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lcd_window.LST
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C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 1
C51 COMPILER V9.00, COMPILATION OF MODULE LCD_WINDOW
OBJECT MODULE PLACED IN lcd_window.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE lcd_window.c LARGE OPTIMIZE(8,SPEED) BROWSE DEBUG OBJECTEXTEND TABS(2)
line level source
1 #include "STC12C5A.h"
2 #include "uart.h"
3 #include "lcd_window.h"
4 #include "main.h"
5 #define uchar unsigned char
6 #define FALSE -1
7 #define TRUE 0
8
9
10 int Lcd_control(char *cmd)//璅∪�霈曄蔭
11 {
12 1 //uchar receive_buf[4];//LCD餈��唳buf
13 1 uchar *cmdbuf=(uchar *)cmd;
14 1 uchar end_frame[]={0xff,0xff,0xff};//LCD�葷撠暸
15 1 uchar len=0;
16 1
17 1 while(*cmdbuf!='\0')//霈∠�摮泵銝芣
18 1 {
19 2 cmdbuf++;
20 2 len++;
21 2 }
22 1
23 1 UART2_Send((uchar *)cmd,len);//�CD�批�誘
24 1 delayms(10);
25 1 UART2_Send(end_frame,3);//�CD撣批偏
26 1
27 1 return TRUE;
28 1
29 1 }
30
31 /******************************************************************
32 �嚗�銝銝�32雿�游���dat頧砌蛹摮泵銝莎�瘥���1234頧砌蛹"1234"
33 �嚗at:敺蓮�ong����
34 str:��摮泵�啁�����頧祆��摮�銝脫�典銝�
35 餈�嚗蓮�Ｗ���蝚虫葡�踹漲
36 ******************************************************************/
37 unsigned char int2str(int dat,unsigned char *str) // �踵�頧祆銝箏�蝚虫葡嚗��潔蛹頧祆�
-�摮泵銝脤摨�
38 {
39 1 signed char i=0;
40 1 unsigned char len = 0;
41 1 unsigned char buf[6]={0}; // �踵�唳�憭批�4294967295嚗蓮ASCII���10+1=11摮�
42 1 if (dat < 0)// 憒�銝箄��堆�擐���撖孵潘�撟嗆溶����
43 1 {
44 2 dat = -dat;
45 2 *str++ = '-';
46 2 len++;
47 2 }
48 1 do
49 1 {// 雿��典�擃��典�憿箏���
50 2 buf[i++] = dat % 10+0x30;// C霂剛�銝剜蝏��摰�0撘憪�
51 2 dat /= 10;
52 2 } while (dat > 0);
53 1 len += i; // i����澆停�舀���蝚衣�銝芣
54 1 while (i-- > 0) // 擃��典�雿��典�憿箏���
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 2
55 1 {
56 2 *str++ = buf[i] ;
57 2 }
58 1 *str = 0; // 瘛餃�摮泵銝脩��泵�嫣噶雿輻KEIL�芸蒂��蝚虫葡憭��賣憭�
-�
59 1 return len; // 餈�摮泵銝脤摨�
60 1 }
61
62
63 int Lcd_set_val(char *cmd, int val)//璅∪�霈曄蔭
64 {
65 1 //uchar receive_buf[4];
66 1 uchar val_buf[5]={0};//int頧柚har��摮�
67 1 uchar val_len=0;//頧祆���啣���撠���
68 1 uchar *cmd_buf = (uchar *)cmd;
69 1 uchar end_frame[]={0xff,0xff,0xff};//撣批偏
70 1 uchar cmd_len=0;
71 1 val_len = int2str(val,val_buf);//�游�頧砍�蝚血�
72 1
73 1 while(*cmd_buf!='\0')
74 1 {
75 2 cmd_buf++;
76 2 cmd_len++;
77 2 }
78 1
79 1 UART2_Send((uchar *)cmd,cmd_len);//�CD�批�誘
80 1
81 1 UART2_Send(val_buf,val_len);//�摮�
82 1
83 1 UART2_Send(end_frame,3);//撣批偏��
84 1
85 1 return TRUE;
86 1
87 1 }
88
89
90 //tou_led.txt="V12.00.02"
91 //霂乩蛹�芸蒂皜uf�郊撉�
92 int Lcd_set_txt(char *cmd,unsigned short *real_data)//璅∪�霈曄蔭
93 {
94 1
95 1 uchar *cmd_buf = (uchar *)cmd;
96 1 uchar clear_data=50;
97 1 uchar end_frame[]={0xff,0xff,0xff};//撣批偏
98 1 uchar disbuf[11]={0};
99 1 uchar cmd_len=0;
100 1
101 1 disbuf[0]='"';
102 1 disbuf[1]='V';
103 1 if((*(real_data)>>8)>9)//憒�銝餌��砍憭找�9
104 1 {
105 2 disbuf[2]=(*(real_data)>>8)/10+48;
106 2 disbuf[3]=(*(real_data)>>8)%10+48;
107 2 }
108 1 else
109 1 {
110 2 disbuf[2]= '0';
111 2 disbuf[3]=(*(real_data)>>8)+48;
112 2 }
113 1 disbuf[4]='.';
114 1
115 1 if((*(real_data)&0x00ff)>9)//憒�銝餌��砍憭找�9
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 3
116 1 {
117 2 disbuf[5]=(*(real_data)&0x00ff)/10+48;
118 2 disbuf[6]=(*(real_data)&0x00ff)%10+48;
119 2 }
120 1 else
121 1 {
122 2 disbuf[5]= '0';
