怎样去编写ARM44B0自动机器人控制程序呢

ti

本程序，是自动机器人的一个程序，融合了外部中断、定时器、PWM和利用SPI显示LCD等模块。
/*主程序*/
#include "option.h"
#include "def.h"
#include "44b.h"
#include "44blib.h"
  U32 TimerCnt=0,maichong=5000;
  unsigned int led=0; unsigned char TempData1,TempData2;
  U32 tmp=0;
  U32 timer=0;
  U32 time=0;
  U32 speed=0;
  int out2=0,out3=0,time1=0,time0=0,time2=0,time3=0,time5=20000;//定时器计数
  char flag1=0,flag2=0,flag=0;
int int1=0,int2=0,int3=0,int4=0;
static int flg=0,flg1=0,flg2=0;
int temp=0;
  int which_int;
  int jd=0;
void Main(void)
{
rSYSCFG=CACHECFG;                               // Using 8KB Cache
Port_Init();
interrupt_Init();
init_LCD();
clear_LCD();
Printf(1,0,"  ABU ROBOCON");
delay(150);
Printf(2,0,"THE SECOND ROBOT");
Uart_Init(0,4800);
Delay(10);
timems(10);                                     //设置定时器10ms定时
rINTMSK=~(BIT_GLOBAL+BIT_EINT4567+BIT_URXD0+BIT_URXD1+BIT_TIMER5+BIT_EINT2);
Printf(2,0,"测试开始");
while(1)
{
/* Printf(3,0,"机器人启动");
   Uart_Printf1("机器人启动");
   delay(200);
   Printf(4,0,"是否进入测试");
   Uart_Printf1("是否进入测试");
   flg1=0;
   while(!flg1){delay(1);}
   flg1=0;
   flg=0;
   clear_LCD();
   delay(200);
   Printf(1,0,"是否测试0");
   Uart_Printf1("是否测试0");
   while(!flg1){delay(1);}
   jd=0;
   while(flg)                         //测试电机0 记录脉冲数
   {
   clear_LCD();
   flg1=0;
   Printf(1,0,"是否开始测试0");
   Uart_Printf1("是否开始测试0");
   while(!flg1){delay(1);}
   Printf(1,0,"速度1k方向正");
   Uart_Printf1("速度1k方向正");
   pw0(1,1);
   flg1=0;
   while(!flg1){delay(1);}
   pw0off();
   Printf(1,0," 停止 ");
   Uart_Printf1(" 停止");
   flg1=0;
   while(!flg1){delay(1);}
   Printf(1,0,"是否重试");
   Uart_Printf1("是否重试");
   flg1=0;
   while(!flg1){delay(1);}
   clear_LCD();
   if(flg==0)
   break;
   }
   flg=0;
   flg1=0;
   clear_LCD();
   delay(200);
   Printf(1,0,"是否测试1");
   Uart_Printf1("是否测试1");
   while(!flg1){delay(1);}
   clear_LCD();
   jd=1;
   while(flg)
   {
   Printf(1,0,"test 1");
   delay(200);
   flg1=0;
   Printf(2,0,"是否开始1");
   Uart_Printf1("是否开始1");
   while(!flg1){delay(1);}
   Printf(2,0,"开始伸杆");
   Uart_Printf1("开始伸杆");
   time5=0;
   rPDATD&=~(1<<3);    //伸杆
   rPDATD|=(1<<1);
   flg1=0;
   while(!flg1){delay(1);}
   rPDATD|=(1<<3);    //停杆
   rPDATD|=(1<<1);
   Printf(2,0,"time=%d  ",time5);
   Uart_Printf1("time=%d  ",time5);
   delay(200);
   Printf(3,0,"停杆");
   Uart_Printf1("停杆");
   flg1=0;
   while(!flg1){delay(1);}
   delay(200);
   flg1=0;
   Printf(3,0,"是否收起抓手");
   Uart_Printf1("是否收起抓手");
   while(!flg1){delay(1);}
   Printf(3,0," 收起抓手");
   Uart_Printf1("收起抓手");
   rPDATD&=~(1<<2);    //收起抓手
   rPDATD|=(1<<0);
   time5=0;
   flg1=0;
   while(!flg1){delay(1);}
   rPDATD|=(1<<2);    //暂停抓手
   rPDATD|=(1<<0);
   Printf(3,0,"收起抓手time=%d",time5);
   Uart_Printf1("收起抓手time=%d",time5);
   delay(200);
   Printf(4,0,"暂停抓手");
   Uart_Printf1("暂停抓手");
   flg1=0;
   while(!flg1){delay(1);}
   clear_LCD();
   delay(200);
   Printf(1,0,"是否收杆");
   Uart_Printf1("是否收杆");
   flg1=0;
   while(!flg1){delay(1);}
