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#include <STC15.h>
#include <intrins.h>
#include "main.h"
#include "Uart.h"
#include "U8_PWM.h"
#include "display.h"
#include "eeprom.h"
typedef union
{
u8 time8[2];
u16 time16;
}TIME;
volatile TIME t_speed; //記錄定時器值
volatile u16 speed; //反光鏡轉速 (調試用數據)
volatile char t_count=0;//,d_count=0; //轉速, 顯示定時器溢出計數
volatile u16 d_time = 25000; //點亮激光延時初始化值用于第一次寫EEPROM
u8 speed_pwm = 80; //反光鏡轉速用于控制PWM占空比初始化值用于第一次寫EEPROM
void delay_ms(unsigned char ms)
{
unsigned int i;
do{
i = MAIN_Fosc / 13000;
while(--i) ;
}while(--ms);
}
void Int0_Init(void)
{
// EA = 1;
IT0 = 1;
EX0 = 1;
}
void Timer0_Init(void) //計算轉速作為延時參考
{
TMOD |= 0x01;
TL0 = (65536-1000)%256;
TH0 = (65536-1000) >> 8;
// EA = 1;
ET0 = 1;
// TR0 = 1;
}
void Timer1_Init(void) //外部中斷后點亮激光延時
{
TMOD |= 0x10;
TL1 = (65536-1000)%256;
TH1 = (65536-1000) >> 8;
// EA = 1;
ET1 = 1;
// TR1 = 1;
}
u8 Verify_Sum(u8 *DataInput, u16 len)//累加校驗計算
{
u8 sum=0;
u16 i;
for(i=0; i<len; i++) //數據累加
sum += DataInput[i];
return sum;
}
//整幀串口數據保存在UartRecvBuf[UARTRECVBUFSIZE]中
//建議復制出來數據使用防止處理過程中進串口接收中斷丟失原始數據
void UartDataRecv_Event(void)
{
u8 i,j;
u16 Length;
xdata u8 datBuf[UARTRECVBUFSIZE]; //臨時數據存儲
xdata typePackage recvPackage; //接收數據包結構體
code s8 AckBuf[] = {0x01, 0x10, 0x00, 0x00, 0x00, 0x00}; //Ack數據包
s8 DatBuf[10] = {0x01, 0x03, 0x00, 0x00, 0x04}; //還有5個數據在下面賦值
// Uart_SendByte(UartBytesToRead);
// Uart_SendByte(0x49);
for(Length=0; Length<UartBytesToRead; Length++) //復制數據
{
datBuf[Length] = UartRecvBuf[Length];
}
if(datBuf[0] != 0x01) return;
Length = 6 + (u16)(datBuf[3]<<8 | datBuf[4]); //計算數據總長度
if(Length != UartBytesToRead) //長度不對放棄數據
{
return;
}
//裝載數據
recvPackage.DeviceAddr = datBuf[0];
recvPackage.Function = datBuf[1];
recvPackage.Sequence = datBuf[2];
recvPackage.DataLength = (u16)(datBuf[3]<<8 | datBuf[4]);
recvPackage.Data = &datBuf[5];
recvPackage.Sum = datBuf[5 + recvPackage.DataLength];
if(recvPackage.Sum != Verify_Sum(recvPackage.Data, recvPackage.DataLength)) //數據校驗
return;
//SendAck
Uart_SendBuf(AckBuf, CountOfArray(AckBuf));
// Uart_SendByte(recvPackage.Function);
switch(recvPackage.Function) //幀功能判斷
{
case 0x01:
//Dis_WriteBuf("DataReceived!");
for(i=0; i<STRINGLEN; i++) //寫顯存
for(j=0; j<16; j++)
DisBuf[i][j] = recvPackage.Data[j + i*16];
break;
case 0x02: //從機接收數據
Dis_WriteBuf("Recv-Func-0x02");
if(speed_pwm != recvPackage.Data[1])
{
speed_pwm = recvPackage.Data[1];
Load_U8_PWM(speed_pwm); //轉速
IapEraseSector(IAP_ADDRESS_SPEED); //EEPROM存儲數據
