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/*******************************************************************************
* 實驗名 : 1602顯示紅外線值實驗
* 使用的IO : 電機用P1口,鍵盤使用P3.0、P3.1、P3.2、P3.3
* 實驗效果 : LCD1602顯示出讀取到的紅外線的值
* 注意：
*******************************************************************************/
#include<reg51.h>
#include"lcd.h"
#include <stdio.h>
//#include "delay.h"
sfr T2CON = 0xC8; //timer2 control register
sfr RCAP2L = 0xCA;
sfr RCAP2H = 0xCB;
sfr TL2 = 0xCC;
sfr TH2 = 0xCD;
typedef unsigned char BYTE;
typedef unsigned int WORD;
#define FOSC 12000000L //System frequency
#define BAUD 9600 //UART baudrate
/*Define UART parity mode*/
#define NONE_PARITY 0 //None parity
#define ODD_PARITY 1 //Odd parity
#define EVEN_PARITY 2 //Even parity
#define MARK_PARITY 3 //Mark parity
#define SPACE_PARITY 4 //Space parity
#define PARITYBIT NONE_PARITY //Testing even parity
sbit bit9 = P2^2; //P2.2 show UART data bit9
bit busy;
sbit Sevro_moto_pwm = P3^5; //接舵機信號端輸入PWM信號調節速度
sbit FanPin=P1^0;
unsigned int pwm_val_left = 0;//變量定義
unsigned char push_val_left =14;//舵機歸中，產生約，1.5MS 信號
unsigned int timer=0; //延時基準變量
unsigned int Servo_Ctr=0;
unsigned int pwm_val_Fan=0;
unsigned char Fan_speed=199;
int flag=0;
sbit IRIN=P3^2;
unsigned char code CDIS1[13]={" Red Control "};
unsigned char code CDIS2[13]={" IR-CODE:--H "};
unsigned char code Test_OK[2]={"OK"};
unsigned char IrValue[6];
unsigned char Time;
unsigned char IrOK=0;
/*--------------------------------------------------------------
函數聲明
--------------------------------------------------------------*/
void InitUART(void);
char putchar(char c);
void IrInit();
void DelayMs(unsigned int );
void SendString(char *s);
void SendData(BYTE dat);
void pwm_Servomoto_angle(unsigned int angle,unsigned int Servo_time);
void pwm_Servomoto(void);
void test_servo(void);
void Motor_Ctr(void);
void Pwm_Motor(void);
/*******************************************************************************
* 函數名 : main
* 函數功能 : 主函數
* 輸入 : 無
* 輸出 : 無
*******************************************************************************/
void main()
{
unsigned char i;
//串口初始化
// printf("\r\n\n\r\n");
TMOD=0X11;
TH1=(65536-100)/256; //100US定時
TL1=(65536-100)%256;
TH0=0;
TL0=0;
TR1= 1;
ET1= 1;
ET0= 1;
EA = 1;
IrInit();
LcdInit();
InitUART();
LcdWriteCom(0x80);
for(i=0;i<13;i++)
{
LcdWriteData(CDIS1[i]);
}
LcdWriteCom(0x80+0x40);
for(i=0;i<13;i++)
{
LcdWriteData(CDIS2[i]);
}
while(1)
{
test_servo();
IrValue[4]=IrValue[2]>>4; //高位
IrValue[5]=IrValue[2]&0x0f; //低位
if(IrValue[4]>9)
{
LcdWriteCom(0xc0+0x09); //設置顯示位置
LcdWriteData(0x37+IrValue[4]); //將數值轉換為該顯示的ASCII碼
}
else
{
LcdWriteCom(0xc0+0x09);
LcdWriteData(IrValue[4]+0x30); //將數值轉換為該顯示的ASCII碼
}
if(IrValue[5]>9)
{
LcdWriteCom(0xc0+0x0a);
LcdWriteData(IrValue[5]+0x37); //將數值轉換為該顯示的ASCII碼
}
else
{
LcdWriteCom(0xc0+0x0a);
LcdWriteData(IrValue[5]+0x30); //將數值轉換為該顯示的ASCII碼
}
DelayMs(50);
// printf("\r\n SZ-51 UART printftest OK if you see these words! c%c%", IrValue[2], IrValue[3]);
