智能车制作

标题: 别人说这叫程序，我也不知道是什么（一） [打印本页]

作者: guanmingyuan008 时间: 2010-1-14 15:29
标题: 别人说这叫程序，我也不知道是什么（一）
/*****************************************************
This program was produced by the
CodeWizardAVR V1.25.6c Professional
Automatic Program Generator
?Copyright 1998-2006 Pavel Haiduc, HP  vula_adcfoTech s.r.l.
http://www.hp vula_adcfotech.com

Project : 小车
Version :  0.00
Date : 2007-8-30
Author  : momo
Company : zhong bei da xue
Comments:

Chip type          : ATmega16L
Program type       : Application
Clock frequency    : 1.000000 MHz
Memory model       : Small
External SRAM size  : 0
Data Stack size    : 256
*****************************************************/
#include "config.h"

#define                startCPA TCCR1A|=0X40
#define startCPB TCCR1A|=0X10

#define stopCPA    TCCR1A&=0XBF
#define stopCPB    TCCR1A&=0XEF

#define MBgo       PORTD.0=0
#define MBback    PORTD.0=1

#define MAgo       PORTD.1=0
#define MAback    PORTD.1=1
/****************************************************
全局变量声明
*****************************************************/
volatile unsigned char  flage=0X00;
volatile unsigned char Timer[3]={0,0,0};
volatile unsigned char  write;
volatile unsigned char BalanceTime=0;
unsigned char balan =1;
unsigned char  vula_adc;
unsigned char  ad;
flash char *step[4]={ "stepA","stepB","stepC","back " } ;
flash char *mode[2]={"normal","advanc"};
/******************************************************
系统中断（显示，蜂鸣）
*******************************************************/
interrupt [TIM0_COMP ] void tim0_comp_isr(void)
{
static unsigned char buzz;
switch ( flage )
   {
case 0X04:
                  Timer[0]=Read_sec( );
               if( Timer[0]==Timer[2] )
               ;
               else
               {
                     BalanceTime++;
                     LCD_write_char( 13 , 1 ,  ( BalanceTime%10)+'0' );
                     LCD_write_char( 12 , 1 ,  ( BalanceTime/10)+'0' );
                     Timer[2]=Timer[0] ;
                  }
                  goto j1;
                  break;
case 0X84:
               Timer[0]=Read_sec( );
               if( Timer[0]==Timer[2] )
               ;
               else
               {
                     BalanceTime++;
                     LCD_write_char( 13 , 1 ,  ( BalanceTime%10)+'0' );
                     LCD_write_char( 12 , 1 ,  ( BalanceTime/10)+'0' );
                     Timer[2]=Timer[0] ;
                  }
case 0X80:
                  if( (++buzz) == 10 )
                  {
                        buzz=0;
                           PORTC.2=1;
                           flage -=0x80;
                        }
   j1:
case 0X00:
               Timer[0]=Read_sec( );
               write=Timer[0];
               LCD_write_char( 11 , 0 , (write& 0x0f)+ '0' );
               LCD_write_char( 10 , 0 , ( (write>>4)&0x07) + '0' );

               Timer[1]=Read_miu( );
               write=Timer[1];
               LCD_write_char(  4 , 0  ,  (write& 0x0f)+'0');
               break;

default: break;
}
  }
/*****************************************************************************
系统中断T2    (寻线校正)
*****************************************************************************/
  interrupt [TIM2_COMP ] void tim2_comp_isr(void)
{
   if(PORTD.1==1)
   {

      if(PIND.6==1)

            startCPA;

            else

                  stopCPA;


      if(PIND.7==1)

            startCPB;

            else

                  stopCPB;