   Printf(1,0," 收杆");
   Uart_Printf1("收杆");
   rPDATD|=(1<<3);    //收杆
   rPDATD&=~(1<<1);
   time5=0;
   flg1=0;
   while(!flg1){delay(1);}
   rPDATD|=(1<<3);    //停杆
   rPDATD|=(1<<1);
   Printf(2,0,"收杆time=%d",time5);
   Uart_Printf1("收杆time=%d",time5);
   flg1=0;
   delay(200);
   Printf(3,0,"是否重试");
   Uart_Printf1("是否重试");
   while(!flg1){delay(1);}
   clear_LCD();
   if(flg==0)
   break;
}
clear_LCD();
   delay(200);
   flg1=0;
   Printf(1,0,"是否测试2");
   Uart_Printf1("是否测试2");
   while(!flg1){delay(1);}
   clear_LCD();
   jd=2;
   while(flg)
   {
   flg1=0;
   Printf(1,0,"测试2 开始");
   Uart_Printf1("测试2 开始");
   rPDATF|=(1<<6);
   rPDATF&=~(1<<5);
   while(!flg1){delay(1);}
   flg1=0;
   delay(200);
   Printf(3,0,"是否重试");
   Uart_Printf1("是否重试");
   while(!flg1){delay(1);}
   clear_LCD();
   if(flg==0)
   break;
   }
   clear_LCD();
   delay(200);
   flg1=0;
   Printf(1,0,"是否测试3");
   Uart_Printf1("是否测试3");
   while(!flg1){delay(1);}
   clear_LCD();
   jd=3;
   while(flg)
   {
   Printf(1,0,"test 3");
   delay(200);
   flg1=0;
   Printf(2,0,"是否开始3");
   Uart_Printf1("是否开始3");
   while(!flg1){delay(1);}
   Printf(2,0,"开始伸杆");
   Uart_Printf1("开始伸杆");
   time5=0;
   rPDATC&=~(1<<6);    //伸杆
   rPDATC|=(1<<4);
   flg1=0;
   while(!flg1){delay(1);}
   rPDATC|=(1<<6);    //停杆
   rPDATC|=(1<<4);
   Printf(2,0,"time=%d  ",time5);
   Uart_Printf1("time=%d  ",time5);
   delay(200);
   Printf(3,0,"停杆");
      Uart_Printf1("停杆");
   flg1=0;
   while(!flg1){delay(1);}
   delay(200);
   flg1=0;
   Printf(3,0,"是否收起抓手");
      Uart_Printf1("是否收起抓手");
   while(!flg1){delay(1);}
   Printf(3,0," 收起抓手");
      Uart_Printf1("收起抓手");
   rPDATC&=~(1<<2);    //收起抓手
   rPDATC|=(1<<0);
   time5=0;
   flg1=0;
   while(!flg1){delay(1);}
   rPDATC|=(1<<2);    //暂停抓手
   rPDATC|=(1<<0);
   Printf(3,0,"收起抓手time=%d",time5);
   Uart_Printf1("收起抓手time=%d",time5);
   delay(200);
   Printf(4,0,"暂停抓手");
   Uart_Printf1("暂停抓手");
   flg1=0;
   while(!flg1){delay(1);}
   clear_LCD();
   delay(200);
   Printf(1,0,"是否收杆");
      Uart_Printf1("是否收杆");
   flg1=0;
   while(!flg1){delay(1);}
   Printf(1,0," 收杆");
      Uart_Printf1(" 收杆");
   rPDATC|=(1<<6);    //收杆
   rPDATC&=~(1<<4);
   time5=0;
   flg1=0;
   while(!flg1){delay(1);}
   rPDATC|=(1<<6);    //停杆
   rPDATC|=(1<<4);
   Printf(2,0,"收杆time=%d",time5);
      Uart_Printf1("收杆time=%d",time5);
   flg1=0;
   delay(200);
   Printf(3,0,"是否重试");
      Uart_Printf1("是否重试");
   while(!flg1){delay(1);}
   clear_LCD();
   if(flg==0)
   break;
}
   Printf(1,0,"测试结束祝你好运");
   Uart_Printf1("测试结束祝你好运");
   delay(200);
  Printf(2,0," 工大必胜");
Uart_Printf1(" 工大必胜");
flg1=0;
   while(!flg1){delay(1);} */
}
}
void __irq ex4567(void)//主要做调试用
{
   which_int=rEXTINTPND;//rEXTINTPND外部中断挂起寄存器 P316
Uart_Printf0("n中断为%d", which_int);
Delay(10);
if(which_int==rEXTINTPND)
  {
      switch(which_int)
   {
      case 1:
         WrUart1('a');
         Delay(200);
         break;
      case 2:
         WrUart1('b');
            Delay(200);
