智能小车单片机程序及报告+流程图+管脚说明 -

ORG 0000H
LJMP MAIN
ORG 0003H
LJMP MINE_BOMB
ORG 000BH
LJMP TIMER
ORG 0013H
LJMP HUOER
ORG 001BH
LJMP SPEED
;**************************************************
ORG 0030H
;**************************************************
MINE_BOMB:
PUSH A
PUSH PSW
INC 3AH
MOV A,40H
MOV 3BH,A
MOV A,41H
MOV 3CH,A
CLR 20H.3
SETB P3.4
SETB P3.5
POP PSW
POP A
RETI
;**************************************************
TIMER:
PUSH A
PUSH PSW
MOV TL0,#0F0H
MOV TH0,#0D8H
INC 37H
MOV A,37H
CJNE A,#100,TIMEREND
;is 1second
IS_HUN:
MOV 37H,#0
; IS C_MINE,STOP AND THAN XUAN
JB 20H.0,QI_LAI ;THIS TIME,THE CAR IS WAITTING IN THE END,
DEC 39H
MOV A,39H
CJNE A,#0H,TIMEREND
SETB 20H.0
LJMP TIMEREND
QI_LAI:
JB 20H.1,WAKE_UP
DEC 38H
CPL P3.4
MOV A,38H
CJNE A,#0H,WAKE_UP
SETB 20H.1
CLR P3.4
SETB TR1
MOV 5AH,#23
WAKE_UP:
INC 43H
MOV A,43H
CJNE A,#30,GOGOGO_DOWN
MOV A,42H
JZ GOGOGO_DOWN
LJMP HOME
GOGOGO_DOWN:
MOV A,43H
CJNE A,#60,TIMEREND
MOV 43H,#0
INC 42H
MOV A,42H
CJNE A,#60,TIMEREND
MOV 42H,#0
TIMEREND:
POP PSW
POP A
RETI
;**************************************************
HUOER:
PUSH A
PUSH PSW
MOV A,3FH
CLR C
ADD A,#64 ;加上6.3毫米
CJNE A,#100,CHECK_CM
CHECK_CM:
JC ADD_CM
SUBB A,#100 ;大于10个毫米了，要作调整
MOV 3FH,A
INC 41H
ADD_CM: ;厘米上要加2
INC 41H
INC 41H
MOV A,41H
CJNE A,#100,CHECK_M
CHECK_M:
JC HUOER_END
SUBB A,#100 ;大于一米了，要调整一下
MOV 41H,A
INC 40H
;查看是否是两米了，是的话就算到了B区
MOV A,40H
CJNE A,#2,HUOER_END
MOV 36H,#0BH
HUOER_END:
POP PSW
POP A
RETI
;**************************************************
SPEED:
PUSH A
PUSH PSW
MOV TL1,#0B0H
MOV TH1,#03CH
INC 5BH
MOV A,5BH
CJNE A,5AH,SPEED_NO_EQUAL ; 5A中放了速度值，比5A大，刚置为停，小则行
CLR P3.0 ; 等于5A了，置为停
LJMP SP_END
SPEED_NO_EQUAL: ; 不是5A
JC IS_GOGOGO ; 小于5A，则向前走
CJNE A,#40,SP_BIG_TOTAL ; 是不是比总脉冲值大
SETB P3.0
MOV 5BH,#0H
LJMP SP_END
IS_GOGOGO: ;是行，就置行
SETB P3.0
LJMP SP_END
SP_BIG_TOTAL: ; 大于5A，不是40
CLR P3.0
JC SP_END ;比40小则是停，就不管
MOV 5AH,#0H
SP_END:
POP PSW
POP A
RETI
;**************************************************
;**************************************************
MAIN:
MOV SP,#5FH
LCALL INIT
; LJMP HOME;\\\\\\\\\
SIX_SECOND:
JB 20H.0,GO_MINE_ZEON
MOV R1,#39H
LCALL SETCODEALL
LCALL OUT
LJMP SIX_SECOND
GO_MINE_ZEON:
SETB TR1
LJMP MINE_WAY
RET
;**************************************************
;**************************************************
INIT:
MOV R1,#36H
MOV R2,#34
INIT_LOOP:
MOV @R1,#0
INC R1
DJNZ R2,INIT_LOOP
MOV 20H,#0H
SETB 20H.1
SETB 20H.3
MOV 39H,#6H ;倒计时654321