IapProgramByte(IAP_ADDRESS_SPEED, speed_pwm);
}
if(d_time != (u16)(recvPackage.Data[2]<<8 | recvPackage.Data[3])) //點亮延時
{
d_time = (u16)(recvPackage.Data[2]<<8 | recvPackage.Data[3]);
IapEraseSector(IAP_ADDRESS_DELAY); //EEPROM存儲數據
IapProgramByte(IAP_ADDRESS_DELAY, recvPackage.Data[2]);
IapProgramByte(IAP_ADDRESS_DELAY+1, recvPackage.Data[3]);
}
// Uart_SendByte(0x33);
break;
case 0x03: //主機請求數據
Dis_WriteBuf("Recv-Func-0x03");
delay_ms(15); //隔斷Ack和Dat兩個數據包避免上位機混淆
DatBuf[5] = 0x00; //裝載數據
DatBuf[6] = speed_pwm;
DatBuf[7] = (u8)(d_time>>8);
DatBuf[8] = (u8)d_time;
DatBuf[9] = Verify_Sum(&DatBuf[5], 4);
Uart_SendBuf(DatBuf, CountOfArray(DatBuf));
// Uart_SendByte(0x49);
break;
default: //未知功能幀
return;
}
}
void main(void)
{
u8 i;
P1M0 = 0x00;
P1M1 = 0x00;
P2M0 = 0x00;
P2M1 = 0x00;
// UartFuncPtr = UartDataRecv_Event; //注冊串口數據處理函數
EA = 1;
//第一次寫EEPROM時使用此代碼
// IapEraseSector(IAP_ADDRESS_SPEED); //EEPROM存儲數據
// IapProgramByte(IAP_ADDRESS_SPEED, speed_pwm);
// IapEraseSector(IAP_ADDRESS_DELAY); //EEPROM存儲數據
// IapProgramByte(IAP_ADDRESS_DELAY, d_time>>8);
// IapProgramByte(IAP_ADDRESS_DELAY+1, d_time);
speed_pwm = IapReadByte(IAP_ADDRESS_SPEED); //EEPROM數據讀取
d_time = (u16)(IapReadByte(IAP_ADDRESS_DELAY)<<8 | IapReadByte(IAP_ADDRESS_DELAY+1));
U8_PWM_Init();
for(i=5; i<=speed_pwm; i++) //電機加速
{
delay_ms(5);
Load_U8_PWM(i);
}
// Load_U8_PWM(0);
delay_ms(200); //等待轉速穩定
Int0_Init();
Timer0_Init(); //計算轉速作為延時參考
Timer1_Init(); //外部中斷后點亮激光延時
Uart_Init();
delay_ms(50);
Uart_SendByte(0x98); //發送復位標識
Dis_WriteBuf("蘑菇~"); //開機默認字幕
WDT_CONTR = 0x07;
WDT_CONTR |= 0x20; //EN_WDT
while(1)
{
WDT_CONTR |= 0x10; //CLR_WDT
if(DataProcFlag)
{
DataProcFlag = 0;
//不知道為什么調整串口優先級最高以后還是需要關閉外部中斷
EX0 = 0; //處理時間很長關閉外部中斷不然會死機
TR0 = 0;
TR1 = 0;
UartDataRecv_Event();
EX0 = 1;
TR0 = 1;
TR1 = 1;
}
// delay_ms(200);
// P40 = ~P40;
// Uart_SendByte(0x49);
}
}
void Int_Int0(void) interrupt 0
{
static char trig = 0;
if(trig) //鏡面不絕對對稱只使用其中一面
{
t_speed.time8[1] = TL0; //讀取當前定時器值作為速度
t_speed.time8[0] = TH0;
TL0 = 0; //定時器重裝
TH0 = 0;
TR0 = 1;
speed = t_speed.time16;// + t_count*65536; //計算速度
t_count = 0; //定時器溢出計數清零
// d_time = 34000; //點亮激光延時
TL1 = (65536-d_time)%256;
TH1 = (65536-d_time) >> 8;
TR1 = 1;
}
trig = ~trig;
}
void Int_Timer0(void) interrupt 1 //計算轉速作為延時參考
{
t_count++; //定時器溢出計數
}
void Int_Timer1(void) interrupt 3 //外部中斷后點亮激光延時
{
TR1 = 0; //停止計時
EX0 = 0;
// Display(0xFF, 0xFF);
// Dis_WriteBuf("2019新年快樂!!!~");
Dis_String();
EX0 = 1;
}

復制代碼

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