         break;
      case 4:
         WrUart1('c');
         Delay(200);
         break;
   case 8:
         WrUart1('d');
         Delay(200);
         break;
      default:
      break;
}
}
  Delay(5000);
  rEXTINTPND=0XF;       //作用是清楚中断标志
  rI_ISPC=BIT_EINT4567;    //清楚中断申请位，很重要
}
void motor0(int num,int k)
{
time0=0;
pw0(k,1);
while((time0<=num)&&flag){delay(1);}
pw0off();
}
void motor1(int time1,int time2)//95 D3; 97 D1; 96 D2;98 D0;第一层
{
clear_LCD();
Printf(1,0,"第一层开始");
time5=0;
Printf(2,0,"伸杆");
rPDATD&=~(1<<3);    //伸杆
rPDATD|=(1<<1);
while((time5 rPDATD|=(1<<3);    //停杆
rPDATD|=(1<<1);
Printf(2,0,"停杆");
time5=0;
while(time5<10){delay(1);}    //延时一段1s
Printf(2,0,"收起抓手");
rPDATD&=~(1<<2);    //收起抓手
rPDATD|=(1<<0);
while((time5 rPDATD|=(1<<2);    //暂停抓手
rPDATD|=(1<<0);
Printf(2,0,"收起抓手收杆");
rPDATD|=(1<<3);    //收杆
rPDATD&=~(1<<1);
time5=0;
  while((time5 rPDATD|=(1<<3);    //停杆
rPDATD|=(1<<1);
Printf(2,0,"停杆");
}
void motor2(int time1,int time2)//PC6 112; PC4 114; PC2 116; PC0 118;//第二层
{
clear_LCD();
Printf(1,0,"第二层开始");
time5=0;
Printf(2,0,"伸杆");
rPDATC&=~(1<<6);    //伸杆
rPDATC|=(1<<4);
while((time5 rPDATC|=(1<<6);    //停杆
rPDATC|=(1<<4);
Printf(2,0,"停杆");
time5=0;
while(time5<10){delay(1);}    //延时一段1s
Printf(2,0,"收起抓手");
rPDATC&=~(1<<2);    //收起抓手
rPDATC|=(1<<0);
while((time5 rPDATC|=(1<<2);    //暂停抓手
rPDATC|=(1<<0);
Printf(2,0,"收起抓手收杆");
rPDATC|=(1<<6);    //收杆
rPDATC&=~(1<<4);
time5=0;
  while((time5 rPDATC|=(1<<6);    //停杆
rPDATC|=(1<<4);
Printf(2,0,"停杆");
}
void motor3(int time1)//F6 58;59 ;第三组一个电机
{
clear_LCD();
Printf(1,0,"第二层开始");
time5=0;
rPDATD&=~(1<<1);
rPDATD|=(1<<0);
Printf(2,0,"分离");
while((time5 rPDATD|=(1<<1);
rPDATD|=(1<<0);
Printf(2,0,"分离完毕");
}
/*void motor3(int time1,int time2)
{
time5=0;
rPDATF&=~(1<<7);    //伸杆
rPDATF|=(1<<6);
while((time5 rPDATF&=~(1<<7);    //停杆
rPDATF&=~(1<<6);
time5=0;
while(time5<10);    //延时一段1s
rPDATF&=~(1<<5);    //收起抓手
rPDATF|=(1<<4);
while((time5 rPDATF&=~(1<<5);    //暂停抓手
rPDATF&=~(1<<4);
rPDATF|=(1<<7);    //收杆
rPDATF&=~(1<<6);
time5=0;
while((time5 rPDATF&=~(1<<7);    //停杆
rPDATF&=~(1<<6);
}*/
void motor4(int time1,int time2)
{
time5=0;
rPDATF&=~(1<<3);    //伸杆
rPDATF|= (1<<2);
while((time5 rPDATF&=~(1<<3);    //停杆
rPDATF&=~(1<<2);
time5=0;
while(time5<10);    //延时一段1s
rPDATF&=~(1<<1);    //收起抓手
rPDATF|=(1<<0);
while((time5 rPDATF&=~(1<<1);    //暂停抓手
rPDATF&=~(1<<0);
rPDATF|=(1<<3);    //收杆
rPDATF&=~(1<<2);
time5=0;
while((time5 rPDATF&=~(1<<3);    //停杆
rPDATF&=~(1<<2);
}
void __irq Timer5(void) //定时器
{
  rI_ISPC=BIT_TIMER5;
  timer++;
  if(timer>=50)
  {
time5++;
timer=0;
  }
}
void delayms(int i)
{
  int j;
  timer=0;
  time5=0;
  while(1)
  {
j++;
if(time5>=i)
break;
  }
}
void __irq Timer4(void)
{
rI_ISPC=BIT_TIMER4
  ;
}
void __irq Timer3(void)
{
rI_ISPC=BIT_TIMER3;
}
void __irq Timer2(void)
{
rI_ISPC=BIT_TIMER2;
}
void __irq Timer1(void)
{
   rI_ISPC=BIT_TIMER5;
}
void __irq Timer0(void)
{
   time0++;
   rI_ISPC=BIT_TIMER0;
}
void __irq ex3(void)
