51单片机避障智能小车原理图和源程序资料 -

附录B
按照预定的功能，系统实现预定的功能的程序如下所示：
#include <intrins.h>
#include <AT89X52.h>
/********************************************************************************\
** 宏定义区 **
\********************************************************************************/
/*------------------------------- LCD模块 ------------------------------------*/
#define LCD_RW P2_6 //读写控制端
#define LCD_RS P2_7 //数据命令选择端
#define LCD_E P2_5 //执行使能端
#define LCD_Data P1 //P1口
#define Write 0x00 //低电平写入
#define Read 0x01 //高电平读出
#define Data 0x01 //高电平选择数据
#define Cmd 0x00 //低电平选择命令
#define Enable 0x00 //跃变到低电平时执行命令
#define Disable 0x01
#define True 0x01
#define False 0x00
#define LCD_Init 0x38 //初始化模式
#define LCD_DispCtr 0x0C //开显示及光标设置
#define LCD_CloseCtr 0x08 //关显示
#define LCD_CLS 0x01 //清屏幕
#define LCD_EnterSet 0x06 //显示光标
#define Busy P1_7 //忙信号
/*-------------------------- 测速/测距/测时模块 -------------------------------*/
#define CircleLength 0.132 //小车转一轮的长度为.132m
/*-------------------------------- 控速模块 -----------------------------------*/
#define P03 P0_3 //后电机
#define P04 P0_4 //后电机
#define P01 P0_1 //前电机
#define P02 P0_2 //前电机
#define P31 P0_5 //控制液晶背光
#define P33 P3_3
/*------------------------------ 菜单选择模块 ---------------------------------*/
#define Line 0x00 //0代表直线模式
#define Curve 0x01 //1代表S型模式
#define Normal 0x00 //0 代表正常速度
#define Low 0x01 //1 代表低速
#define High 0x02 //2 代表高速
/*********************************************************************************\
** 全局函数声明区 **
\*********************************************************************************/
/*------------------------------- LCD模块 -------------------------------------*/
void LCDInit(void); //LCD初始化
void SetWriteCmd(void); //设置写命令模式
void SetReadCmd(void); //设置读命令模式
void SetWriteData(void); //设置写数据模式
void WriteCmd(char cmd); //写命令
void WriteData(char ddata); //写数据
void ExecuteCmd(void); //执行命令
void SetXY(char x,char y); //定位显示地址
void DisplaySingleChar(char x,char y,char cchar); //显示单个字符
void DisplayString(char x,char y,char *str); //显示一段字符串
void Delay(unsigned int time); //延时主程序
void DelayUs(unsigned int time); //延时子程序
bit IsBusy(void); //判断忙标志函数
void DisplayTime(void); //显示时间
void DisplayAVGSpeed(void); //显示平均速度
void DisplayDistance(void); //显示路程
/*-------------------------- 测速/测距/测时模块 -------------------------------*/
void INTInit(void); //所有中断初始化
void SpeedINT(void); //测速中断
void ComputeTime(void);
void ComputeSpeedANDDistance(void); //计算速度和距离
/*-------------------------------- 控速模块 -----------------------------------*/
void CtrSpeedINT(void); //控速中断
void Time0INT(void);
void Time1INT(void); //控速单位时间中断
void Clock0_Init(void); //时钟中断初始化
void Clock1_Init(void); //时钟中断初始化
void CtrSpeed(void);
/********************************************************************************\
** 全局变量区 **
\********************************************************************************/
float SpeedCount = 0; //测速计数脉冲
float Speed = 0.0;
float Distance = 0.0;
char Time1INTCount=0; //T1中断时间计时
float PassTime=0.00; //小车行走的时间
short IsT0INT=1;
bit IsT1INT; //判断T1是否已经响应中断
short IsT0INT2=1;
