From a77aaebbcb6fb0a9a7637339ebcc786eef87163e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=8E=8B=E5=BF=97=E8=BF=9C?=
 <11362086+wang-zhiyuan0@user.noreply.gitee.com>
Date: Tue, 19 Jul 2022 01:31:38 +0000
Subject: [PATCH] =?UTF-8?q?=E9=81=BF=E9=9A=9C?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../Code_User/APP.c"                          |  71 ++++++++
 .../Code_User/APP.h"                          |   8 +
 .../Code_User/Motor.c"                        |  99 +++++++++++
 .../Code_User/Motor.h"                        |  12 ++
 .../Code_User/PWM.c"                          | 130 +++++++++++++++
 .../Code_User/PWM.h"                          |  10 ++
 .../Code_User/ProgramLogic.c"                 |  15 ++
 .../Code_User/ProgramLogic.h"                 |   8 +
 .../Object/APP.obj"                           | Bin 0 -> 3143 bytes
 .../Object/Motor.obj"                         | Bin 0 -> 4009 bytes
 .../Object/PWM.obj"                           | Bin 0 -> 7103 bytes
 .../Object/ProgramLogic.obj"                  | Bin 0 -> 2432 bytes
 .../Object/STC89C52RC"                        | Bin 0 -> 22558 bytes
 .../Object/STC89C52RC.build_log.htm"          |  43 +++++
 .../Object/STC89C52RC.hex"                    | 155 ++++++++++++++++++
 .../Object/STC89C52RC.lnp"                    |   8 +
 .../Object/SYS_LOOP.obj"                      | Bin 0 -> 5606 bytes
 .../Object/main.obj"                          | Bin 0 -> 2977 bytes
 .../System/main.c"                            |  25 +++
 ...3\347\250\213\350\257\264\346\230\216.txt" |   0
 20 files changed, 584 insertions(+)
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.c"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.h"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.c"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.h"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.c"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.h"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.c"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.h"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/APP.obj"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/Motor.obj"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/PWM.obj"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/ProgramLogic.obj"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.build_log.htm"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.hex"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.lnp"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/SYS_LOOP.obj"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/main.obj"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/System/main.c"
 create mode 100644 "6-\351\201\277\351\232\234\345\256\236\351\252\214/\344\276\213\347\250\213\350\257\264\346\230\216.txt"

diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.c" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.c"
new file mode 100644
index 0000000..8a52aff
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.c"
@@ -0,0 +1,71 @@
+#include "APP.h"
+#include "Motor.h"
+
+#define	Left_LED	P27
+#define Right_LED	P22
+
+#define	Left_Flow		P26
+#define	Right_Flow 	P23
+
+
+void APP_Loop(void)
+{
+	static unsigned char State = 0;//0-直行  1-刹车  2-后退  3-左拐
+	static unsigned int Time=0;
+	
+	if( ((Left_Flow==0) | (Right_Flow==0)) & (State == 0) )//遇到障碍物
+	{
+		State = 1;
+		Time = 0;
+	}
+	
+	Time++;
+	
+	switch(State)
+	{
+		case 1 :
+			{
+				Motor_Stop();
+				if(Time > 50)
+				{
+					Time = 0;
+					State = 2;
+				}
+				break;