{
rI_ISPC=BIT_EINT3;    //清楚中断申请位，很重要
out2++;
}
void __irq ex2(void)
{
out2++;
//Printf(4,0,"out2=%d",out2);
rI_ISPC=BIT_EINT2;    //清楚中断申请位，很重要
}
void __irq ex1(void)
{
rI_ISPC=BIT_EINT1;    //清楚中断申请位，很重要
}
void __irq ex0(void)
{
  rI_ISPC=BIT_EINT0;    //清楚中断申请位，很重要
}
void __irq Uart0_RxFifoInt(void)
{
rI_ISPC=BIT_URXD0;
while(!(rUFSTAT0&0x1));
TempData1=rURXH0;
  // Uart_Printf1("我：");
  if(TempData1=='r')
{
   Uart_Printf0("n");
   Uart_Printf1("n");
}
  if(TempData1=='b')
{
   Uart_Printf0("b");
   Uart_Printf1("b");
}
if(TempData1!='r')
{
   Uart_Printf1("%c",TempData1);
   Uart_Printf0("%c",TempData1);
}
}
void __irq Uart1_RxFifoInt(void)
{
static char string[20];
static int i=0;
int j,k;
  // static char x,y;
rI_ISPC=BIT_URXD1;
while(!(rUFSTAT1&0x1));
   TempData2=rURXH1;
// WrUart0(TempData2);
if(TempData2!='')
   {
   string[i++]=TempData2;
}
   else{
      string[i]=0;
      k=i;
      i=0;
         // Uart_Printf0("%sn",string);
      //Uart_Printf0("%sn",string);
      /* if(!mystrcmp(string,"二"))
         {
         x=2,y=0;
         for(j=0;j          {
            string[j]=0;
         }
         }
      else if(!mystrcmp(string,"一"))
         {
         clear_LCD();
         x=1,y=0;
         for(j=0;j          {
            string[j]=0;
         }
         } */
      clear_LCD();
      Delay(200);
      Printf(1,0,"%sn",string);
      Uart_Printf0("%sn",string);
      }
}
/************************************************
* NAME : 44BLIB.C             *
************************************************/
#include "44b.h"
#include "44blib.h"
#include "def.h"
#include "option.h"
#include
#include
#include
#include
#include
#define STACKSIZE 0xa00 //SVC satck size(do not use user stack)
#define HEAPEND    (_ISR_STARTADDRESS-STACKSIZE-0x500) // = 0xc7ff000
//SVC Stack Area:0xc(e)7ff000-0xc(e)7ffaff
extern char Image
RW
RW
Limit[];
void *mallocPt=Image
RW
RW
Limit;
int f1;
/************************* SYSTEM *************************/
void Delay(int time)
{
int i;
int delayLoopCount=400;
for(;time>0;time--)
for(i=0;i }
void delay(int time)
{
  for(;time>0;time--);
}
void interrupt_Init(void)
{
//外部中断设置
rPCONG |= 0xffff;                         //引脚定义为外部中断引脚，选择引脚功能。
   rPUPG=0;
   rEXTINT =0x22222222;//外部中断控制寄存器
   rEXTINTPND=0X0;
   rINTPND=0X0;
//中断服务程序地址设置
   pISR_EINT4567=(int)ex4567;
   pISR_EINT3=(int)ex3;
   pISR_EINT2=(int)ex2;
   pISR_EINT1=(int)ex1;
   pISR_EINT0=(int)ex0;
   pISR_TIMER5=(unsigned)Timer5;//5做定时器用，其他四个做pwm
   pISR_TIMER4=(unsigned)Timer4;
   pISR_TIMER3=(unsigned)Timer3;
   pISR_TIMER2=(unsigned)Timer2;
   pISR_TIMER1=(unsigned)Timer1;
   pISR_TIMER0=(unsigned)Timer0;
//  pISR_UTXD0=(unsigned)Uart0_TxFifoInt;
   pISR_URXD0=(unsigned)Uart0_RxFifoInt;
   pISR_URXD1=(unsigned)Uart1_RxFifoInt;
   // pISR_UERR01=(unsigned)Uart0_RxFifoErrorInt;
//设置E口为外部中断下降沿触发
   rPCONE=0X0aaaa;//A800
   rPUPE|=0XFF;
   rTCFG0=0X000e0e0e;//0x00000f00; //dead zone=0,pre2=0,pre1=0xf,pre0=0