char Thx[5]={0xf4,0xf4,0xc5,0xf4,0xff}; //3ms,3ms,15ms,3ms
char Tlx[5]={0x48,0x48,0x68,0x48,0xff};
char Thx0=0xd8;
char Tlx0=0xf0;
char Thx1=0xb1; //20ms
char Tlx1=0xe0;
short Round=0;
short Back=0;
short Back0=0;
bit Backid;
bit Stop=0;
char Area0=0;
char Area1=0; //区域变量
char LowSpeedArea1StartTime;
char LowSpeedArea1EndTime;
char HighSpeedAreaEndTime;
char LowSpeedArea2EndTime;
char LowSpeedArea1PassTime=0; //第一个低速区通过时间
char HighSpeedAreaPassTime=0; //高速区通过时间
char LowSpeedArea2PassTime=0; //第二个低速区通过时间
char ReadyToGo=4; //倒计时
char flag;
bit Roundid=0;
char Nocurve=0;
char ChangeFlag;
char Mode;
bit Running;
bit SelectedAll; //模式和速度是否选择完毕标志
bit IsSelectingMode; //模式选择标志
bit IsSelectingSpeed; //速度选择标志
bit ModeSelected; //已经被选择的模式标志
char SelectedMode=10; //模式选择是否完毕标志
bit Next; //Next键标志
bit SpeedSelected; //已经被选中的速度方案标志
char SelectedSpeed; //速度选择是否完毕标志
bit ChoosingDisplay; //人工选择菜单开始标志
bit SelectedShow; //显示选择标志
bit SelectedReturn; //返回选择标志
bit Selected; //确定/返回键选择标志
bit ReturnSelection; //返回键启用标志
bit AVGSpeedShow; //平均速度显示标志
bit TotalDistanceShow; //总路程显示标志
bit ReturnMain; //返回主菜单标志
bit AutoDisplay; //自动显示标志
bit GoToChoosingDisplay; //人工选择标志
bit AutoMode=0;
char PassLineID=0;
char PassLine=0;
float PrepareDistance;
float FirstDistance;
float SecondDistance;
float ThirdDistance;
int FirstHigh;
int SecondHigh;
int ThirdHigh;
float Rate=1.25; //5ms时的速度
float Count=4; //时间的倍数
/********************************************************************************\
** 全局函数实现区 **
\********************************************************************************/
/*-------------------------------- 主函数 ------------------------------------*/
void main()
{
P01=0;
P02=0;
P03=0;
P04=0;
P31=1; //单片机复位，背光开
Delay(40); //延时等待LCD启动
LCDInit(); //初始化LCD
DisplayString(0x0,0," Starting... ");
DisplayString(0x0,1,"Designed By 202");
Delay(300);
WriteCmd(LCD_CLS);
EA=1; //开总中断
EX0=1; //开INT0中断
IT0=1; //INTO边沿触发
EX1=1; //开INT1中断
IT1=1; //INT1边沿触发
SelectedAll=False; //开始模式和速度选择
/*------------------------------ 模式选择 ---------------------------------*/
DisplayString(0x0,0,"Choose The Mode ");
DisplayString(0x0,1,"you want. ");
Delay(50);
WriteCmd(LCD_CLS);
IsSelectingMode=True;
while(1)
{
WriteCmd(LCD_CLS);
DisplayString(0x0,0," Line Mode ");
DisplayString(0x0,1,"Next Yes");
Delay(300); //延时消除抖动
while (1) //不断检测中断，直到按确定键或是NEXT键
{
if (Next==True) //如果按Next键则直接跳出
break;
if (ModeSelected==True) //如果按确定键则设置模式为Line并跳出
{
SelectedMode=Line;
break;
} //如果什么键都没有按下，那么一直显示等待
}
if (ModeSelected==True) //按下了确定键，退出模式选择
{
IsSelectingMode=False;
break;
}
if (Next==True) //按下了Next键，显示下一个菜单项
{
Next=False;
WriteCmd(LCD_CLS);
DisplayString(0x0,0," Curve Mode ");
DisplayString(0x0,1,"Next Yes");
Delay(300); //延时消除抖动
while(1) //不断检测中断，直到按确定键或是Next键
{
if (Next==True) //如果再一次按下Next键，则跳出
break;
if (ModeSelected==True) //如果按下确定键，则设置模式为Curve，并跳出
{
SelectedMode=Curve;
break;
}
}
}
if (ModeSelected==True) //按下了确定键，退出模式选择
{
IsSelectingMode=False;
break;
}
if (Next==True) //再一次按下了Next键，则循环模式选择
{
Next=False;
WriteCmd(LCD_CLS);
DisplayString(0x0,0," AutoMode ");
DisplayString(0x0,1,"Next Yes");
Delay(300); //延时消除抖动