+			}
+		case 2 :
+			{
+				Motor_Back();
+				if(Time > 100)
+				{
+					Time = 0;
+					State = 3;
+				}
+				break;
+			}
+		case 3 :
+			{
+				Motor_Left();
+				if(Time > 200)
+				{
+					Time = 0;
+					State = 0;
+				}
+				break;
+			}		
+		case 0 :
+			{
+				Motor_Forward();
+				break;
+			}		
+		default:
+			{
+				;
+			}		
+	}
+	
+}
+
+
+
+
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.h" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.h"
new file mode 100644
index 0000000..80a9bdb
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.h"
@@ -0,0 +1,8 @@
+#ifndef  __APP_H_
+#define  __APP_H_
+
+#include "STC89C5xRC_RDP.h"
+
+void APP_Loop(void);
+
+#endif
\ No newline at end of file
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.c" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.c"
new file mode 100644
index 0000000..1aca8db
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.c"
@@ -0,0 +1,99 @@
+#include "Motor.h"
+#include "PWM.h"
+
+//#define LF_A P02//左前电机A
+//#define LF_B P03//左前电机B
+//#define LB_A P01//左后电机A
+//#define LB_B P00//左后电机B
+
+//#define RF_A P05//右前电机A
+//#define RF_B P04//右前电机B
+//#define RB_A P06//右后电机A
+//#define RB_B P07//右后电机B
+
+
+unsigned char LF_A,LF_B,LB_A,LB_B,RF_A,RF_B,RB_A,RB_B;
+
+/*******************************************************************************
+* 函 数 名         : Motor_Stop()
+* 函数功能		     : 小车停止函数
+*******************************************************************************/
+void Motor_Stop(void)
+{
+	 LF_A=0;  
+	 LF_B=0;	 
+	 LB_A=0;	 
+	 LB_B=0;	 
+	 RF_A=0;   
+	 RF_B=0;	 
+	 RB_A=0;	 
+	 RB_B=0;	 
+}
+
+/*******************************************************************************
+* 函 数 名         : Motor_Forward()
+* 函数功能		     : 小车前进函数
+*******************************************************************************/
+void Motor_Forward(void)
+{
+	 LF_A=1;  
+	 LF_B=0;	
+	 LB_A=1;	 
+	 LB_B=0;	
+	
+	 RF_A=1;   
+	 RF_B=0;	 
+	 RB_A=1;	 
+	 RB_B=0;	 
+}
+
+/*******************************************************************************
+* 函 数 名         : Motor_Back()
+* 函数功能		     : 小车后退函数
+*******************************************************************************/
+void Motor_Back(void)
+{
+	 LF_A=0;  
+	 LF_B=1;	
+	 LB_A=0;	 
+	 LB_B=1;		
+	
+	 RF_A=0;   
+	 RF_B=1;	 
+	 RB_A=0;	 
+	 RB_B=1;	 
+}
+
+/*******************************************************************************
+* 函 数 名         : Motor_Left()
+* 函数功能		     : 小车左转函数
+*******************************************************************************/
+void Motor_Left(void)
+{
+	 LF_A=0;  
+	 LF_B=1;	 
+	 LB_A=0;	 
+	 LB_B=1;
+	
+	 RF_A=1;   
+	 RF_B=0;	 
+	 RB_A=1;	 
+	 RB_B=0;	 
+}
+
+/*******************************************************************************
+* 函 数 名         : Motor_Right()
+* 函数功能		     : 小车右转函数
+*******************************************************************************/
+void Motor_Right(void)
+{
+	 LF_A=1;  
+	 LF_B=0;	 
+	 LB_A=1;	 
+	 LB_B=0;
+	
+	 RF_A=0;   
+	 RF_B=1;	 
+	 RB_A=0;	 
+	 RB_B=1;	 
+}
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.h" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.h"
new file mode 100644
index 0000000..df6d7ee
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.h"
@@ -0,0 +1,12 @@
+#ifndef  __MOTOR_H_
+#define  __MOTOR_H_	
+
+#include "STC89C5xRC_RDP.h"
+
+void Motor_Stop(void);
+void Motor_Forward(void);
+void Motor_Back(void);	
+void Motor_Left(void);
+void Motor_Right(void);
+
+#endif
\ No newline at end of file