123 2 disbuf[6]=(*(real_data)&0x00ff)+48;
124 2 }
125 1
126 1 disbuf[7]='.';
127 1
128 1 if((*(real_data+1)>>8)>9)//憒�銝餌��砍憭找�9
129 1 {
130 2 disbuf[8]=(*(real_data+1)>>8)/10+48;
131 2 disbuf[9]=(*(real_data+1)>>8)%10+48;
132 2 }
133 1 else
134 1 {
135 2 disbuf[8]= '0';
136 2 disbuf[9]=(*(real_data+1)>>8)+48;
137 2 }
138 1 disbuf[10]='"';
139 1
140 1 while(*cmd_buf!='\0')
141 1 {
142 2 cmd_buf++;
143 2 cmd_len++;
144 2 }
145 1
146 1 UART2_Send((uchar *)cmd,cmd_len);//�CD�批�誘
147 1
148 1 if(*(real_data)==0 && *(real_data+1)==0)
149 1 UART2_Send((uchar *)"\"no device\"",11);
150 1 else
151 1 UART2_Send(disbuf,11);//��
152 1
153 1 UART2_Send(end_frame,3);//撣批偏��
154 1
155 1 while(clear_data--)
156 1 {
157 2 *real_data=0x0000;
158 2 real_data++;
159 2 }
160 1 return TRUE;
161 1
162 1 }
163
164 int ultrasonic_window(unsigned short *real_data)// 隡��函����桀��
165 {
166 1 uchar clear_data=50;
167 1
168 1 send_data(0x81,0x80,27);
169 1 delayms(30);
170 1 Lcd_set_val("d0.val=",(*(real_data+chaosheng1) >> 8)*10);
171 1 Lcd_set_val("d2.val=",(*(real_data+chaosheng1) & 0x00ff)*10);
172 1 Lcd_set_val("d4.val=",(*(real_data+chaosheng2) >>8)*10);
173 1 Lcd_set_val("d6.val=",(*(real_data+chaosheng2) & 0x00ff)*10);
174 1 Lcd_set_val("d8.val=",(*(real_data+chaosheng3) >> 8)*10);
175 1 Lcd_set_val("da.val=",(*(real_data+chaosheng3) & 0x00ff)*10);
176 1 Lcd_set_val("dc.val=",(*(real_data+chaosheng4) >> 8)*10);
177 1 Lcd_set_val("de.val=",(*(real_data+chaosheng4) & 0x00ff)*10);
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 4
178 1 Lcd_set_val("e0.val=",(*(real_data+chaosheng5) >> 8)*10);
179 1 Lcd_set_val("e2.val=",(*(real_data+chaosheng5) & 0x00ff)*10);
180 1 Lcd_set_val("e4.val=",(*(real_data+chaosheng6) >> 8)*10);
181 1 Lcd_set_val("e8.val=",(*(real_data+chaosheng6) & 0x00ff)*10);
182 1 Lcd_set_val("hongwaizuo.val=",(*(real_data+hongwai2) >> 8)*2);
183 1 Lcd_set_val("hongwaiyou.val=",(*(real_data+hongwai2) & 0x00ff)*2);
184 1
185 1 //霂餃����
186 1 send_data(0x81,0xCA,2);
187 1 delayms(30);
188 1 Lcd_set_txt("val1.txt=",real_data);//0�瑟
189 1 send_data(0x81,0xCC,2);
190 1 delayms(30);
191 1 Lcd_set_txt("val2.txt=",real_data);//1�瑟
192 1 send_data(0x81,0xCE,2);
193 1 delayms(30);
194 1 Lcd_set_txt("val3.txt=",real_data);//2�瑟
195 1 send_data(0x81,0xD0,2);
196 1 delayms(30);
197 1 Lcd_set_txt("val4.txt=",real_data);//3�瑟
198 1
199 1 while(clear_data--)
200 1 {
201 2 *real_data=0x0000;
202 2 real_data++;
203 2 }
204 1
205 1 if(lcd_status==Return_button)
206 1 {
207 2 Lcd_control("page main");
208 2 lcd_status = main_window;
209 2 return -1;//憒��餈�靽∪
210 2 }
211 1 return 0;//甇�虜�瑟�唳
212 1 }
213 int ultrasonic_window1(unsigned short *real_data)// 隡��函����桀��
214 {
215 1 uchar clear_data=50;
216 1
217 1 send_data(0x81,0x8b,16);
218 1 delayms(30);
219 1 Lcd_set_val("d0.val=",(*(real_data) >> 8)*10);
220 1 Lcd_set_val("d1.val=",(*(real_data) & 0x00ff)*10);
221 1 Lcd_set_val("d2.val=",(*(real_data+1) >>8)*10);
222 1 Lcd_set_val("d3.val=",(*(real_data+1) & 0x00ff)*10);
223 1 Lcd_set_val("d4.val=",(*(real_data+2) >> 8)*10);
224 1 Lcd_set_val("d5.val=",(*(real_data+2) & 0x00ff)*10);
225 1 Lcd_set_val("d6.val=",(*(real_data+3) >> 8)*10);
226 1 Lcd_set_val("d7.val=",(*(real_data+3) & 0x00ff)*10);
227 1 Lcd_set_val("d8.val=",(*(real_data+4) >> 8)*10);
228 1 Lcd_set_val("d9.val=",(*(real_data+4) & 0x00ff)*10);