while(1)
{
if (Next==True)
break;
if (ModeSelected==True)
{
AutoMode=1;
break;
}
}
}
if (ModeSelected==True)
{
IsSelectingMode=False;
break;
}
if (Next==True)
{
Next=False;
continue;
}
}
Delay(50);
WriteCmd(LCD_CLS);
/*------------------------------ 速度选择 ---------------------------------*/
if (SelectedMode==Line && AutoMode==0)
{
DisplayString(0x0,0," Now Choose a ");
DisplayString(0x0,1," kind of Speed ");
Delay(50);
WriteCmd(LCD_CLS);
IsSelectingSpeed=True;
while(1)
{
WriteCmd(LCD_CLS);
DisplayString(0x0,0," Normal Speed ");
DisplayString(0x0,1,"Next Yes");
Delay(300); //延时消除抖动
while(1)
{
if (Next==True) //如果按Next键则直接跳出
break;
if (SpeedSelected==True) //如果按确定键则设置速度为Normal并跳出
{
Thx[0]=0xec;Tlx[0]=0x78; //5ms
Thx[1]=0xf0;Tlx[1]=0x60; //4ms
Thx[2]=0x8a;Tlx[2]=0xd0; //30ms
Thx[3]=0xf4;Tlx[3]=0x48; //3ms
SelectedSpeed=Normal;
break;
} //如果什么键都没有按下，那么一直显示等待
}
if (SpeedSelected==True) //按下了确定键，退出速度选择
{
IsSelectingSpeed=False;
break;
}
if (Next==True)
{
Next=False;
WriteCmd(LCD_CLS);
DisplayString(0x0,0," Low Speed ");
DisplayString(0x0,1,"Next Yes");
Delay(300); //延时消除抖动
while(1)
{
if (Next==True) //如果再一次按下Next键，则跳出
break;
if (SpeedSelected==True) //如果按下确定键，则设置速度为Low，并跳出
{
SelectedSpeed=Low; //这里没有速度设置，因为默认速度就是Low
break;
}
}
}
if (SpeedSelected==True) //按下了确定键，退出速度选择
{
IsSelectingSpeed=False;
break;
}
if (Next==True)
{
Next=False;
WriteCmd(LCD_CLS);
DisplayString(0x0,0," High Speed ");
DisplayString(0x0,1,"Next Yes");
Delay(300); //延时消除抖动
while(1)
{
if (Next==True) //如果再一次按下Next键，则跳出
break;
if (SpeedSelected==True) //如果按下确定键，则设置速度为High，并跳出
{
Thx[0]=0xe0;Tlx[0]=0xc0; //8ms
Thx[1]=0xe0;Tlx[1]=0xc0; //8ms
Thx[2]=0x63;Tlx[2]=0xc0; //40ms
Thx[3]=0xec;Tlx[3]=0x78; //5ms
SelectedSpeed=High;
break;
}
}
}
if (SpeedSelected==True) //按下了确定键，退出速度选择
{
IsSelectingSpeed=False;
break;
}
if (Next==True) //再一次按下了Next键，则循环速度选择
{
Next=False;
continue;
}
}
}
SelectedAll=True; //标志模式选择和速度选择完毕
Running=True;
Delay(50);
WriteCmd(LCD_CLS);
/*------------------------- 显示所选择的模式和速度方案 -------------------------*/
if (SelectedMode==Line)
{
DisplayString(0x0,0,"Choosen Mode is ");
DisplayString(0x0,1," Line ");
Delay(50);
WriteCmd(LCD_CLS);
}
if (SelectedMode==Curve)
{
DisplayString(0x0,0,"Choosen Mode is ");
DisplayString(0x0,1," Curve ");
Delay(50);
WriteCmd(LCD_CLS);
}
if (AutoMode==1)
{
DisplayString(0x0,0,"Choosen Mode is ");
DisplayString(0x0,1," AutoMode ");
Delay(50);
WriteCmd(LCD_CLS);
}
if (SelectedMode==Line)
{
if (SelectedSpeed==Normal)
{
DisplayString(0x0,0,"Choosen Speed is");
DisplayString(0x0,1," Normal ");
Delay(50);
WriteCmd(LCD_CLS);
}
if (SelectedSpeed==Low)
{
DisplayString(0x0,0,"Choosen Speed is");
DisplayString(0x0,1," Low ");
Delay(50);
WriteCmd(LCD_CLS);
}
if (SelectedSpeed==High)
{
DisplayString(0x0,0,"Choosen Speed is");
DisplayString(0x0,1," High ");
Delay(50);
WriteCmd(LCD_CLS);
}
}
INTInit(); //初始化所有中断
DisplayString(0x0,0,"Left Times To Go");
while (ReadyToGo--)
{
DisplaySingleChar(0x7,1,ReadyToGo+0x30);
DisplaySingleChar(0x09,1,'s');
Delay(300);
}
WriteCmd(LCD_CLS);
DisplayString(0x05,0,"Go!!!");
Delay(100);
WriteCmd(LCD_CLS);