   rTCFG1= 0x0111111;//0x00001000; //all interrupt,mux5=1/2,mux2=1/2,mux3=1/4,mux2=1/2,mux1=1/2,mux0=1/2
   rINTCON=0x5; //Non-vectored,IRQ enable,FIQ disable
   rINTMOD=0x0; //All=IRQ mode
   rTCON=0X0;
   rINTMSK=BIT_GLOBAL;
   //rINTMSK=~(BIT_GLOBAL+BIT_TIMER5+BIT_TIMER1+BIT_EINT4567+BIT_EINT0);
}
void pw0(float f1,char flag1)//pw0 117
{
   unsigned int j;
   j=1000/f1-1;
   rTCNTB0 = j;
   rTCMPB0 = j/2;
   rTCON&=0XFFFFFF0;
   rTCON|=0X0000002;
   rTCON^=0x000000b;
   if(flag1==1)
{
   rPDATC|=(1<<1);
   Uart_Printf0("n电机0正转频率=%4.3fkn",f1);
   //display(3,"1 正频率",f1);
   }
   if(flag1==0)
{
   rPDATC&=~(1<<1);
   Uart_Printf0("n电机0反转频率=%4.3fkn",f1);
   // display(3,"1 反频率",f1);
}
}
void pw1(float f1,char flag1)
{
   unsigned int j;
   j=1000/f1-1;
   rTCNTB1 = j;
   rTCMPB1 = j/2;
   rTCON&=0XFFFF0FF;
   rTCON|=0X0000200;
   rTCON^=0x0000b00;
   if(flag1==1)
{
   rPDATC|=(1<<1);//0x0008;
   Uart_Printf0("n电机1正转频率=%4.3fk",f1);
   }
   if(flag1==0)
{
   rPDATC&=~(1<<1);;
   Uart_Printf0("n电机1反转频率=%4.3fk", f1);
}
}
void pw2(float f1,char flag1)
{
   unsigned int j;
   j=1000/f1-1;
   rTCNTB2 = j;
   rTCMPB2 = j/2;
   rTCON&=0XFFF0FFF;
   rTCON|=0X0002000;
   rTCON^=0x000b000;
   if(flag1==1)
{
   rPDATC|=(1<<2);//0x0008;
   Uart_Printf0("n电机2正转频率=%4.3fk",f1);
   Uart_Printf0("nrTCON=%xn",rTCON);
   }
   if(flag1==0)
{
   rPDATC&=~(1<<2);
   Uart_Printf0("n电机2反转频率=%4.3fk", f1);
}
}
void pw3(float f1,char flag1)
{
   unsigned int j;
   j=1000/f1-1;
   rTCNTB3 = j;
   rTCMPB3 = j/2;
   rTCON&=0XFF0FFFF;
   rTCON|=0X0020000;
   rTCON^=0x00b0000;
   if(flag1==1)
{
   rPDATC|=led1;//0x0008;
   Uart_Printf0("n电机3正转频率=%4.3fk",f1);
   }
   if(flag1==0)
{
   rPDATC&=!led_off;;
   Uart_Printf0("n电机3反转频率=%4.3fk", f1);
}
}
void pw4(float f2,char flag2)
{
unsigned int j;
j=1000/f2-1;
rTCNTB4=j;
rTCMPB4=j/2;
rTCON&=0XF0FFFFF;
rTCON|=0x0200000;
rTCON^=0X0b00000;
if(flag2==1)
{
rPDATC|=led2; Uart_Printf0("n电机4正转频率=%4.3f k",f2);}
if(flag2==0)
{
rPDATC&=!led_off; Uart_Printf0("n电机4反转频率=%4.3f k",f2);}
}
void timems(float  time)//单位是k
{
rTCNTB5 =time*1000-1;
rTCON&=0X0FFFFFF;
rTCON|=0X2000000;
rTCON^=0x7000000;
}
void timeoff(void)
{
   rTCON&=0X0ffffff;
}
void pw0off(void)
{
   rTCON&=0Xffffff0;
   Uart_Printf0("n电机0停转n");
}
void pw1off(void)
{
   rTCON&=0Xffff0ff;
   Uart_Printf0("n电机1停转n");
}
void pw2off(void)
{
   rTCON&=0Xfff0fff;
   Uart_Printf0("n电机2停转n");
}
void pw3off(void)
{
   rTCON&=0Xff0ffff;
   Uart_Printf0("n电机3停转n");
}
void pw4off(void)
{
   rTCON&=0Xf0fffff;
   Uart_Printf0("n电机3停转n");
}
/************************* PORTS ****************************/
void Port_Init(void)
{
rPCONA=0x1ff;
rPDATB=0x3ff;
rPCONB=0x3ff;
rPDATC=0xff;//0xffff; //All I/O Is High
rPCONC=0x0f055555;//4,5，6,7为输出lcd，pc0到pc3可用
rPUPC=0x3000; //PULL UP RESISTOR should be enabled to I/O
rPDATD=0xff;//全部输出
rPCOND= 0x55;
rPUPD = 0x0;//允许上拉电阻
rPDATE=0x1ff; //All I/O Is High  PE8输出
rPCONE=0x20428; //All NC is INPUT
rPUPE=0x06; //PE8 do not have programmable pull-up resistor.