229 1 Lcd_set_val("d10.val=",(*(real_data+5) >> 8)*10);
230 1 //Lcd_set_val("e8.val=",(*(real_data+5) & 0x00ff)*10);
231 1 Lcd_set_val("hongwaizuo.val=",(*(real_data+6) & 0x00ff)*2);
232 1 Lcd_set_val("hongwaiyou.val=",(*(real_data+7) & 0x00ff)*2);
233 1
234 1 /*/霂餃����
235 1 send_data(0x81,0xCA,2);
236 1 delayms(30);
237 1 Lcd_set_txt("val1.txt=",real_data);//0�瑟
238 1 send_data(0x81,0xCC,2);
239 1 delayms(30);
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 5
240 1 Lcd_set_txt("val2.txt=",real_data);//1�瑟
241 1 send_data(0x81,0xCE,2);
242 1 delayms(30);
243 1 Lcd_set_txt("val3.txt=",real_data);//2�瑟
244 1 send_data(0x81,0xD0,2);
245 1 delayms(30);
246 1 Lcd_set_txt("val4.txt=",real_data);//3�瑟
247 1 */
248 1
249 1 //頞ㄟ瘜�1
250 1 send_data(0x81,0xcc,3);
251 1 delayms(30);
252 1 Lcd_set_txt("chaosheng1.txt=",real_data);
253 1 //頞ㄟ瘜�2
254 1 send_data(0x81,0xcf,3);
255 1 delayms(30);
256 1 Lcd_set_txt("chaosheng2.txt=",real_data);
257 1
258 1 while(clear_data--)
259 1 {
260 2 *real_data=0x0000;
261 2 real_data++;
262 2 }
263 1
264 1 if(lcd_status==Return_button1)
265 1 {
266 2 Lcd_control("page main1");
267 2 lcd_status = main_window;
268 2 return -1;//憒��餈�靽∪
269 2 }
270 1 return 0;//甇�虜�瑟�唳
271 1 }
272
273
274
275 int version_window(unsigned short *real_data)// 隡��函����桀��
276 {
277 1 TH1 = 0xf7;
278 1 TL1 = TH1; //38400瘜Ｙ��
279 1 delayms(30);
280 1 //�菜�蝞∠���
281 1 send_data(0x05,0x78,3);
282 1 delayms(30);
283 1 Lcd_set_txt("dianyuanguanli.txt=",real_data);
284 1 //�菜��
285 1 send_data(0x01,0x78,3);
286 1 delayms(30);
287 1 Lcd_set_txt("tou_duoji.txt=",real_data);
288 1 //���唾蔭
289 1 send_data(0x02,0x78,3);
290 1 delayms(30);
291 1 Lcd_set_txt("danyoulun.txt=",real_data);
292 1 //撌行�
293 1 send_data(0x06,0x78,3);
294 1 delayms(30);
295 1 Lcd_set_txt("zuoshou.txt=",real_data);
296 1 //�單�
297 1 send_data(0x07,0x78,3);
298 1 delayms(30);
299 1 Lcd_set_txt("youshou.txt=",real_data);
300 1 //憭游�貊��
301 1 send_data(0x03,0x78,3);
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 6
302 1 delayms(30);
303 1 Lcd_set_txt("tou_led.txt=",real_data);
304 1
305 1 TH1 = 0xFD;
306 1 TL1 = TH1; //115200瘜Ｙ��
307 1 //銝餅��
308 1 send_data(0x81,0x78,3);
309 1 delayms(30);
310 1 Lcd_set_txt("zhukong.txt=",real_data);
311 1 //頞捐撣�
312 1 send_data(0x81,0xB1,3);
313 1 delayms(30);
314 1 Lcd_set_txt("chaokuandai.txt=",real_data);
315 1 //撌西蔭
316 1 send_data(0x81,0xB4,3);
317 1 delayms(30);
318 1 Lcd_set_txt("zuolun.txt=",real_data);
319 1 //�唾蔭
320 1 send_data(0x81,0xB7,3);
321 1 delayms(30);
322 1 Lcd_set_txt("youlun.txt=",real_data);
323 1
324 1 if(lcd_status==Return_button)
325 1 {
326 2 Lcd_control("page main");
327 2 lcd_status = main_window;
328 2 return -1;//憒��餈�靽∪
329 2 }
330 1
331 1 return 0;//甇�虜�瑟�唳
332 1 }
333 int version_window1(unsigned short *real_data)// 隡��函����桀��
334 {
335 1 /*TH1 = 0xf7;
336 1 TL1 = TH1; //38400瘜Ｙ��
337 1 delayms(30);
338 1
339 1 //��撌西蔭
340 1 send_data(0x01,0x78,3);
341 1 delayms(30);
342 1 Lcd_set_txt("danzuolun.txt=",real_data);
343 1 //���唾蔭
344 1 send_data(0x02,0x78,3);
345 1 delayms(30);
346 1 Lcd_set_txt("danyoulun.txt=",real_data);*/
347 1
348 1 //銝餅��
349 1 send_data(0x81,0x78,3);
350 1 delayms(30);
351 1 Lcd_set_txt("zhukong.txt=",real_data);
352 1 //頞捐撣�
353 1 send_data(0x81,0xc0,3);
354 1 delayms(30);
355 1 Lcd_set_txt("chaokuandai.txt=",real_data);