DisplayString(0x0,0," Living... ");
DisplayString(0x0,1,"Designed by 202");
if (SelectedMode==Line&&AutoMode==0)
flag=Area0;
else
flag=1;
while(flag<5)
{
if(AutoMode==1) //自动模式
{
switch(PassLineID)
{
case 0 :{
if(IsT0INT==1)
{P01=P02=P04=0;P03=1;}
else
{P01=P02=P03=P04=0;}
}break;
case 1 :{
P01=P02=P03=0;P04=1;
}break;
case 2 :{
P01=P02=P04=0;P03=1;
}break;
default :break;
}
}
else
{
if(SelectedMode==Line) //直线模式
{
flag=Area0;
if(IsT0INT==1)
{P03=1;P04=0;P01=P02=0;}
else
{P03=0;P04=0;P01=P02=0;}
}
else
{ //S型模式
if((Nocurve<2)&&Round!=0&&(Back0>0)&&Back!=0)
{
if(Backid==1)
{P01=1;P02=0;P03=0;P04=1;}
else
{P01=0;P02=1;P03=0;P04=1;}
Back=1;
}
else
{
if(Round==0)
{
if(IsT0INT2==1)
{P01=0;P02=0;P03=1;P04=0;}
else
{P01=0;P02=0;P03=0;P04=0;}
}
else
{
if(P33==0)
{
if(IsT0INT2==1)
{P01=0;P02=0;P03=1;P04=0;}
else
{P01=0;P02=0;P03=0;P04=0;}
}
else
{
EX1=1;
if(Round%2)
{
if(IsT0INT2==1)
{P01=1;P02=0;P03=1;P04=0;Backid=1;}
else
{P01=1;P02=0;P03=0;P04=0;}
}
else
{
if(IsT0INT2==1)
{P01=0;P02=1;P03=1;P04=0;Backid=0;}
else
{P01=0;P02=1;P03=0;P04=0;}
}
}
}
}
}
}
if (IsT1INT==1)
{
IsT1INT=0;
ComputeTime();
ComputeSpeedANDDistance();
}
}
//补中断路程，加上最后一次中断缺失的路程
ComputeSpeedANDDistance();
P04=1;P03=0;P01=P02=0;Delay(90);
P03=0;P04=0; //行程结束，小车停止
P31=1; //行程结束，背光开
ET0=0x0; //关T0中断
ET1=0x0; //关T1中断
EX1=0x01; //开INT1中断
Running=False;
AutoDisplay=True; //默认情况下直线模式会自动显示各个区域经过的时间
WriteCmd(LCD_CLS);
if (SelectedMode==Line) //直线模式才显示
{
while(1)
{
if (GoToChoosingDisplay==True)
break;
Delay(200);
WriteCmd(LCD_CLS);
Delay(200);
DisplayString(0,0," LowSpeedArea1");
DisplayString(0,1," Costed ");
DisplaySingleChar(0x0C,1,'s');
LowSpeedArea1PassTime=LowSpeedArea1EndTime-LowSpeedArea1StartTime;
DisplaySingleChar(0x0A,1,LowSpeedArea1PassTime%10+0x30);
if (LowSpeedArea1PassTime > 9) //通过第一个低速区的时间超过s
DisplaySingleChar(0x0B,1,LowSpeedArea1PassTime/10+0x30);
if (GoToChoosingDisplay==True)
break;
Delay(200);
WriteCmd(LCD_CLS);
Delay(200);
DisplayString(0,0," HighSpeedArea ");
DisplayString(0,1," Costed ");
DisplaySingleChar(0x0C,1,'s');
HighSpeedAreaPassTime=HighSpeedAreaEndTime-LowSpeedArea1EndTime;
DisplaySingleChar(0x0A,1,HighSpeedAreaPassTime%10+0x30);
if ( HighSpeedAreaPassTime> 9) //通过高速区的时间超过s
DisplaySingleChar(0x0B,1,HighSpeedAreaPassTime/10+0x30);
if (GoToChoosingDisplay==True)
break;
Delay(200);
WriteCmd(LCD_CLS);
Delay(200);
DisplayString(0,0," LowSpeedArea2 ");
DisplayString(0,1," Costed ");
DisplaySingleChar(0x0C,1,'s');
LowSpeedArea2PassTime=LowSpeedArea2EndTime-HighSpeedAreaEndTime;
DisplaySingleChar(0x0A,1,LowSpeedArea2PassTime%10+0x30);
if ( LowSpeedArea2PassTime> 9) //通过第二个低速区的时间超过s
DisplaySingleChar(0x0B,1,LowSpeedArea2PassTime/10+0x30);
}
}
AutoDisplay=False;
/*---------------- 菜单选择你想要看的内容--总时间、总路程以及平均速度 --------------*/
ChoosingDisplay=True;
WriteCmd(LCD_CLS);
/*首先显示主菜单，然后显示第一个选项*/
DisplayString(0x0,0,"Now Choose what ");
DisplayString(0x0,1,"you want to see ");
Delay(100);
while(1)
{
WriteCmd(LCD_CLS);
DisplayString(0x0,0," Costed Time ");
DisplayString(0x0,1,"Next Show");
Delay(250); //延时消除抖动
/*------------------------------------第一次按键--------------------------------------*/