if(IrOK==1) //如果處理好后進行紅外處理
{
// printf("\r\n SZ-51 UART printftest OK if you see these words!");
SendString(Test_OK);
if(IrValue[4]>9)
{
LcdWriteCom(0x80+0x0d); //設置顯示位置
LcdWriteData(0x37+IrValue[4]); //將數值轉換為該顯示的ASCII碼
}
else
{
LcdWriteCom(0x80+0x0d);
LcdWriteData(IrValue[4]+0x30); //將數值轉換為該顯示的ASCII碼
}
if(IrValue[5]>9)
{
LcdWriteCom(0x80+0x0e);
LcdWriteData(IrValue[5]+0x37); //將數值轉換為該顯示的ASCII碼
}
else
{
LcdWriteCom(0x80+0x0e);
LcdWriteData(IrValue[5]+0x30); //將數值轉換為該顯示的ASCII碼
}
switch(IrValue[2])
{
case 0x18:
LcdWriteCom(0x80+0x0f);
LcdWriteData(CDIS1[3]); //將數值轉換為該顯示的ASCII碼
break;
case 0x52:
LcdWriteCom(0x80+0x0f);
LcdWriteData(CDIS1[2]); //將數值轉換為該顯示的ASCII碼
break;
default:break;
}
IrOK=0;
}
else
{
// printf("\r\n SZ-51 UART printftest OK if you see these words!");
}
DelayMs(50);
}
}
/*******************************************************************************
* 函數名 : DelayMs()
* 函數功能 : 延時
* 輸入 : x
* 輸出 : 無
*******************************************************************************/
void DelayMs(unsigned int x) //0.14ms誤差 0us
{
unsigned char i;
while(x--)
{
for (i = 0; i<13; i++)
{}
}
}
/*******************************************************************************
* 函數名 : IrInit()
* 函數功能 : 初始化紅外線接收
* 輸入 : 無
* 輸出 : 無
*******************************************************************************/
void IrInit()
{
IT0=1;//下降沿觸發
EX0=1;//打開中斷0允許
EA=1; //打開總中斷
IRIN=1;//初始化端口
}
/*******************************************************************************
* 函數名 : ReadIr()
* 函數功能 : 讀取紅外數值的中斷函數
* 輸入 : 無
* 輸出 : 無
*******************************************************************************/
void ReadIr() interrupt 0
{
unsigned char j,k;
unsigned int err;
Time=0;
DelayMs(70);
if(IRIN==0) //確認是否真的接收到正確的信號
{
err=1000; //1000*10us=10ms,超過說明接收到錯誤的信號
/*當兩個條件都為真是循環，如果有一個條件為假的時候跳出循環，免得程序出錯的時
侯，程序死在這里*/
while((IRIN==0)&&(err>0)) //等待前面9ms的低電平過去
{
DelayMs(1);
err--;
}
if(IRIN==1) //如果正確等到9ms低電平
{
err=500;
while((IRIN==1)&&(err>0)) //等待4.5ms的起始高電平過去
{
DelayMs(1);
err--;
}
for(k=0;k<4;k++) //共有4組數據
{
for(j=0;j<8;j++) //接收一組數據
{
err=60;
while((IRIN==0)&&(err>0))//等待信號前面的560us低電平過去
// while (!IRIN)
{
DelayMs(1);
err--;
}
err=500;
while((IRIN==1)&&(err>0)) //計算高電平的時間長度。
{
DelayMs(1);//0.14ms
Time++;
err--;
if(Time>30)
{
EX0=1;
return;
}
}
IrValue[k]>>=1; //k表示第幾組數據
if(Time>=8) //如果高電平出現大于565us，那么是1
{
IrValue[k]|=0x80;
}
Time=0; //用完時間要重新賦值
}
}
}
if(IrValue[2]==~IrValue[3])
{
IrOK=1;
DelayMs(5);
return;
}
else
{
IrOK=0;
}
}
}
/*--------------------------------------------------------------
串口初始化
--------------------------------------------------------------*/
void InitUART(void)
{
#if (PARITYBIT == NONE_PARITY)
SCON = 0x50; //8-bit variable UART
#elif (PARITYBIT == ODD_PARITY) || (PARITYBIT == EVEN_PARITY) || (PARITYBIT == MARK_PARITY)
SCON = 0xda; //9-bit variable UART, parity bit initial to 1
#elif (PARITYBIT == SPACE_PARITY)
SCON = 0xd2; //9-bit variable UART, parity bit initial to 0