356 1 //撌西蔭
357 1 send_data(0x81,0xc6,3);
358 1 delayms(30);
359 1 Lcd_set_txt("zuolun.txt=",real_data);
360 1 //�唾蔭
361 1 send_data(0x81,0xc9,3);
362 1 delayms(30);
363 1 Lcd_set_txt("youlun.txt=",real_data);
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 7
364 1 //�菜�蝞∠�
365 1 send_data(0x81,0xc3,3);
366 1 delayms(30);
367 1 Lcd_set_txt("dianyuanguanli.txt=",real_data);
368 1 //頞ㄟ瘜�1
369 1 send_data(0x81,0xcc,3);
370 1 delayms(30);
371 1 Lcd_set_txt("chaosheng1.txt=",real_data);
372 1 //頞ㄟ瘜�2
373 1 send_data(0x81,0xcf,3);
374 1 delayms(30);
375 1 Lcd_set_txt("chaosheng2.txt=",real_data);
376 1
377 1 //�菜��
378 1 send_data(0x82,0x70,3);
379 1 delayms(30);
380 1 Lcd_set_txt("tou_duoji.txt=",real_data);
381 1 delayms(30);
382 1
383 1 //撽勗�券
384 1 if(lcd_status==feng_de_kong)//憌���
385 1 {
386 2 main_board_single_write(0x0f,0x047f);//銝餅�踹���
387 2 delayms(30);
388 2 main_board_single_write(0x09,0x5a5a);//�flash
389 2 delayms(200);
390 2 main_board_single_write(0x5a,0x5555);//�銝餅��
391 2 delayms(30);
392 2 qu_dong_qi=1;
393 2 lcd_status=0;
394 2 }
395 1 if(lcd_status==yi_ban_qudong)//銝��3隞�店��
396 1 {
397 2 main_board_single_write(0x0f,0x007f);//銝餅�踹���
398 2 delayms(30);
399 2 main_board_single_write(0x09,0x5a5a);//�flash
400 2 delayms(200);
401 2 main_board_single_write(0x5a,0x5555);//�銝餅��
402 2 delayms(30);
403 2 qu_dong_qi=0;
404 2 lcd_status=0;
405 2 }
406 1 if(lcd_status==Return_button1)
407 1 {
408 2 Lcd_control("page main1");
409 2 lcd_status = main_window;
410 2 return -1;//憒��餈�靽∪
411 2 }
412 1
413 1 return 0;//甇�虜�瑟�唳
414 1 }
415
416 int motor_ctrl_window(unsigned short *real_data)//�菜�批蝒
417 {
418 1
419 1 uchar turn_speed = 10;
420 1 send_data(0x01,0x7e,2);
421 1 delayms(30);
422 1 Lcd_set_val("hbianmaqiz.val=", (int)(*(real_data)));
423 1 delayms(30);
424 1 Lcd_set_val("hbiaodingz.val=", (int)(*(real_data+1)));
425 1 *(real_data)=0;
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 8
426 1 *(real_data+1)=0;
427 1
428 1 send_data(0x06,0x7e,2);
429 1 delayms(30);
430 1 Lcd_set_val("zbianmaqiz.val=", (int)(*(real_data)));
431 1 delayms(30);
432 1 Lcd_set_val("zbiaodingz.val=", (int)(*(real_data+1)));
433 1 *(real_data)=0;
434 1 *(real_data+1)=0;
435 1
436 1 send_data(0x07,0x7e,2);
437 1 delayms(30);
438 1 Lcd_set_val("ybianmaqiz.val=", (int)(*(real_data)));
439 1 delayms(30);
440 1 Lcd_set_val("ybiaodingz.val=", (int)(*(real_data+1)));
441 1 *(real_data)=0;
442 1 *(real_data+1)=0;
443 1 //*憭湧�批�典�
444 1 if(lcd_status==hbiaoding)//憭湧��璉瘚�
445 1 {
446 2 motor_contrl_send(0x01,0x05,0,0);
447 2 delayms(30);
448 2 motor_contrl_send(0x01,0x05,0,0);
449 2 delayms(30);
450 2 motor_contrl_send(0x01,0x00,0,0);
451 2 }
452 1 if(lcd_status==hzuo)//憭湧甇�蓮
453 1 {
454 2 motor_contrl_send(0x01,0x01,turn_speed,0);
455 2 }
456 1 if(lcd_status==hyou)//憭湧�蓮
457 1 {
458 2 motor_contrl_send(0x01,0x02,turn_speed,0);
459 2 }
460 1 if(lcd_status==hzhong)//憭湧甇�葉
461 1 {
462 2 motor_contrl_send( 0x01,0x03,turn_speed,180);
463 2 delayms(2000);
464 2 motor_contrl_send( 0x01,0x00,0,0);
465 2 }//*/
466 1
467 1 //撌行��批�典�
468 1 if(lcd_status==zbiaoding)//撌行���璉瘚�
469 1 {
470 2 motor_contrl_send( 0x06,0x05,0,0);
471 2 delayms(30);
472 2 motor_contrl_send( 0x06,0x05,0,0);
473 2 delayms(30);
474 2 motor_contrl_send( 0x06,0x00,0,0);//��箸�摰��
475 2 }
476 1 if(lcd_status==zzuo)//撌行�甇�蓮