/*
rPDATF=0x1ff; //All I/O Is High
rPCONF=0x20900a;//All NC is INPUT
rPUPF=0x163;*/
rPDATF=0X1ff;
rPCONF=0X92555;
rPUPF=0X0;
rPDATG=0xff;
rPCONG=0xffff;
rPUPG=0x0;  //should be enabled
rSPUCR=0x7;  //D15-D0 pull-up disable
//rEXTINT=0x0; //All EXTINT0-7 Low level interrupt
}
/************************* UART ****************************/
//static int whichUart=0;
void Uart_Init(int mclk,int baud)
{
int i;
if(mclk==0)
mclk=MCLK;
rUFCON0=0x0; // rUFCON0=(2<<6)|(1<<4)|(6)|0;    //FIFO disable
rUFCON1=0x0;
rUMCON0=0x0;
rUMCON1=0x0;
//UART0
rULCON0=0x3;    //Normal,No parity,1 stop,8 bit
rUCON0=0x245; //rx=edge,tx=level,disable timeout int.,enable rx error int.,normal,interrupt or polling
rUBRDIV0=( (int)(mclk/16./baud + 0.5) -1 );
//UART1
rULCON1=0x3;
rUCON1=0x245;
rUBRDIV1=( (int)(mclk/16./baud + 0.5) -1 );
for(i=0;i<100;i++);
}
/*void Uart_Select(int ch)
{
whichUart=ch;
}*/
char Uart_Getch0(void)
{
while(!(rUTRSTAT0 & 0x1)); //Receive data ready
return RdURXH0();
}
char Uart_Getch1(void)
{
while(!(rUTRSTAT1 & 0x1)); //Receive data ready
return rURXH1;
}
void Uart_SendByte0(int data)
{
if(data=='n')
{
   while(!(rUTRSTAT0 & 0x2));
   Delay(10); //because the slow response of hyper_terminal
   WrUTXH0('r');
}
while(!(rUTRSTAT0 & 0x2)); //Wait until THR is empty.
Delay(10);
WrUTXH0(data);
}
void Uart_SendByte1(int data)
{
if(data=='n')
{
      while(!(rUTRSTAT1 & 0x2));
   Delay(10); //because the slow response of hyper_terminal
   rUTXH1='r';
}
while(!(rUTRSTAT1 & 0x2));  //Wait until THR is empty.
Delay(10);
rUTXH1=data;
}
unsigned char ReadUart0(void)
{
unsigned char ReadData;
while((rUTRSTAT0 & 0x5) == 0x0) //等待接收缓冲数据准备好
//if(rUTRSTAT0&0X1==0X1)
{
  ReadData = rURXH0;
} //读取字符
  return ReadData;
}
unsigned char ReadUart1(void)
{
unsigned char ReadData;
while((rUTRSTAT1 & 0x1) == 0x0) //等待接收缓冲数据准备好
//if(rUTRSTAT1&0X01==0X1)
{
  ReadData = rURXH1; } //读取字符
  return ReadData;
}
/*unsigned char ReadUart(void)
{
unsigned char ReadData
while(!((rUTRSTAT0&0X01)|(rUTRSTAT1&0X01)))
}*/
void WrUart0(unsigned char WriteData)
{
if(WriteData=='n')    //如果是换行符，则回车
{
   while(!(rUTRSTAT0 & 0x2));    //等待发送缓冲为空
   Delay(10);       //延时，超级终端显示速度慢
   rUTXH0 = 'n';
}
while(!(rUTRSTAT0 & 0x2));       //等待
Delay(10);
rUTXH0 = WriteData;
}
void WrUart1(unsigned char WriteData)
{
if(WriteData=='r')    //如果是换行符，则回车
{
   while(!(rUTRSTAT1 & 0x2));    //等待发送缓冲为空
   Delay(10);       //延时，超级终端显示速度慢
   rUTXH1 = 'n';
}
while(!(rUTRSTAT1 & 0x2));       //等待
Delay(10);
rUTXH1 = WriteData;
}
void Uart_SendString0(char *pt)
{
while(*pt)
Uart_SendByte0(*pt++);
}
void Uart_SendString1(char *pt)
{
while(*pt)
Uart_SendByte1(*pt++);
}
//if you don't use vsprintf(), the code size is reduced very much.
void Uart_Printf0(char *fmt,...)