MOV 38H,#5H ;倒计时54321
MOV 5AH,#24 ;用于车速控制
MOV 36H,#0AH
MOV P3,#0CH
MOV P2,#0H
INT_ZONE:
LCALL SET_INT
RET
;**************************************************
SET_INT:
MOV TMOD,#01H
MOV TL0,#0F0H
MOV TH0,#0D8H
MOV TL1,#0B0H
MOV TH1,#03CH
SETB TR0
CLR TR1
SETB EA
SETB ET0
SETB ET1
SETB EX0
SETB IT0
SETB EX1
SETB IT1
RET
;**************************************************
SETCODEALL:;6543210
MOV R0,#30H
MOV R2,#6
SETCODEALL_LOOP:
MOV A,@R1
MOV DPTR,#TAB
MOVC A,@A+DPTR
MOV @R0,A
INC R0
DJNZ R2,SETCODEALL_LOOP
RET
;**************************************************
;**************************************************
MINE_WAY:
LCALL TRACK
JB 20H.3,MINE_WAY
MOV C,P3.2 ;下面有雷，就是低
JC MINE_WAY
;下面是关小灯和蜂鸣器
CLR P3.4
CLR P3.5
;看看长度是否超过4米
MOV A,40H
CJNE A,#4H,PASS_C
LJMP C_POINT
PASS_C:
JNC C_POINT
;下面调用一般雷的处理方法，再返回主程序
LCALL NORMAL_MINE
LJMP MINE_WAY
;下面是到达C点了
C_POINT:
CLR 20H.1
LCALL FIVE_SECOND
SETB 20H.3
SETB TR1
MOV 5AH,#23
LJMP BOLK
RET
;****************************************************
TRACK:
MOV A,P0
ANL A,#07H
CJNE A,#7H,SET_TURN
LJMP LIGHT_END
SET_TURN:
CJNE A,#3H,LIGHT_NEXT
RIGHT_LIGHT: ; 看右边的光敏元件
CLR P2.7 ;这时就要向右转弯了
SETB P2.6
LCALL TURN_DELAY
CLR P2.6
RET
LIGHT_NEXT: ; 左转了
CJNE A,#06H,LIGHT_END
SETB P2.7
SETB P2.6
LCALL TURN_DELAY
CLR P2.6
RET
LIGHT_END:
CLR P2.6
RET
;****************************************************
TURN_DELAY:
MOV 5AH,#26
MOV C, P0.1
JC TURN_DELAY
MOV A,36H
CJNE A,#0AH,IS_ZONE_B
MOV 5AH,#24
LJMP TURN_DELAY_END
IS_ZONE_B:
MOV 5AH,#20
TURN_DELAY_END:
RET
;****************************************************
NORMAL_MINE:
CLR TR1
CLR P2.6
;以下是保存雷长度
MOV A,3CH
ADD A,#53H
MOV R0,A
CLR C
MOV A,41H
ADD A,#100
SUBB A,3CH
CJNE A,#100,NORMAL_MINE_LENGTH
NORMAL_MINE_LENGTH:
JC NO_CHANGE
SUBB A,#100
NO_CHANGE:
MOV @R0,A
;以下是计算中点距起点的距离
MOV B,#2H
DIV AB
ADD A,3CH
CJNE A,#100,SET_CENTER
SET_CENTER:
JC NO_P_WAY
SUBB A,#100
INC 3BH
NO_P_WAY:
MOV 3CH,A
;保存中点距离
MOV A,3AH
DEC A
MOV B,#2H
MUL AB
MOV R0,48H
ADD A,R0
MOV R0,A
MOV A,3BH
MOV @R0,A
INC R0
MOV A,3CH
MOV @R0,A
CLR P3.0
CLR P3.1
CLR P2.6
CLR TR1
;以下是延时显示程序
LCALL DELAY_MINE2
CLR P3.1
SETB P3.0
SETB TR1
SETB 20H.3
RET
;****************************************************
DELAY_MINE1:
MOV R6,#2H
DELAY_LOOP_MINE1:
LCALL DELAY
DJNZ R6,DELAY_LOOP_MINE1
RET
;****************************************************
;****************************************************
DELAY_MINE2:
LCALL SET_CODE_MINE
MOV R5,#03H
DELAY_LOOP_MINE_F:
MOV R6,#08FH
DELAY_LOOP_MINE2:
LCALL OUT
DJNZ R6,DELAY_LOOP_MINE2
DJNZ R5,DELAY_LOOP_MINE_F
RET
;****************************************************
SET_CODE_MINE:
MOV A,3BH
MOV B,#0AH
DIV AB
MOV 44H,A
MOV 45H,B
MOV A,3CH
MOV B,#0AH
DIV AB
MOV 46H,A
MOV 47H,B
LCALL SET_CODE
RET
;****************************************************
FIVE_SECOND:
CLR TR1
CLR P2.6
SETB P3.1
SETB P3.0
LCALL DELAY_MINE1
CLR P3.0
CLR P3.1
CLR P2.6
SETB P3.5
SETB P3.4
CLR TR1
STOP_AT_C:
MOV R1,#38H
LCALL SETCODEALL
JB 20H.1,C_WAKE_LE
LCALL OUT
LJMP STOP_AT_C
C_WAKE_LE:
SETB TR1
RET
;****************************************************
;****************************************************
BOLK:
SETB TR1
MOV 5AH,#20
SEEK_LAMP:
LCALL TURN_TO_LAMP
MOV C,P0.1
JNC HOME
JB 20H.6,SEEK_LAMP
MOV C,P0.6
JC SEEK_LAMP
AV: LCALL AVOID_WHITE_BOLK
MOV C,P0.6
JNC AV
SETB 20H.6
LJMP SEEK_LAMP
RET
;******************************************************
TURN_TO_LAMP:
MOV C,P0.3
JNC LOOK_RIGHT
LCALL TURN_LEFT_MIDDLE
RET
LOOK_RIGHT:
MOV C,P0.5
MOV R6,#4FH
FORWARDLIGHT:
LCALL DELAY
DJNZ R6,FORWARDLIGHT
JNC TURN_TO_LAMP_END
LCALL TURN_RIGHT_MIDDLE
RET
TURN_TO_LAMP_END:
RET
;******************************************************
;******************************************************
AVOID_WHITE_BOLK:
CLR TR1
CLR P2.7
SETB P2.6
SETB P3.1
LCALL DELAY
SETB TR1
MOV R5,#05H
AVOID_R5:
MOV R6,#0FFH
AVOID_R6:
LCALL DELAY
DJNZ R6,AVOID_R6
DJNZ R5,AVOID_R5
CLR TR1
CLR P2.6
CLR P3.1
LCALL DELAY
SETB TR1
MOV R5,#06H
AVOID_R52:
MOV R6,#0FFH
AVOID_R62:
LCALL DELAY
DJNZ R6,AVOID_R62
DJNZ R5,AVOID_R52
MOV 5AH,#30
MOV R6,#3FH
AVOID_LOOP:
LCALL DELAY
DJNZ R6,AVOID_LOOP
MOV C,P0.6
JNC AVOID_WHITE_BOLK
MOV 5AH,#20
CLR P2.6
RET
;******************************************************
HOME:
MOV IE,#0H
MOV IE,#0H
CLR P2.6
CLR P3.0
HOME_WAIT:
CLR P2.6
CLR P3.0
SETB P3.4
LCALL KEY_QUERY ; 查询键盘
LCALL TIP_SET_CODE ; 设置显示值
MOV R1,#44H
LCALL SET_CODE
LCALL OUT ; LED 输出
LJMP HOME_WAIT
RET
;******************************************************
KEY_QUERY:
LCALL KEY
JNC KEY_QUERY_END
LCALL KEY
JNC KEY_QUERY_END
LCALL DEAL_KEY
KEY_WA:
LCALL KEY
JC KEY_WA
KEY_QUERY_END:
RET
RET
;******************************************************
TIP_SET_CODE:
MOV A,59H
JZ SET_TIME
MOV R0,#46H
MOV B,#02H
MUL AB
ADD A,R0
MOV R0,A
SET_NUM:
MOV A,@R0
MOV B,#0AH
DIV AB
MOV 44H,A
MOV 45H,B
INC R0
MOV B,#0AH
MOV A,@R0
DIV AB
MOV 46H,A
MOV 47H,B
RET
SET_TIME:
MOV R0,#42H