/*不断检测确定键和Next键*/
while(1)
{
if (Next==True)
break;
if (SelectedShow==True)
break;
}
/*按下了确定键，显示第一个选项的内容*/
if (SelectedShow==True)
{
SelectedShow=False;
SelectedReturn=False;
Selected=False;
WriteCmd(LCD_CLS);
DisplayString(0,0,"Costed Time is");
DisplayTime();
DisplayString(0x0A,1,"s");
ReturnSelection=True; //按下了确定键，那么这个时候开启返回键的功能
AVGSpeedShow=False;
Delay(250); //延时消除抖动
}
/**按下了Next键，则显示第二个选项*/
if (Next==True) //按下Next键，显示AVGSpeed菜单项
{
Next=False;
WriteCmd(LCD_CLS);
DisplayString(0x0,0," AVGSpeed ");
DisplayString(0x0,1,"Next Show");
ReturnMain=False;
ReturnSelection=False; //按下了Next键，那么这个时候关闭返回键的功能
AVGSpeedShow=True; //表明AVGSpeed选项已经显示过了
Delay(250); //延时消除抖动
}
/*------------------------------------第二次按键--------------------------------------*/
/*显示第一个选项的内容后又不断检测返回键（确定键）和Next键*/
while(1)
{
if (Next==True)
break;
if (Selected==True)
break;
}
if (Next==True)
{
Next=False;
ReturnMain=False;
ReturnSelection=False; //按下了Next键，那么这个时候关闭返回键的功能
if (AVGSpeedShow==False) //还没有显示AVGSpeed选项，显示它
{ //即第一次选择了确定键
WriteCmd(LCD_CLS);
DisplayString(0x0,0," AVGSpeed ");
DisplayString(0x0,1,"Next Show");
TotalDistanceShow=False; //显示了AVGSpeed，则表明TotalDistance还没有显示
Delay(250); //延时消除抖动
}
if (AVGSpeedShow==True) //已经显示过AVGSpeed选项了，则显示下一个选项
{ //即第一次选择了Next键
WriteCmd(LCD_CLS);
DisplayString(0x0,0," Total Distance ");
DisplayString(0x0,1,"Next Show");
TotalDistanceShow=True; //表明显示了TotalDistance选项
Delay(250); //延时消除抖动
}
}
if (Selected==True) //按下了确定键或返回键
{
SelectedShow=False;
SelectedReturn=False;
Selected=False;
if (ReturnSelection==True) //第一次选择了确定键，故这次按下的是返回键
ReturnMain=True;
if (ReturnSelection==False)
{
WriteCmd(LCD_CLS);
DisplayString(0,0,"The AVGSpeed is");
DisplayAVGSpeed();
DisplayString(0x0A,1,"m/s");
ReturnSelection=True; //按下了确定键，那么这个时候开启返回键的功能
Delay(250); //延时消除抖动
}
TotalDistanceShow=False;
}
if (ReturnMain==True) //按下了返回键，返回主菜单
{
ReturnMain=False;
continue;
}
/*------------------------------------第三次按键--------------------------------------*/
/*如果没有返回主菜单，则继续检测Next键和确定键*/
while(1)
{
if (Next==True)
break;
if (SelectedShow==True)
break;
}
/*按下Next键，显示下一个选项*/
if (Next==True)
{
Next=False;
ReturnMain=False;
ReturnSelection=False; //按下了Next键，那么这个时候关闭返回键的功能
if (TotalDistanceShow==True)
ReturnMain=True;
if (TotalDistanceShow==False) //还没有显示TotalDistance选项，显示它
{
WriteCmd(LCD_CLS);
DisplayString(0x0,0," Total Distance ");
DisplayString(0x0,1,"Next Show");
TotalDistanceShow=True;
Delay(250); //延时消除抖动
}
}
if (Selected==True) //按下了确定键或返回键
{
SelectedShow=False;
SelectedReturn=False;
Selected=False;
if (ReturnSelection==True) //按下的是返回键
ReturnMain=True;
if (ReturnSelection==False)
{
if (TotalDistanceShow==False) //表明AVGSpeed选项的内容还没有显示
{
WriteCmd(LCD_CLS);
DisplayString(0,0,"The AVGSpeed is");
DisplayAVGSpeed();
DisplayString(0x0A,1,"m/s");
ReturnSelection=True;
Delay(250); //延时消除抖动
}
if (TotalDistanceShow==True)
{
WriteCmd(LCD_CLS);
DisplayString(0,0,"Total Distance");
DisplayDistance();
DisplayString(0x0A,1,"m");
ReturnSelection=True; //按下了确定键，那么这个时候开启返回键的功能
Delay(250); //延时消除抖动
}
}
}
if (ReturnMain==True) //按下了返回键，返回主菜单
{
ReturnMain=False;
