遥控小车遥控器代码2.4G版

ID:324162 · 发表于 2018-5-7 13:40

#include <reg52.h>
#include<MATH.H>
#include <intrins.h>
#define nop _nop_();_nop_();_nop_();_nop_();_nop_();                //宏定义
#define uchar unsigned char
#define uint  unsigned int

sbit Key_Forw=P1^7;
sbit Key_BackOff=P1^3;
sbit Key_Left=P1^6;
sbit Key_Right=P1^4;
sbit Key_Stop=P1^5;

uchar gSysDat[10] = {0,0,0,0,0,0,0,0,0,0};
uchar receIndex=0,receByte=0,receState=0,Header=0,Soucheck=0,i=0,datarece=0,Bytec=0,Bytecount=0,receNew=0;
uchar RecBuf[10]= {0,0,0,0,0,0,0,0,0,0};
uchar jsnum = 0;
bit Qued = 0;
uchar CarSta = 0;

void InitUART(void)
{
TMOD = 0x21;
SCON = 0x50;
TH1 = 0xFA;
TL1 = TH1;
PCON = 0x80;
ES = 1;
TR1 = 1;
}

void UARTInterrupt(void) interrupt 4
{
if(RI) {
RI=0;
receByte = SBUF;

if(receByte==0xCC){ //帧头校验
if(receState++==5){
Header=1;
receState=0;
Soucheck = 0;
}else if(receState>5){
receState=0;
Header=0;
}
}else{
receState = 0;
}
if(Header==1){    //目标地址校验
if(receByte==0x00){
      Soucheck=1;
      Header=0;
   }
}
if(Soucheck==1&&Header==0){
if(receByte==0x01){
Soucheck=0;
Bytec = 0;
datarece = 0;
i=0;
Bytec=1;
}
}
if(Bytec==1&&i++==1){
   Bytec=0;
   Bytecount=receByte;             //读取命令字节数（除检验位）
   receIndex = 0;
   datarece=1;
   for(i=0;i<Bytecount;i++)
         RecBuf[i] = 0x00;
   i=0;
}
if(datarece==1&&Bytec==0&&i++==1){
      i=1;
      if(receIndex <Bytecount){
RecBuf[receIndex++] = receByte;
if(receIndex == Bytecount){          //进行相应数据操作
   receNew = 1;
}
}else{
datarece=0;
receIndex=0;
i=0;
}
}
}
}

void Delay_1ms(uint t)
{
unsigned int i,j;
for(i=0; i<t;  i++)
for(j=0; j<150; j++);
}

void Uart_byte(unsigned char adata)
{
TI=0;
SBUF=adata;
while(!TI);
TI=0;
}

void UartSeedDat(uchar *pucStr,uchar ulNum)
{
uchar i = 0;

for(i=0;i<6;i++){
Uart_byte(0xEE);
}
Uart_byte(0x00);
Uart_byte(0x01);
Uart_byte(0x07);
for(i=0;i<ulNum;i++){
Uart_byte(*pucStr++);
}
Uart_byte(0x00);
}

void KeyInter(void)
{
if(Key_Stop == 0){
      Delay_1ms(5);
   if(Key_Stop == 0){
      CarSta = 0;
         gSysDat[0] = CarSta;
         gSysDat[1] = RecBuf[0];
   gSysDat[2] = RecBuf[1];
         gSysDat[3] = RecBuf[2];
   gSysDat[4] = RecBuf[3];
         gSysDat[5] = RecBuf[4];
      UartSeedDat(gSysDat,6);
      while(!Key_Stop);
   }
}
if(Key_Forw == 0){
      Delay_1ms(5);
   if(Key_Forw == 0){
      CarSta = 1;
         gSysDat[0] = CarSta;
         gSysDat[1] = RecBuf[0];
   gSysDat[2] = RecBuf[1];
         gSysDat[3] = RecBuf[2];
   gSysDat[4] = RecBuf[3];
         gSysDat[5] = RecBuf[4];
      UartSeedDat(gSysDat,6);
      while(!Key_Forw);
   }
}
if(Key_BackOff == 0){
      Delay_1ms(5);
   if(Key_BackOff == 0){
      CarSta = 2;
         gSysDat[0] = CarSta;
         gSysDat[1] = RecBuf[0];
   gSysDat[2] = RecBuf[1];
         gSysDat[3] = RecBuf[2];
   gSysDat[4] = RecBuf[3];
         gSysDat[5] = RecBuf[4];
      UartSeedDat(gSysDat,6);
      while(!Key_BackOff);
   }
}
if(Key_Left == 0){
      Delay_1ms(5);
   if(Key_Left == 0){
      CarSta = 3;
         gSysDat[0] = CarSta;
         gSysDat[1] = RecBuf[0];
   gSysDat[2] = RecBuf[1];
         gSysDat[3] = RecBuf[2];
   gSysDat[4] = RecBuf[3];
         gSysDat[5] = RecBuf[4];
      UartSeedDat(gSysDat,6);
      while(!Key_Left);
   }
}
if(Key_Right == 0){
      Delay_1ms(5);
   if(Key_Right == 0){
      CarSta = 4;
         gSysDat[0] = CarSta;
         gSysDat[1] = RecBuf[0];
   gSysDat[2] = RecBuf[1];
         gSysDat[3] = RecBuf[2];
   gSysDat[4] = RecBuf[3];
         gSysDat[5] = RecBuf[4];
      UartSeedDat(gSysDat,6);
      while(!Key_Right);
   }
}
}

void Timing_Send(void)
{
if(Qued == 1){
   Qued = 0;
   gSysDat[0] = CarSta;
   gSysDat[1] = RecBuf[0];
   gSysDat[2] = RecBuf[1];
   gSysDat[3] = RecBuf[2];
   gSysDat[4] = RecBuf[3];
   gSysDat[5] = RecBuf[4];
   UartSeedDat(gSysDat,6);
}
}

//50Ms定时
void InitTimer0(void)
{
TH0 = 0x4C;
TL0 = 0x00;
EA = 1;
ET0 = 1;
TR0 = 1;
}

void main()
{
InitTimer0();
InitUART();
Delay_1ms(10);
while(1)
{
      KeyInter();
Timing_Send();
}
}

void timer0()interrupt 1 using 2
{
   TH0=0X4C;    //50Ms定时
   TL0=0X00;
   if(jsnum++>=19){
      jsnum = 0;
      Qued = 1;
   }
}

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