   }
   else
      {
         if(PIND.2==1)

            startCPA;

            else

                  stopCPA;


      if(PIND.3==1)

            startCPB;

            else

                  stopCPB;
      }
}

unsigned char get_ad(void) {

unsigned char i;
   ADMUX = 0x60;                /*基准AVCC、左对齐、通道0*/
               ADCSRA = 0xC2;                      /*使能、开启、4分频*/
while(!(ADCSRA & (1 << ADIF)));                      /*等待*/
i = ADCH;
ADCSRA &= ~(1 << ADIF); /*清标志*/
ADCSRA &= ~(1 << ADEN); /*关闭转换*/

return i;
}

void beep( void )
{
PORTC.2=0;
delay_ms(500);
PORTC.2=1;
}

void Findbenlen( void )
{

balan=1;
   do
   {

      if( get_ad( ) <=0X79 )    //0x7d(yuan shi)  0X7E bux vula_adcg
            {
                     MBgo ;
                     MAgo ;
                     startCPA ;
                     startCPB ;
                     delay_ms(200);
                     stopCPA  ;
                     stopCPB  ;
                     }
                     delay_ms(200);
            if( get_ad( ) >=0X81 )    //0x7d(yuan shi)  0X7E bux vula_adcg
            {
                     MBback ;
                     MAback ;
                     startCPA ;
                     startCPB ;
                     delay_ms(200);
                     stopCPA  ;
                     stopCPB  ;
                     }
                     delay_ms(400);
         if( get_ad( ) >= 0X84)    //0x82
         {
                     MBback ;
                     MAback ;
                     startCPA ;
                     startCPB ;
                     delay_ms(200);
                     stopCPA  ;
                     stopCPB  ;
                     }
                     delay_ms(400);
         if( get_ad( ) <=0X82  )    //0x7d(yuan shi)  0X7E bux vula_adcg
            {
                     MBgo ;
                     MAgo ;
                     startCPA ;
                     startCPB ;
                     delay_ms(200);
                     stopCPA  ;
                     stopCPB  ;
                     }
         delay_ms(400);
            ad=get_ad( );
            if(  ad < 0X82 &&  ad >  0X79 )
            balan=0;

      } while(balan);

      balan=1;

   do
   {

      if( get_ad( ) <=0X7B )    //0x7d(yuan shi)  0X7E bux vula_adcg
            {
                     MBgo ;
                     MAgo ;
                     startCPA ;
                     startCPB ;
                     delay_ms(150);
                     stopCPA  ;
                     stopCPB  ;
                     }

         if( get_ad( ) >= 0X82)    //0x82
         {
                     MBback ;
                     MAback ;
                     startCPA ;
                     startCPB ;
                     delay_ms(150);
                     stopCPA  ;
                     stopCPB  ;
                     }

         delay_ms(2000);
            ad=get_ad( );
            if(  ad < 0X82 &&  ad >  0X7B )
            balan=0;

      } while(balan);
}

unsigned char SelectMode ( void )
{
  unsigned char temp=0;
  LCD_write_str( 0 , 0 ,"pass START key");
  LCD_write_str( 0 , 1 ,"zhong bei da xue ");
  //do
  //{
  //delay_ms( 250 );
  //}
  while( PINC.6 ==1 );
  while(PINC.6 ==0);

  LCD_clear( );
  LCD_write_str( 0 , 0 ,"mode:");
  LCD_write_str( 0 , 1 ,"select mode");
  LCD_write_str( 6 , 0 ,mode[0]);
delay_ms( 1000 );
  do
{
   if( PINC.7==0 )
      {
         while(PINC.7==0);
++temp;

         if(temp==2)
            temp=0;

            LCD_write_str( 6 , 0 ,mode[temp]);
      }

      //delay_ms( 200 );
   }
   while(PINC.6==1);
   while(PINC.6==0);
   LCD_clear( );
return(temp);
}

/*******************************************************
基本要求部分
*******************************************************/
void nomal ( void )
{
/*****************************************************
显示时钟，初始设置
*****************************************************/
LCD_write_str( 0 , 0 ,"minc:  sec: ");
LCD_write_str( 0 ,  1 , step[0] );
   delay_ms(1000);
PORTC.2=0;

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