LJMP SET_NUM
RET
;*****************************************************
OUT:
MOV R0,#30H
MOV R2,#6H
MOV R4,#0H
LOOP:
MOV A,@R0
LCALL OUTPUT
INC R0
INC R4
DJNZ R2,LOOP
RET
;*******************************************************
OUTPUT: ;在A中是要显示的数据，R4中是要显示的位
MOV R3,#8H
CLR P1.3
OUT_LOOP:
RLC A
MOV P1.2,C
CLR P1.4
NOP
NOP
NOP
SETB P1.4
NOP
NOP
NOP
DJNZ R3,OUT_LOOP
OUT_LOOP_END:
MOV P1,R4
SETB P1.3
LCALL DELAY
CLR P1.3
RET
;******************************************************
SET_CODE:
MOV R0,#44H
MOV R1,#30H
MOV R2,#4H
SET_CODE_LOOP:
MOV A,@R0
MOV DPTR,#TAB
MOVC A,@A+DPTR
MOV @R1,A
INC R0
INC R1
DJNZ R2,SET_CODE_LOOP
;以下是显示是第几个雷
MOV A,3AH
MOV DPTR,#TAB
MOVC A,@A+DPTR
MOV 35H,A
;以下是使一个LED为暗
MOV 34H,#0H
RET
;******************************************************
TAB: DB 3FH,06H,5BH,4FH,66H,6DH,7DH,07H,7FH,6FH,77H,7CH,39H,5EH,79H,71H
;*****************************************************
KEY:
MOV 58H,#0FEH;
MOV R1,#4H
KEY_LOOP:
MOV P1,58H
MOV A,P1
CJNE A,58H,KEY_NEXT1
MOV A,58H ;NO KEY FIND
RL A
MOV 58H,A
DJNZ R1,KEY_LOOP
CLR C
LJMP KEY_END
KEY_NEXT1:
SETB C
KEY_END:
RET
DEAL_KEY:
MOV A,58H
MOV P1,#0F0H
CJNE A,#0FEH,TWO
ONE_1: SETB P1.1
NOP
MOV C,P1.1
JC ONE_2
MOV 59H,#0EH
LJMP DEAL_END
ONE_2: SETB P1.2
MOV C,P1.2
JC ONE_3
MOV 59H,#07H
LJMP DEAL_END
ONE_3: MOV 59H,#0FH
LJMP DEAL_END
TWO: CJNE A,#0FDH,THREE
TWO_1: SETB P1.0
MOV C,P1.0
JC TWO_2
MOV 59H,#2H
LJMP DEAL_END
TWO_2: SETB P1.2
MOV C,P1.2
JC TWO_3
MOV 59H,#6H
LJMP DEAL_END
TWO_3: MOV 59H,#9H
LJMP DEAL_END
THREE: CJNE A,#0FBH,FOUR
THREE_1: SETB P1.0
MOV C,P1.0
JC THREE_2
MOV 59H,#1H
LJMP DEAL_END
THREE_2: SETB P1.1
MOV C,P1.1
JC THREE_3
MOV 59H,#4H
LJMP DEAL_END
THREE_3: MOV 59H,#8H
LJMP DEAL_END
FOUR:
FOUR_1: SETB P1.0
MOV C,P1.0
JC FOUR_2
MOV 59H,#0H
LJMP DEAL_END
FOUR_2: SETB P1.1
MOV C,P1.1
JC FOUR_3
MOV 59H,#3H
LJMP DEAL_END
FOUR_3: MOV 59H,#5H
LJMP DEAL_END
DEAL_END:
RET
;******************************************************
DELAY:
MOV R7,#0FFH
DELAY_LOOP:
DJNZ R7,DELAY_LOOP
RET
;******************************************************
TURN_RIGHT_MIDDLE:
MOV 5AH,#30
TURN_RIGHT_MIDDLE_START:
CLR P2.7
SETB P2.6
MOV C,P0.3
JNC TURN_RIGHT_MIDDLE_START
CLR P2.6
MOV 5AH,#23
RET
;******************************************************
TURN_LEFT_MIDDLE:
MOV 5AH,#30
TURN_LEFT_MIDDLE_START:
SETB P2.7
SETB P2.6
MOV C,P0.5
JNC TURN_RIGHT_MIDDLE_START
CLR P2.6
MOV 5AH,#23H
RET
;*********************************************
END

复制代码