{
va_list ap;
char string[256];
va_start(ap,fmt);
vsprintf(string,fmt,ap);
Uart_SendString0(string);
WrUart0('');
va_end(ap);
}
void Uart_Printf1(char *fmt,...)
{
va_list ap;
char string[256];
va_start(ap,fmt);
vsprintf(string,fmt,ap);
Uart_SendString1(string);
WrUart1('');
va_end(ap);
}
char *String(char string)
{
static char string1[1];
static char *string2=string1;
static int i=0;
if(string!='')
   *(string2+i++)=string;
      *(string2+i)='';
      i=0;
   return string2;
}
/************************* ledblink *****************************/
void Led_Display(int LedStatus)
{
//PC1,PC2,PC3 High available
rPDATC=(rPDATC & 0x1f1) | ((LedStatus & 0x7)<<1);
}
/************************* beep *********************************/
void Beep(int BeepStatus)
{
//PE5 Low available
if (BeepStatus==0)
  rPDATE=rPDATE&0x1df;
else
  rPDATE=rPDATE|0x020;
}
/************************* Timer ********************************/
void Timer_Start(int divider)  //0:16us,1:32us 2:64us 3:128us
{
rWTCON=((MCLK/1000000-1)<<8)|(divider<<3);
rWTDAT=0xffff;
rWTCNT=0xffff;
// 1/16/(65+1),nRESET & interrupt  disable
rWTCON=((MCLK/1000000-1)<<8)|(divider<<3)|(1<<5);
}
int Timer_Stop(void)
{
// int i;
rWTCON=((MCLK/1000000-1)<<8);
return (0xffff-rWTCNT);
}
/************************* PLL ********************************/
void ChangePllValue(int mdiv,int pdiv,int sdiv)
{
rPLLCON=(mdiv<<12)|(pdiv<<4)|sdiv;
}
/************************* General Library **********************/
void * malloc(unsigned nbyte)
/*Very simple; Use malloc() & free() like Stack*/
//void *mallocPt=Image
RW
RW
Limit;
{
void *returnPt=mallocPt;
mallocPt= (int *)mallocPt+nbyte/4+((nbyte%4)>0); //to align 4byte
if( (int)mallocPt > HEAPEND )
{
mallocPt=returnPt;
return NULL;
}
return returnPt;
}
void free(void *pt)
{
mallocPt=pt;
}
void Cache_Flush(void)
{
int i,saveSyscfg;
saveSyscfg=rSYSCFG;
rSYSCFG=SYSCFG_0KB;
for(i=0x10004000;i<0x10004800;i+=16)
{
*((int *)i)=0x0;
}
rSYSCFG=saveSyscfg;
}
/************************* LCD 串口方式显示*************************/
//串行发送一字节数据
unsigned char  AC_TABLE[]={
0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,    //第一行汉字位置
0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,    //第二行汉字位置
0x88,0x89,0x8a,0x8b,0x8c,0x8d,0x8e,0x8f,    //第三行汉字位置
0x98,0x99,0x9a,0x9b,0x9c,0x9d,0x9e,0x9f,    //第四行汉字位置
};
void    SendByte(unsigned    char    dat)
{
   unsigned    char    i;
   for(i=0;i<8;i++)
         {
            rPDATC&=~(1<<7);//E_CLK=0;
            if(dat&0x80)
            rPDATC|=(1<<5); //RW_SID=1;
            else  rPDATC&=~(1<<5);//RW_SID=0;
            rPDATC|=(1<<7); //E_CLK=1;
            dat=dat<<1;
                        }
}
//写控制命令
void    SendCMD(unsigned    char    dat)
{
            SendByte(0xF8);//11111,00,0    RW=0,RS=0    同步标志
            SendByte(dat&0xF0);//高四位
            SendByte((dat&0x0F)<<4);//低四位
            Delay(10);
}
//写显示数据或单字节字符
void    SendDat(unsigned    char    dat)
{
            SendByte(0xFA);//11111,01,0    RW=0,RS=1
            SendByte(dat&0xF0);//高四位
            SendByte((dat&0x0F)<<4);//低四位
}
void init_LCD(void)
{
delay(50);