continue;
}
/*------------------------------------第四次按键--------------------------------------*/
while(1)
{
if (Next==True)
break;
if (SelectedShow==True)
break;
}
if (Next==True) //所有菜单项已经显示完毕，返回主菜单
{
Next=False;
ReturnMain=False;
ReturnSelection=False;
if (TotalDistanceShow==False)
{
WriteCmd(LCD_CLS);
DisplayString(0x0,0," Total Distance ");
DisplayString(0x0,1,"Next Show");
TotalDistanceShow=True;
Delay(250); //延时消除抖动
}
}
if (SelectedShow==True)
{
SelectedShow=False;
SelectedReturn=False;
Selected=False;
if (ReturnSelection==True) //按下的是返回键
ReturnMain=True;
if (ReturnSelection==False)
{
if (TotalDistanceShow==True)
{
WriteCmd(LCD_CLS);
DisplayString(0,0,"Total Distance");
DisplayDistance();
DisplayString(0x0A,1,"m");
ReturnSelection=True; //按下了确定键，那么这个时候开启返回键的功能
Delay(250); //延时消除抖动
}
}
}
if (ReturnMain==True) //按下了返回键，返回主菜单
{
ReturnMain=False;
continue;
}
/*------------------------------------第五次按键--------------------------------------*/
while(1)
{
if (Next==True)
break;
if (SelectedShow==True)
break;
}
if (Next==True) //所有菜单项已经显示完毕，返回主菜单
{
Next=False;
ReturnMain=False;
ReturnSelection=False;
if (TotalDistanceShow==True) //最后一个选项已经显示完毕，返回主菜单
{
ReturnMain=True;
}
}
if (SelectedShow==True)
{
SelectedShow=False;
SelectedReturn=False;
Selected=False;
if (ReturnSelection==True) //按下的是返回键
ReturnMain=True;
if (ReturnSelection==False)
{
if (TotalDistanceShow==True)
{
WriteCmd(LCD_CLS);
DisplayString(0,0,"Total Distance");
DisplayDistance();
DisplayString(0x0A,1,"m");
ReturnSelection=True; //按下了确定键，那么这个时候开启返回键的功能
Delay(250); //延时消除抖动
}
}
}
/*------------------------------------第六次按键--------------------------------------*/
while(1)
{
if (Next==True)
break;
if (SelectedShow==True)
break;
}
if (Next==True)
{
Next=False;
ReturnMain=False;
ReturnSelection=False;
}
if (SelectedShow==True)
{
SelectedShow=False;
SelectedReturn=False;
Selected=False;
}
continue;
}
while(1);
}
/****************************************************************************************\
** LCD驱动模块 **
\****************************************************************************************/
/*--------------------------------- LCD初始化函数--------------------------------------*/
void LCDInit(void)
{
//三次显示模式设置
LCD_Data=0;
LCD_E=Disable;
Delay(5);
WriteCmd(LCD_Init);
Delay(5);
WriteCmd(LCD_Init);
Delay(5);
WriteCmd(LCD_Init);
WriteCmd(LCD_Init); //初始化
WriteCmd(LCD_CloseCtr); //关显示
WriteCmd(LCD_CLS); //清屏幕
WriteCmd(LCD_EnterSet); //光标移动设置
WriteCmd(LCD_DispCtr); //显示开以及光标设置
}
/*--------------------------------- LCD模式设置函数--------------------------------------*\
SetWriteCmd() 设置LCD为写命令模式
SetReadCmd() 设置LCD为读命令模式
SetWriteData() 设置LCD为写数据模式
\*----------------------------------------------------------------------------------------*/
void SetWriteCmd(void)
{
LCD_RW=Write;
LCD_RS=Cmd;
}
void SetReadCmd(void)
{
LCD_RW=Read;
LCD_RS=Cmd;
}
void SetWriteData(void)
{
LCD_RW=Write;
LCD_RS=Data;
}
/*--------------------------------- LCD功能执行函数--------------------------------------*\
WriteCmd() 写命令
WriteData() 写数据
ExecuteCmd() 执行命令
SetXY() 显示定位
DisplaySingleChar() 显示单个字符
DisplayString() 显示一串字符