477 1 {
478 2 motor_contrl_send( 0x06,0x01,7,0);
479 2 }
480 1 if(lcd_status==zyou)//撌行��蓮
481 1 {
482 2 motor_contrl_send( 0x06,0x02,7,0);
483 2 }
484 1 if(lcd_status==zzhong)//撌行�甇�葉
485 1 {
486 2 motor_contrl_send( 0x06,0x03,7,180);
487 2 delayms(2000);
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 9
488 2 motor_contrl_send( 0x06,0x00,0,0);
489 2 }
490 1
491 1 //*�單��批�典�
492 1 if(lcd_status==ybiaoding)//撌行���璉瘚�
493 1 {
494 2 motor_contrl_send( 0x07,0x05,0,0);
495 2 delayms(30);
496 2 motor_contrl_send( 0x07,0x05,0,0);
497 2 delayms(30);
498 2 motor_contrl_send( 0x07,0x00,0,0);//��箸�摰��
499 2 }
500 1 if(lcd_status==yzuo)//撌行�甇�蓮
501 1 {
502 2 ////printf("yzuo\n");
503 2 motor_contrl_send( 0x07,0x01,7,0);
504 2 }
505 1 if(lcd_status==yyou)//撌行��蓮
506 1 {
507 2 ////printf("yyou\n");
508 2 motor_contrl_send( 0x07,0x02,7,0);
509 2 }
510 1 if(lcd_status==yzhong)//撌行�甇�葉
511 1 {
512 2 ////printf("yzhong\n");
513 2 motor_contrl_send( 0x07,0x03,7,180);
514 2 delayms(2000);
515 2 motor_contrl_send( 0x07,0x00,0,0);
516 2 }
517 1
518 1 //LED�舀�批�典�
519 1 if(lcd_status==led00)
520 1 {
521 2 //printf("led00\n");
522 2 led_contrl_send( 0x03,0,0,100);
523 2 }
524 1 if(lcd_status==led01)
525 1 {
526 2 //printf("led01\n");
527 2 led_contrl_send( 0x03,0,35,100);
528 2 }
529 1 if(lcd_status==led10)
530 1 {
531 2 //printf("led10\n");
532 2 led_contrl_send( 0x03,35,0,100);
533 2 }
534 1 if(lcd_status==led11)
535 1 {
536 2 //printf("led11\n");
537 2 led_contrl_send( 0x03,35,35,100);
538 2 }
539 1
540 1 //餈賒�批�典�
541 1 if(lcd_status==alianxu1)
542 1 {
543 2 //printf("alianxu1\n");
544 2 while(1)
545 2 {
546 3 motor_contrl_send( 0x01,0x01,9,0);//憭湧甇�蓮
547 3 delayms(30);
548 3 motor_contrl_send( 0x06,0x01,7,0);//撌行�甇�蓮
549 3 delayms(30);
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 10
550 3 motor_contrl_send( 0x07,0x01,7,0);//�單�甇�蓮
551 3 delayms(30);
552 3 if(lcd_status==alianxu0) break;//��箸�瘚�
553 3 if(lcd_status==Return_button) break;
554 3 delayms(3500);
555 3 if(lcd_status==Return_button) break;
556 3 if(lcd_status==alianxu0) break;//��箸�瘚�
557 3 motor_contrl_send( 0x01,0x02,9,0);//憭湧�蓮
558 3 delayms(30);
559 3 motor_contrl_send( 0x06,0x02,7,0);//撌行��蓮
560 3 delayms(30);
561 3 if(lcd_status==Return_button) break;
562 3 motor_contrl_send( 0x07,0x02,7,0);//�單��蓮
563 3 delayms(30);
564 3 if(lcd_status==alianxu0) break;//��箸�瘚�
565 3 delayms(3500);
566 3 if(lcd_status==Return_button) break;
567 3 if(lcd_status==alianxu0) break;//��箸�瘚�
568 3 }
569 2 //printf("alianxu0\n");
570 2 //��箏�甇�
571 2 motor_contrl_send( 0x01,0x03,9,180);//憭游�甇�
572 2 delayms(30);
573 2 motor_contrl_send( 0x06,0x03,7,180);//撌行��迤
574 2 delayms(30);
575 2 motor_contrl_send( 0x07,0x03,7,180);//�單��迤
576 2 delayms(30);
577 2 delayms(2000);//蝑��迤摰�
578 2
579 2 //��箏�霈曄蔭銝箄�嗅�甇�
580 2 motor_contrl_send( 0x01,0x00,0,0);//憭游�甇�
581 2 delayms(30);
582 2 motor_contrl_send( 0x06,0x00,0,0);//撌行��迫
583 2 delayms(30);
584 2 motor_contrl_send( 0x07,0x00,0,0);//�單��迫
585 2 delayms(30);
586 2 }//*/
587 1
588 1 if(lcd_status==Return_button)//����箸���
589 1 {
590 2 //printf("return_button\n");
591 2 Lcd_control( "page main");
592 2 lcd_status = main_window;
593 2 //��箏�甇�
594 2 motor_contrl_send( 0x01,0x03,9,180);//憭游�甇�
595 2 delayms(30);
596 2 motor_contrl_send( 0x06,0x03,7,180);//撌行��迤
597 2 delayms(30);