rPDATC&=~(1<<3); //RST=0;
Delay(10);
rPDATC|=(1<<3); //RST=1;    //复位
SendCMD(0x30); //模式8位，基本命令
SendCMD(0x0c);  //整体显示开，光标显示开，光标反白
SendCMD(0x01);  //清除显示
SendCMD(0x02);
SendCMD(0x80);
}
void clear_LCD(void)
{
SendCMD(0x01);
SendCMD(0x34);
SendCMD(0x30);
}
void set_XY(unsigned char xpos,unsigned char ypos)
{
switch(ypos)
{
case 1:
SendCMD(0X80|xpos);break;
case 2:
SendCMD(0X90|xpos);break;
case 3:
SendCMD(0X88|xpos);break;
case 4:
SendCMD(0X98|xpos);break;
default:break;
}
}
/*void display1(unsigned char x,unsigned y,char *str)
{
unsigned char lcd_temp;
set_XY(y,x);
lcd_temp=*str;
while(lcd_temp != 0x00)
{
      SendDat(lcd_temp);
      lcd_temp=*(++str);
}
}*/
void    disasc(unsigned char x,unsigned char y,unsigned char dat)
{
      set_XY(y,x);
      SendDat(dat);
}
void disstr(unsigned char x,unsigned char y,char *str)
{
unsigned char lcd_temp;
set_XY(y,x);
lcd_temp=*str;
while(lcd_temp != 0x00)
{
      SendDat(lcd_temp);
      lcd_temp=*(++str);
}
}
void disvar(unsigned char x,unsigned char y,float data)
{
   int i,j11=0;
   unsigned char strTemp[7];
   int uiData;
   uiData=data*10;
   set_XY(y,x);
strTemp[0] = (unsigned char)((uiData % 10) + 0x30);
strTemp[1]=0x2e;
strTemp[2] = (unsigned char)(((uiData / 10) % 10) + 0x30);
strTemp[3] = (unsigned char)(((uiData / 100) % 10) + 0x30);
strTemp[4] = (unsigned char)(((uiData / 1000) % 10) + 0x30);
strTemp[5] = (unsigned char)(((uiData / 10000)% 10) + 0x30);
strTemp[6] = (unsigned char)(((uiData / 100000)% 10) + 0x30);
while(uiData/10)//显示位数
   {
   uiData/=10;
   ++j11;
   }
   for(i=j11+1;i>=0;i--)
            SendDat(strTemp[i]);
j11=0;
delay(50);
}
void  display(unsigned char x,char *str,float data)
{
   unsigned char lcd_temp;
   int i,j11=0;
   unsigned char strTemp[7];
   int y=0;
   int uiData;
   uiData=data*10;
   set_XY(y,x);
lcd_temp=*str;
while(lcd_temp != 0x00)
{
      SendDat(lcd_temp);
      lcd_temp=*(++str);
}
strTemp[0] = (unsigned char)((uiData % 10) + 0x30);
strTemp[1]=0x2e;
strTemp[2] = (unsigned char)(((uiData / 10) % 10) + 0x30);
strTemp[3] = (unsigned char)(((uiData / 100) % 10) + 0x30);
strTemp[4] = (unsigned char)(((uiData / 1000) % 10) + 0x30);
strTemp[5] = (unsigned char)(((uiData / 10000)% 10) + 0x30);
strTemp[6] = (unsigned char)(((uiData / 100000)% 10) + 0x30);
while(uiData/10)//显示位数
{
uiData/=10;
++j11;
}
   for(i=j11+1;i>=0;i--)
            SendDat(strTemp[i]);
j11=0;
delay(50);
}
void Printf(unsigned char x,unsigned char y,char *fmt,...)
{
va_list ap;
char string[256];
va_start(ap,fmt);
vsprintf(string,fmt,ap);
disstr(x,y,string);
va_end(ap);
}
void printflcd(char *fmt,...)
{  unsigned char lcd_temp;
va_list ap;
char string[256];
va_start(ap,fmt);
vsprintf(string,fmt,ap);
lcd_temp=*fmt;
while(lcd_temp != 0x00)
{
      SendDat(lcd_temp);
      lcd_temp=*(++fmt);
}
va_end(ap);
}
int mystrcmp(char* a, char* b)
{
  char c;
  for(;(*a!='')&&(*b!='');a++,b++)
  {
if(*a==*b)
continue;
else
break;
}
if(*a=='')
return c=0;
else
return c=1;
}
/************************* 电机 ****************************/

原作者：liujia2100

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