#include<reg52.h>
sbit KEY_IN_1 = P2^4;
sbit KEY_IN_2 = P2^5;
sbit KEY_IN_3 = P2^6;
sbit KEY_IN_4 = P2^7;
sbit KEY_OUT_1 = P2^3;
sbit KEY_OUT_2 = P2^2;
sbit KEY_OUT_3 = P2^1;
sbit KEY_OUT_4 = P2^0;
unsigned char KeySta[4][4] ={
{1,1,1,1},{1,1,1,1},{1,1,1,1},{1,1,1,1}
};
unsigned char code KeyCodeMap[4][4] = {
{0x31, 0x32, 0x33, 0x26},
{0x34, 0x35, 0x36, 0x25},
{0x37, 0x38, 0x39, 0x28},
{0x30, 0x1B, 0x0D, 0x27}
};
signed long beats = 0; //單機轉動節拍總數
void KeyDriver();
void main()
{
EA = 1;
TMOD = 0x01;
TH0 = 0xFC;
TL0 = 0x67;
ET0 = 1;
TR0 = 1;
while(1)
{
KeyDriver();
}
}
void StartMotor(signed long angle)
{
EA = 0;
beats = (angle*4067) / 360;
EA = 1;
}
void StopMotor()
{
EA = 0;
beats = 0;
EA = 1;
}
void KeyAction(unsigned char keycode)
{
static bit dirMotor = 1; //電機轉動方向
if ((keycode >= 0x30) && (keycode <= 0x39))
{
if (dirMotor == 0)
{
StartMotor(360 * (keycode-0x30));
}
else
{
StartMotor(-360* (keycode-0x30));
}
}
else if (keycode == 0x26)
{
StartMotor(10);
}
else if (keycode == 0x28)
{
StartMotor(180);
}
else if (keycode == 0x25)
{
StartMotor(90);
}
else if (keycode == 0x27)
{
StartMotor(-90);
}
else if (keycode == 0x1B)
{
StopMotor();
}
}
void KeyDriver()
{
unsigned char i, j;
static unsigned char backup[4][4] = {
{1,1,1,1},{1,1,1,1},{1,1,1,1},{1,1,1,1}
};
for(i=0; i<4; i++)
{
for (j=0; j<4; j++)
{
if(backup[i][j] != KeySta[i][j])
{
if(backup[i][j] == 0)
{
KeyAction(KeyCodeMap[i][j]);
}
backup[i][j] = KeySta[i][j];
}
}
}
}
void TurnMotor()
{
unsigned char tmp;
static unsigned index = 0;
unsigned char code BeatCode[8] = {
0x0E, 0x0C, 0x0D, 0x09, 0x0B, 0x03, 0x07, 0x06
};
if (beats != 0)
{
if (beats > 0)
{
index++;
index = index & 0x07;
beats--;
}
else
{
index--,
index = index & 0x07;
beats++;
}
tmp = P1;
tmp = tmp & 0xF0;
tmp = tmp | BeatCode[index];
P1 = tmp;
}
else
{
P1 = 0x0F;
}
}
void KeyScan()
{
unsigned char i;
static unsigned char keyout = 0;
static unsigned char keybuf[4][4] = {
{0xFF, 0xFF, 0xFF, 0xFF}, {0xFF, 0xFF, 0xFF, 0xFF},
{0xFF, 0xFF, 0xFF, 0xFF}, {0xFF, 0xFF, 0xFF, 0xFF}
};
keybuf[keyout][0] = (keybuf[keyout][0] <<1) | KEY_IN_1;
keybuf[keyout][1] = (keybuf[keyout][1] <<1) | KEY_IN_2;
keybuf[keyout][2] = (keybuf[keyout][2] <<1) | KEY_IN_3;
keybuf[keyout][3] = (keybuf[keyout][3] <<1) | KEY_IN_4;
for (i=0; i<4; i++)
{
if ((keybuf[keyout][i] & 0x0F) == 0x00)
{
KeySta[keyout][i] = 0;
}
else if ((keybuf[keyout][i] & 0x0F) == 0x0F)
{
KeySta[keyout][i] = 1;
}
}
keyout++;
keyout = keyout & 0x03;
switch (keyout)
{
case 0: KEY_OUT_4 = 1; KEY_OUT_1 = 0; break;
case 1: KEY_OUT_1 = 1; KEY_OUT_2 = 0; break;
case 2: KEY_OUT_2 = 1; KEY_OUT_3 = 0; break;
case 3: KEY_OUT_3 = 1; KEY_OUT_4 = 0; break;
default: break;
}
}
void InterruptTimer0() interrupt 1
{
static bit div = 0;
TH0 = 0xFC;
TL0 = 0x67;
KeyScan();
div = ~div;
if (div ==1)
{
TurnMotor();
}
}
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