IsBusy() 忙标志检测
\*----------------------------------------------------------------------------------------*/
void WriteCmd(char cmd)
{
while(IsBusy());
LCD_Data=cmd;
SetWriteCmd();
ExecuteCmd();
}
void WriteData(char ddata)
{
while(IsBusy());
LCD_Data=ddata;
SetWriteData();
ExecuteCmd();
}
void ExecuteCmd(void)
{
LCD_E=Enable;
LCD_E=Disable;
}
void SetXY(char x,char y)
{
if (y)
x|=0x40;
x|=0x80;
Delay(5);
WriteCmd(x);
}
void DisplaySingleChar(char x,char y,char cchar)
{
SetXY(x,y);
WriteData(cchar);
}
void DisplayString(char x,char y,char *str)
{
while(*str)
{
Delay(5);
DisplaySingleChar(x++,y,*str);
str++;
}
}
bit IsBusy(void)
{
LCD_Data=0xFF;
SetReadCmd();
ExecuteCmd();
return (bit)(P1 & 0x80);
}
/*------------------------------------- 延时函数 -------------------------------------*/
void Delay(unsigned int time)
{
unsigned int timeCounter = 0;
for (timeCounter = time;timeCounter > 0 ;timeCounter --)
DelayUs(255);
}
void DelayUs(unsigned int time)
{
unsigned int timeCounter = 0;
for (timeCounter = 0;timeCounter < time;timeCounter ++)
_nop_();
}
/*******************************************************************************************\
** LCD显示模块 **
\*******************************************************************************************/
void ComputeTime(void)
{
if (Area0 < 5)
PassTime+=0.5;
}
void ComputeSpeedANDDistance(void)
{
Speed=SpeedCount/4*CircleLength; //计算瞬时速度
Distance+=Speed; //计算距离
SpeedCount=0;
}
/*------------------------------------- 显示时间 ----------------------------------------*/
void DisplayTime(void)
{
char PassTime1=0x30;
char PassTime2=0x30;
char PassTime3=0x30;
char PassTime4=0x30;
if ((int)PassTime*100<100) //时间未够1s
{
PassTime1+=0;
PassTime2+=(int)(PassTime*100)/10;
PassTime3+=(int)(PassTime*100)%10;
}
else if ((int)(PassTime*100) > 100 && (int)(PassTime*100) < 1000) //够1s而未够10s
{
PassTime1+=(int)(PassTime*100)/100;
PassTime2+=(int)(PassTime*100)/10%10;
PassTime3+=(int)(PassTime*100)%10;
}
else
{
PassTime1+=(int)(PassTime*100)/1000;
PassTime2+=(int)(PassTime*100)/100%10;
PassTime3+=(int)(PassTime*100)/10%10;
PassTime4+=(int)(PassTime*100)%10;
}
if ((int)(PassTime*100) < 1000)
{
DisplaySingleChar(0x05,1,PassTime1);
DisplaySingleChar(0x06,1,'.');
DisplaySingleChar(0x07,1,PassTime2);
DisplaySingleChar(0x08,1,PassTime3);
}
else
{
DisplaySingleChar(0x04,1,PassTime1);
DisplaySingleChar(0x05,1,PassTime2);
DisplaySingleChar(0x06,1,'.');
DisplaySingleChar(0x07,1,PassTime3);
DisplaySingleChar(0x08,1,PassTime4);
}
}
/*------------------------------------ 显示平均速度----------------------------------------*/
void DisplayAVGSpeed(void)
{
int Speed1=0x30; //初始化为0的ASCII码
int Speed2=0x30;
int Speed3=0x30;
if ((int)(Distance/PassTime*100)< 100)
{
Speed1+=0;
Speed2+=(int)(Distance/PassTime*100)/10;
Speed3+=(int)(Distance/PassTime*100)%10;
}
else
{
Speed1+=(int)(Distance/PassTime*100)/100;
Speed2+=(int)(Distance/PassTime*100)/10%10;
Speed3+=(int)(Distance/PassTime*100)%10;
}
DisplaySingleChar(0x05,1,Speed1);
DisplaySingleChar(0x06,1,'.');
DisplaySingleChar(0x07,1,Speed2);
DisplaySingleChar(0x08,1,Speed3);
}