598 2 motor_contrl_send( 0x07,0x03,7,180);//�單��迤
599 2 delayms(30);
600 2 delayms(2000);//蝑��迤摰�
601 2 //��箏�霈曄蔭銝箄�嗅�甇�
602 2 motor_contrl_send( 0x01,0x00,0,0);//憭游�甇�
603 2 delayms(30);
604 2 motor_contrl_send( 0x06,0x00,0,0);//撌行��迫
605 2 delayms(30);
606 2 motor_contrl_send( 0x07,0x00,0,0);//�單��迫
607 2 delayms(30);
608 2
609 2 return -1;//憒��餈�靽∪
610 2 }
611 1
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 11
612 1 lcd_status=0;//�嗆���
613 1 return 0;//甇�虜�瑟�唳
614 1 }
615
616
617 //*
618
619 int motor_ctrl_window1(unsigned short *real_data)//�菜�批蝒
620 {
621 1
622 1 uchar turn_speed = 15;//15�憭批�
623 1 int head_angle=0,left_angle=0,right_angle=0;
624 1 //*�其�敹歲璉瘚��
625 1 send_data(0x82,0x70,3);
626 1 delayms(200); //*/
627 1 //憭湧�批�典�
628 1 if(lcd_status==hbiaoding)//��璉瘚�
629 1 {
630 2 motor_contrl_send1(0x05,0x01,0,0);//憭湔�摰�
631 2 delayms(30);
632 2 motor_contrl_send1(0x16,0x05,0,0);//撌行���
633 2 delayms(30);
634 2 motor_contrl_send1(0x22,0x05,0,0);//�單���
635 2 }
636 1 if(lcd_status==hzuo)//憭湧甇�蓮
637 1 {
638 2 motor_contrl_send1(0x05,0x04,turn_speed,0);
639 2 }
640 1 if(lcd_status==hyou)//憭湧�蓮
641 1 {
642 2 motor_contrl_send1(0x05,0x04,turn_speed,180);
643 2 }
644 1 if(lcd_status==hzhong)//憭湧甇�葉
645 1 {
646 2 motor_contrl_send1( 0x05,0x04,turn_speed,90);
647 2 }
648 1
649 1 //撌行��批�典�
650 1 if(lcd_status==zzuo)//撌行�甇�蓮
651 1 {
652 2 motor_contrl_send1( 0x16,0x03,turn_speed,360);
653 2 }
654 1 if(lcd_status==zyou)//撌行��蓮
655 1 {
656 2 motor_contrl_send1( 0x16,0x03,turn_speed,120);
657 2 }
658 1 if(lcd_status==zzhong)//撌行�甇�葉
659 1 {
660 2 motor_contrl_send1( 0x16,0x03,turn_speed,180);
661 2 }
662 1
663 1 //*�單��批�典�
664 1 if(lcd_status==yzuo)//甇�蓮
665 1 {
666 2 motor_contrl_send1( 0x22,0x03,turn_speed,360);
667 2 }
668 1 if(lcd_status==yyou)//�蓮
669 1 {
670 2 motor_contrl_send1( 0x22,0x03,turn_speed,120);
671 2 }
672 1 if(lcd_status==yzhong)//甇�葉
673 1 {
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 12
674 2 motor_contrl_send1( 0x22,0x03,turn_speed,180);
675 2 }
676 1
677 1 //LED�舀�批�典�
678 1 if(lcd_status==led00)//�喲
679 1 {
680 2 led_contrl_send1( 0x00,0,0,0);
681 2 }
682 1 if(lcd_status==led01)//蝥�
683 1 {
684 2 led_contrl_send1( 0x01,255,0,0);
685 2 }
686 1 if(lcd_status==led10)//蝏�
687 1 {
688 2 led_contrl_send1( 0x01,0,255,0);
689 2 }
690 1 if(lcd_status==led11)//��
691 1 {
692 2 led_contrl_send1( 0x01,0,0,255);
693 2 }
694 1
695 1 //餈賒�批�典�
696 1 if(lcd_status==alianxu1)
697 1 {
698 2 motor_contrl_send1( 0x05,0x04,turn_speed,0);//憭湧甇�蓮
699 2 delayms(30);
700 2 motor_contrl_send1( 0x16,0x03,turn_speed,360);//撌行�甇�蓮
701 2 delayms(30);
702 2 motor_contrl_send1( 0x22,0x03,turn_speed,360);//�單�甇�蓮
703 2 while(1)
704 2 {
705 3 send_data(0x82,0x74,11);
706 3 delayms(30);
707 3 head_angle=(int)(*(real_data));
708 3 left_angle=(int)(*(real_data+5));
709 3 right_angle=(int)(*(real_data+10));
710 3
711 3 if(head_angle>=0&&head_angle<=2)
712 3 {
713 4 motor_contrl_send1( 0x05,0x04,turn_speed,180);//憭湧�蓮
714 4 delayms(30);
715 4 }
716 3 if(head_angle>=178&&head_angle<=180)
717 3 {
718 4 motor_contrl_send1( 0x05,0x04,turn_speed,0);//憭湧甇�蓮
719 4 delayms(30);
720 4 }
721 3
722 3 //撌行�
723 3 if(left_angle>=358&&left_angle<=360||left_angle>=0&&left_angle<=2)
724 3 {
725 4 motor_contrl_send1( 0x16,0x03,turn_speed,120);//撌行��蓮
726 4 delayms(30);
727 4 }
728 3 if(left_angle>=117&&left_angle<=122)