#endif
TL2 = RCAP2L = (65536-(FOSC/32/BAUD)); //Set auto-reload vaule
TH2 = RCAP2H = (65536-(FOSC/32/BAUD)) >> 8;
T2CON = 0x34; //Timer2 start run
ES = 1; //Enable UART interrupt
EA = 1;
}
/*--------------------------------------------------------------
printf調用的底層發送一個字節函數
--------------------------------------------------------------*/
char putchar(char c)
{
SBUF = c;
while(!TI);
TI = 0;
return c;
}
/*----------------------------
UART interrupt service routine
----------------------------*/
void Uart_Isr() interrupt 4 using 1
{
if (RI)
{
RI = 0; //Clear receive interrupt flag
P0 = SBUF; //P0 show UART data
bit9 = RB8; //P2.2 show parity bit
}
if (TI)
{
TI = 0; //Clear transmit interrupt flag
busy = 0; //Clear transmit busy flag
}
}
/*----------------------------
Send a byte data to UART
Input: dat (data to be sent)
Output:None
----------------------------*/
void SendData(BYTE dat)
{
while (busy); //Wait for the completion of the previous data is sent
ACC = dat; //Calculate the even parity bit P (PSW.0)
if (P) //Set the parity bit according to P
{
#if (PARITYBIT == ODD_PARITY)
TB8 = 0; //Set parity bit to 0
#elif (PARITYBIT == EVEN_PARITY)
TB8 = 1; //Set parity bit to 1
#endif
}
else
{
#if (PARITYBIT == ODD_PARITY)
TB8 = 1; //Set parity bit to 1
#elif (PARITYBIT == EVEN_PARITY)
TB8 = 0; //Set parity bit to 0
#endif
}
busy = 1;
SBUF = ACC; //Send data to UART buffer
}
/*----------------------------
Send a string to UART
Input: s (address of string)
Output:None
----------------------------*/
void SendString(char *s)
{
while (*s) //Check the end of the string
{
SendData(*s++); //Send current char and increment string ptr
}
}
/************************************************************************/
/* PWM調制舵機電機轉速 */
/************************************************************************/
/* 舵機電機調速 */
/*調節push_val_left的值改變舵機電機轉速,占空比 */
void pwm_Servomoto(void)
{
if(pwm_val_left<=push_val_left)
Sevro_moto_pwm=1;
else
Sevro_moto_pwm=0;
if(pwm_val_left>=200)
pwm_val_left=0;
}
void Pwm_Motor(void)
{
if(flag==1)
{
FanPin=0;
}
else
{
if(pwm_val_Fan<=Fan_speed)
FanPin=1;
else
FanPin=0;
if(pwm_val_Fan>=200)
pwm_val_Fan=0;
}
}
/***************************************************/
///*TIMER1中斷服務子函數產生PWM信號*/
void time1()interrupt 3 using 2
{
TH1=(65536-100)/256; //100US定時
TL1=(65536-100)%256;
timer++; //定時器100US為準。在這個基礎上延時
pwm_val_left++;
pwm_val_Fan++;
pwm_Servomoto();
Pwm_Motor();
}
void pwm_Servomoto_angle(unsigned int angle,unsigned int Servo_time)
{
push_val_left=5+angle*20/180; //舵機向左轉90度
timer=0;
while(timer<=Servo_time); //延時400MS讓舵機轉到其位置 4000
}
void test_servo(void)
{
int pos;
for(pos=0;pos<180;pos+=3)
{
Motor_Ctr();
// pwm_Fan_speed();
while(Servo_Ctr==0)
{
Motor_Ctr();
}
pwm_Servomoto_angle(pos,100) ;
DelayMs(10);
}
for(pos = 180; pos>=0; pos-=3) // goes from 180 degrees to 0 degrees
{
Motor_Ctr();
while(Servo_Ctr==0)
……………………
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