/*------------------------------------- 显示路程 ----------------------------------------*/
void DisplayDistance(void)
{
int Distance1=0x30;
int Distance2=0x30;
int Distance3=0x30;
int Distance4=0x30;
if ((int)(Distance*100) < 100)
{
Distance1+=0;
Distance2+=(int)(Distance*100)/10;
Distance3+=(int)(Distance*100)%10;
}
else if ((int)(Distance*100) > 100 && (int)(Distance*100) < 1000)
{
Distance1+=(int)(Distance*100)/100;
Distance2+=(int)(Distance*100)/10%10;
Distance3+=(int)(Distance*100)%10;
}
else
{
Distance1+=(int)(Distance*100)/1000;
Distance2+=(int)(Distance*100)/100%10;
Distance3+=(int)(Distance*100)/10%10;
Distance4+=(int)(Distance*100)%10;
}
if ((int)(Distance*100) < 1000)
{
DisplaySingleChar(0x05,1,Distance1);
DisplaySingleChar(0x06,1,'.');
DisplaySingleChar(0x07,1,Distance2);
DisplaySingleChar(0x08,1,Distance3);
}
else
{
DisplaySingleChar(0x04,1,Distance1);
DisplaySingleChar(0x05,1,Distance2);
DisplaySingleChar(0x06,1,'.');
DisplaySingleChar(0x07,1,Distance3);
DisplaySingleChar(0x08,1,Distance4);
}
}
/*------------------------------------- 中断初始化 -------------------------------------*/
void INTInit(void)
{
EA=1; //开总中断
IT0=1; //INTO边沿触发
PX0=1; //INTO优先级为高级
EX1=1; //开INT1中断
IT1=1; //INT1边沿触发
PX1=1; //INT1优先级为高级
Clock0_Init(); //初始化时钟中断
TMOD=0x11; //T0/T1定时方式1
ET0=0x01; //开T0中断
ET1=0x01; //开T1中断
}
void Clock0_Init(void)
{
TR0=0x01; //启动T0
TH0=Thx0; //定时初值
TL0=Tlx0;
}
void Clock1_Init(void)
{
TR1=0x01; //启动T1
TH1=0x3C; //定时初值-50ms中断一次
TL1=0x0B0;
}
/*******************************************************************************************\
** 中断处理程序 **
\*******************************************************************************************/
/*----------------------------------- 外部中断0 ----------------------------------------*\
外部中断0有两个功能
(1)作为菜单选择的Next键
(2)作为测速的计数器
\*-----------------------------------------------------------------------------------------*/
void SpeedINT(void) interrupt 0 //中断INT0
{
if (SelectedAll==False) //如果模式和速度还没有选择完毕，则此中断作为Next键
Next=True;
if (Running==True) //如果模式和速度已经选择完毕，则此中断作为测速中断
SpeedCount++;
if (ChoosingDisplay==True) //如果是在选择要显示的内容
Next=True;
}
/*----------------------------------- 外部中断1 ----------------------------------------*\
外部中断1有两个功能
(1)作为菜单选择的确定键/返回键
(2)控速
\*-----------------------------------------------------------------------------------------*/
void CtrSpeedINT(void) interrupt 2 //中断INT1
{
if (SelectedAll==False) //如果模式和速度还没有选择完毕，则此中断作为确定键
{
if (IsSelectingMode==True) //模式选择标志
ModeSelected=True;
if (IsSelectingSpeed==True) //速度选择标志
SpeedSelected=True;
}
if (Running==True) //如果模式和速度选择已经完毕，则此中断作为控速中断
{
if (Area0==0) //经过第一条铁线（即起跑线），开始计时，开始测速
{
EX0=1;
Clock1_Init();
P31=0; //过起跑线，背光灭
}
if (Area0==1)
LowSpeedArea1StartTime=PassTime; //读取进入第一个低速区的时刻
if (Area0==2)
LowSpeedArea1EndTime=PassTime;//读取离开第一个低速区的时刻，也就是进入高速区的时刻
if (Area0==3)
HighSpeedAreaEndTime=PassTime;//读取离开高速区的时刻，也就是进入第二个低速区的时刻
if (Area0==4)
LowSpeedArea2EndTime=PassTime; //读取离开第二个低速去的时刻
if(AutoMode==1) //自动模式
{
PassLine++;
switch(PassLine)
{
case 5 :PassLineID=1;break;
case 10 :PassLineID=2;break;
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