729 3 {
730 4 motor_contrl_send1( 0x16,0x03,turn_speed,360);//撌行�甇�蓮
731 4 delayms(30);
732 4 }
733 3 //�單�
734 3 if(right_angle>=358&&right_angle<=360||right_angle>=0&&right_angle<=2)
735 3 {
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 13
736 4 motor_contrl_send1( 0x22,0x03,turn_speed,120);//�單��蓮
737 4 delayms(30);
738 4 }
739 3 if(right_angle>=117&&right_angle<=122)
740 3 {
741 4 motor_contrl_send1( 0x22,0x03,turn_speed,360);//�單�甇�蓮
742 4 delayms(30);
743 4 }
744 3
745 3 if(lcd_status==Return_button1) break;
746 3 if(lcd_status==alianxu0) break;//��箸�瘚�
747 3 delayms(200);
748 3 }
749 2
750 2 //��箏�甇�
751 2
752 2 motor_contrl_send1( 0x16,0x03,turn_speed,180);//撌行��迤
753 2 delayms(30);
754 2 motor_contrl_send1( 0x22,0x03,turn_speed,180);//�單��迤
755 2 delayms(30);
756 2 motor_contrl_send1( 0x05,0x04,turn_speed,90);//憭游�甇�
757 2 delayms(30);
758 2
759 2
760 2 }
761 1
762 1 if(lcd_status==Return_button1)//����箸���
763 1 {
764 2 //printf("return_button\n");
765 2 Lcd_control( "page main1");
766 2 lcd_status = main_window;
767 2 //��箏�甇�
768 2 motor_contrl_send1( 0x05,0x04,turn_speed,90);//憭游�甇�
769 2 delayms(30);
770 2 motor_contrl_send1( 0x16,0x03,turn_speed,180);//撌行��迤
771 2 delayms(30);
772 2 motor_contrl_send1( 0x22,0x03,turn_speed,180);//�單��迤
773 2
774 2
775 2 return -1;//憒��餈�靽∪
776 2 }
777 1
778 1 lcd_status=0;//�嗆���
779 1 return 0;//甇�虜�瑟�唳
780 1 }
781
782
783 int Duojixianzhi_window(unsigned short *real_data)//�菜�蝒
784 {
785 1 //憭湧��亥砭
786 1 send_data(0x01,0x80,1);//霂駁�摰瘚�
787 1 delayms(30);
788 1 Lcd_set_val("htouxianliu.val=", *(real_data));
789 1 delayms(30);
790 1 *(real_data)=0;
791 1
792 1 send_data(0x01,0x0B,2);//霂駁�雿�
793 1 delayms(30);
794 1 Lcd_set_val("htoushangxw.val=", (int)(*(real_data)));
795 1 delayms(30);
796 1 Lcd_set_val("htouxiaxw.val=", (int)(*(real_data+1)));
797 1 *(real_data)=0;
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 14
798 1 *(real_data+1)=0;
799 1
800 1 //靽臭趕��亥砭
801 1 send_data(0x02,0x80,1);//霂駁�摰瘚�
802 1 delayms(30);
803 1 Lcd_set_val("fyxianliu.val=", *(real_data));
804 1 delayms(30);
805 1 *(real_data)=0;
806 1
807 1 send_data(0x02,0x0B,2);//霂駁�雿�
808 1 delayms(30);
809 1 Lcd_set_val("fyshangxianw.val=", (int)(*(real_data)));
810 1 delayms(30);
811 1 Lcd_set_val("fyxiaxianw.val=", (int)(*(real_data+1)));
812 1 *(real_data)=0;
813 1 *(real_data+1)=0;
814 1
815 1 //撌行���亥砭
816 1 send_data(0x06,0x80,1);//霂駁�摰瘚�
817 1 delayms(30);
818 1 Lcd_set_val("zuoxianliu.val=", *(real_data));
819 1 delayms(30);
820 1 *(real_data)=0;
821 1
822 1 send_data(0x06,0x0B,2);//霂駁�雿�
823 1 delayms(30);
824 1 Lcd_set_val("zuoshangxw.val=", (int)(*(real_data)));
825 1 delayms(30);
826 1 Lcd_set_val("zuoxiaxw.val=", (int)(*(real_data+1)));
827 1 *(real_data)=0;
828 1 *(real_data+1)=0;
829 1
830 1 //�單���亥砭
831 1 send_data(0x07,0x80,1);//霂駁�摰瘚�
832 1 delayms(30);
833 1 Lcd_set_val("yshouxianliu.val=", *(real_data));
834 1 delayms(30);
835 1 *(real_data)=0;
836 1
837 1 send_data(0x07,0x0B,2);//霂駁�雿�
838 1 delayms(30);
839 1 Lcd_set_val("yshoushangxw.val=", (int)(*(real_data)));
840 1 delayms(30);
841 1 Lcd_set_val("yshaouxiaxw.val=", (int)(*(real_data+1)));
842 1 *(real_data)=0;
843 1 *(real_data+1)=0;
844 1
845 1 //*銝�桅��園�蝵桅��
846 1 if(lcd_status==set_limit_value)
847 1 {
848 2 //憭湧�菜
849 2 limit_current_contrl_send(0x01,10);//憭�0.6A���嗥瘚�
850 2 delayms(30);
851 2 limit_value_contrl_send(0x01 ,90,90);//憭�90摨阡�雿澆���
852 2 delayms(30);
853 2 //靽臭趕�菜
854 2 limit_current_contrl_send(0x02,10);//靽臭趕0.6A���嗥瘚�
855 2 delayms(30);
856 2 limit_value_contrl_send(0x02 ,9,9);//撟喳�靽臭趕9摨阡�雿澆���
857 2 delayms(30);
858 2 //撌行��菜
859 2 limit_current_contrl_send(0x06,10);//憭�1A���嗥瘚�
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 15
860 2 delayms(30);
861 2 limit_value_contrl_send(0x06 ,90,90);//憭�90摨阡�雿澆���
862 2 delayms(30);
863 2 //�單��菜
864 2 limit_current_contrl_send(0x07,10);//靽臭趕1A���嗥瘚�
865 2 delayms(30);
866 2 limit_value_contrl_send(0x07 ,90,90);//靽臭趕90摨阡�雿澆���
867 2 delayms(30);
868 2 }
869 1
870 1 if(lcd_status==Return_button)//����箸���
871 1 {
872 2 //printf("return_button\n");
873 2 Lcd_control( "page main");
874 2 lcd_status = main_window;
875 2 return -1;//憒��餈�靽∪
876 2 }
877 1
878 1 lcd_status=0;//�嗆���
879 1 return 0;//甇�虜�瑟�唳
880 1 }
881
882 int biaoqing_window(void)//銵冽�蝒
883 {
884 1 switch(lcd_status)
885 1 {
886 2 case zhengchang: biao_qing_contrl_send(0);break;
887 2 case aixin: biao_qing_contrl_send(145);break;
888 2 case chongdian: biao_qing_contrl_send(257);break;
889 2 case daohang: biao_qing_contrl_send(277);break;
890 2 default : break;
891 2 }
892 1
893 1 if(lcd_status==Return_button1)//����箸���
894 1 {
895 2 //printf("return_button\n");
896 2 Lcd_control( "page main1");
897 2 lcd_status = main_window;
898 2 return -1;//憒��餈�靽∪
899 2 }
900 1
901 1 lcd_status=0;//�嗆���
902 1 return 0;//甇�虜�瑟�唳
903 1 }
904
905
906 //void main_board_contrl_send(uchar run_mode,uchar left_speed,uchar right_speed);//銝餅�踹���
907 int robot_ctrl_window(unsigned short *real_data)//�湔�批�典�
908 {
909 1 *real_data = 0xf1f0;
910 1 switch(lcd_status)
911 1 {
912 2 case auto_charge_on : main_board_contrl_send(0x80,0,0); break;
913 2 case auto_charge_off : main_board_contrl_send(0x00,0,0); break;
914 2 case go_up : main_board_contrl_send(0x01,40,40); break;
915 2 case go_down : main_board_contrl_send(0x02,40,40); break;
916 2 case go_left : main_board_contrl_send(0x04,0,25); break;
917 2 case go_right : main_board_contrl_send(0x03,25,0); break;
918 2 case go_stop : main_board_contrl_send(0x05,0,0); //鋡怠�寡膠
919 2 delayms(30);
920 2 main_board_contrl_send(0x00,0,0); //蝛箸���
921 2 break;
C51 COMPILER V9.00 LCD_WINDOW 08/10/2020 12:00:44 PAGE 16
922 2 default :break;
923 2 }
924 1
925 1 if(lcd_status==Return_button)//����箸���
926 1 {
927 2 //printf("return_button\n");
928 2 Lcd_control( "page main");
929 2 lcd_status = main_window;
930 2 main_board_contrl_send(0x05,0,0); //鋡怠�寡膠
931 2 delayms(30);
932 2 main_board_contrl_send(0x00,0,0); //蝛箸���
933 2 return -1;//憒��餈�靽∪
934 2 }
935 1 delayms(10);
936 1 send_data(0x81,0x88,1); //�霂Ｗ�雿��隞�
937 1 delayms(30);
938 1 Lcd_set_val("jiaodu.val=",(int)(*(real_data)*0.01));//�CD璅∠���雿�
939 1 delayms(10);
940 1
941 1
942 1 send_data(0x81,0x97,2); //�亥砭IR�交�嗆�
943 1 delayms(30);
944 1 if((*(real_data)>>8)!=0xf1)
945 1 {
946 2 Lcd_set_val("ir4.val=",*(real_data)>>8);
947 2 delayms(10);
948 2 Lcd_set_val("ir3.val=",*(real_data)& 0x00ff);
949 2 delayms(10);
950 2 Lcd_set_val("ir2.val=",*(real_data+1)>>8);
951 2 delayms(10);
952 2 Lcd_set_val("ir1.val=",*(real_data+1)& 0x00ff);
953 2 delayms(10);
954 2 }
955 1 //delayms(100);
956 1
957 1 //lcd_status=0;//�嗆���
958 1 return 0;//甇�虜�瑟�唳
959 1 }