
IN2=0;
CCAP0L=CCAP0H=0; //占空比
PCA_PWM0=0;
CCAP1L=CCAP1H=0xFF; //占空比
PCA_PWM1=0x03;
}
/*快左轉函數*/
void FastTurnLeft (void)
{
IN3=1; //左側向相反方向運動
IN4=0;
IN1=0; //右側運動
IN2=1;
CCAP0L=CCAP0H=70; //占空比
PCA_PWM0=0;
CCAP1L=CCAP1H=70; //占空比
PCA_PWM1=0;
}
/*快右轉函數*/
void FastTurnRight (void)
{
IN3=0; //左側運動
IN4=1;
IN1=1; //右側向相反方向運動
IN2=0;
CCAP0L=CCAP0H=70; //占空比
PCA_PWM0=0;
CCAP1L=CCAP1H=70; //占空比
PCA_PWM1=0;
}
/*后退函數*/
void Backward (void)
{
IN1=1;
IN2=0;
IN3=1;
IN4=0;
CCAP0L=CCAP0H=70; //占空比
PCA_PWM0=0x00;
CCAP1L=CCAP1H=70; //占空比
PCA_PWM1=0x00;
}
/*前進函數*/
void Forward (void)
{
IN1=0;
IN2=1;
IN3=0;
IN4=1;
CCAP0L=CCAP0H=70; //占空比
PCA_PWM0=0x00;
CCAP1L=CCAP1H=70; //占空比
PCA_PWM1=0x00;
}
/*停止函數*/
void Stop (void)
{
IN1=0;
IN2=0;
IN3=0;
IN4=0;
CCAP0L=CCAP0H=0xFF; //占空比0%，即低電平，失能
PCA_PWM0=0x03;
CCAP1L=CCAP1H=0xFF; //占空比0%，即低電平，失能
PCA_PWM1=0x03;
}
///*開關函數*/
//void Off_On (void)
//{
// if (Switch_Flag)
// {
// Stop ();
// }
// Switch_Flag=~Switch_Flag;
//}
//
//void Continue (void)
//{
// switch (Backup)
// {
// case 0x40: SlowTurnLeft ();break;
// case 0x43: SlowTurnRight ();break;
// case 0x15: Backward ();break;
// case 0x09: Forward ();break;
// case 0x08: FastTurnLeft ();break;
// case 0x5A: FastTurnRight ();break;
// }
//}
//
//void IrdAction (uint8 IrdCode)
//{
// switch (IrdCode)
// {
// case 0x45: Off_On ();break;
// case 0x40: if (Switch_Flag)
// {
// SlowTurnLeft ();
// Backup=IrdCode;
// Pause_Flag=0;
// };break;
// case 0x43: if (Switch_Flag)
// {
// SlowTurnRight ();
// Backup=IrdCode;
// Pause_Flag=0;
// };break;
// case 0x15: if (Switch_Flag)
// {
// Backward ();
// Backup=IrdCode;
// Pause_Flag=0;
// };break;
// case 0x09: if (Switch_Flag)
// {
// Forward ();
// Backup=IrdCode;
// Pause_Flag=0;
// };break;
// case 0x08: if (Switch_Flag)
// {
// FastTurnLeft ();
// Backup=IrdCode;
// Pause_Flag=0;
// };break;
// case 0x5A: if (Switch_Flag)
// {
// FastTurnRight ();
// Backup=IrdCode;
// Pause_Flag=0;
// };break;
// case 0x044: if (Switch_Flag)
// {
// Pause_Flag=~Pause_Flag;
// if (Pause_Flag)
// {
// Stop ();
// }
// else
// {
// Continue ();
// }
// };break;
// default :break;
// }
//}
/*循跡函數*/
void Self_Tracing (void)
{
switch (P0_PORT)
{
case 0x0F:FastTurnLeft ();break;
case 0x1F:FastTurnLeft ();break;
case 0x2F:FastTurnLeft ();break;
case 0x3F:FastTurnLeft ();break;
case 0x4F:FastTurnLeft ();break;
case 0x5F:FastTurnLeft ();break;
case 0x6F:FastTurnLeft ();break;
case 0x7F:FastTurnLeft ();break;
case 0x8F:FastTurnLeft ();break;
case 0x9F:FastTurnLeft ();break;
case 0xAF:FastTurnLeft ();break;
case 0xBF:FastTurnLeft ();break;
case 0xCF:FastTurnLeft ();break;
case 0xDF:FastTurnLeft ();break;
case 0xEF:FastTurnLeft ();break;
case 0xF0:FastTurnRight();break;
case 0xF1:FastTurnRight();break;
case 0xF2:FastTurnRight();break;
case 0xF3:FastTurnRight();break;
case 0xF4:FastTurnRight();break;
case 0xF5:FastTurnRight();break;
case 0xF6:FastTurnRight();break;
case 0xF7:FastTurnRight();break;
case 0xF8:FastTurnRight();break;
case 0xF9:FastTurnRight();break;
case 0xFA:FastTurnRight();break;
case 0xFB:FastTurnRight();break;
case 0xFC:FastTurnRight();break;
case 0xFD:FastTurnRight();break;
case 0xFE:FastTurnRight();break;
case 0xE7:Forward();break;
case 0xFF:Stop ();break;
default :Forward();break;
}
}
#ifndef _MAIN_H
#define _MAIN_H
//extern void IrdAction (uint8 IrdCode);
#ifndef _MAIN_C
#endif
#endif
#define _PWM_C
#include"Config.h"
#include"PWM.h"
/*配置PCA模塊函數，使其工作在PWM模式*/
void InitPCA (void)
{
CMOD=0x0C; //PCA 計數器脈沖源為11.0592MHz/6溢出
CCAPM0=0x42; //PWM模塊1為普通8位PWM, 無中斷
CCAPM1=0x42; //PWM模塊2為普通8位PWM, 無中斷
CCAP0L=CCAP0H=0xFF; //初始化時使其(P1^3)輸出恒為0
PCA_PWM0=0x03;
CCAP1L=CCAP1H=0xFF; //初始化時使其(P1^4)輸出恒為0
PCA_PWM1=0x03;
CR=1; //允許 PCA 計數器計數
}
#ifndef _PWM_H
#define _PWM_H
extern void InitPCA (void);
#ifndef _PWM_C
#endif
#endif
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