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.c" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.c"
new file mode 100644
index 0000000..c5828f3
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.c"
@@ -0,0 +1,130 @@
+//微信公众号：物联网零妖
+//PWM输出设置 Timer0 输出2kHZ的波形，占空比 0~100% 可调
+#include<PWM.h>
+
+
+#define LF_A_IO P02//左前电机A
+#define LF_B_IO P03//左前电机B
+#define LB_A_IO P01//左后电机A
+#define LB_B_IO P00//左后电机B
+
+#define RF_A_IO P05//右前电机A
+#define RF_B_IO P04//右前电机B
+#define RB_A_IO P06//右后电机A
+#define RB_B_IO P07//右后电机B
+
+extern unsigned char LF_A,LF_B,LB_A,LB_B,RF_A,RF_B,RB_A,RB_B;
+static unsigned int PWM_H=0,PWM_L=0;//高电平时间和低电平时间
+static unsigned char PWM_IO_1=0;
+//初始化PWM定时器
+void PWM_Init(void)
+{
+	PWM_H = 0;
+	PWM_L = 0;
+	
+	//定时器0设置
+	TMOD |= 0x01;//设置定时器模式
+  TL0 = 0;//设置定时初值
+	TH0 = 0;//设置定时初值
+	TF0 = 0;//清除TF0标志
+  ET0 = 1;//使能定时器中断
+	
+	LF_A_IO=0;
+	LF_B_IO=0;
+	LB_A_IO=0;
+	LB_B_IO=0;
+	RF_A_IO=0;
+	RF_B_IO=0;
+	RB_A_IO=0;
+	RB_B_IO=0;
+	
+	PWM_IO_1=0;
+	
+}
+//调整占空比
+void PWM_Set_ZhanKongBi(unsigned char a)
+{
+	float ZhanKongBi;
+	ZhanKongBi = 100 - a;
+	
+	if(a<2)
+	{
+		LF_A_IO=0;
+		LF_B_IO=0;
+		LB_A_IO=0;
+		LB_B_IO=0;
+		RF_A_IO=0;
+		RF_B_IO=0;
+		RB_A_IO=0;
+		RB_B_IO=0;
+		PWM_IO_1=0;
+		TR0 = 0;
+	}
+	else if(a>98)
+	{
+		LF_A_IO=1;
+		LF_B_IO=1;
+		LB_A_IO=1;
+		LB_B_IO=1;
+		RF_A_IO=1;
+		RF_B_IO=1;
+		RB_A_IO=1;
+		RB_B_IO=1;
+		PWM_IO_1=1;
+		TR0 = 0;
+	}
+	else
+	{
+		ZhanKongBi = 10000 * ZhanKongBi / 100 ;
+		PWM_H = 0XFFFF - ZhanKongBi;
+		PWM_L = 0XFFFF - 10000 + ZhanKongBi;
+		TR0 = 1;
+	}
+}
+void TM0_Isr(void) interrupt 1
+{
+	if(PWM_IO_1)
+	{
+		LF_A_IO=0;
+		LF_B_IO=0;
+		LB_A_IO=0;
+		LB_B_IO=0;
+		RF_A_IO=0;
+		RF_B_IO=0;
+		RB_A_IO=0;
+		RB_B_IO=0;
+		PWM_IO_1=0;
+		TL0 = PWM_H;
+		TH0 = PWM_H>>8;
+	}
+	else
+	{
+		if(LF_A)
+			LF_A_IO=1;
+		if(LF_B)
+			LF_B_IO=1;
+		if(LB_A)
+			LB_A_IO=1;
+		if(LB_B)
+			LB_B_IO=1;
+		if(RF_A)
+			RF_A_IO=1;
+		if(RF_B)
+			RF_B_IO=1;
+		if(RB_A)
+			RB_A_IO=1;
+		if(RB_B)
+			RB_B_IO=1;
+		PWM_IO_1=1;
+		TL0 = PWM_L;
+		TH0 = PWM_L>>8;
+	}
+}
+//
+
+
+
+
+
+
+
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.h" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.h"
new file mode 100644
index 0000000..ee934e2
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.h"
@@ -0,0 +1,10 @@
+//微信公众号：物联网零妖
+//PWM输出设置
+#ifndef __PWM_H__
+#define __PWM_H__
+
+#include "STC89C5xRC_RDP.h"
+
+void PWM_Init(void);
+void PWM_Set_ZhanKongBi(unsigned char a);
+#endif
\ No newline at end of file
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.c" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.c"
new file mode 100644
index 0000000..bf10002
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.c"
@@ -0,0 +1,15 @@
+//微信公众号：物联网零妖
+#include "ProgramLogic.h"
+#include "SYS_LOOP.h"
+#include "APP.h"
+#include "PWM.h"
+
+void ProgramLogic_Main(void)
+{
+	PWM_Init();
+	PWM_Set_ZhanKongBi(20);
+	SYS_New_LoopFun(2,APP_Loop);
+}
+
+//
+
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.h" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.h"
new file mode 100644
index 0000000..7d09553
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.h"
@@ -0,0 +1,8 @@
+//微信公众号：物联网零妖 业务逻辑
+#ifndef __PROGRAMLOGIC_H__
+#define __PROGRAMLOGIC_H__
+#include "STC89C5xRC_RDP.h"
+
+void ProgramLogic_Main(void);
+
+#endif
\ No newline at end of file
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/APP.obj" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/APP.obj"
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..10ca14d3db60aaf1f6d6bd335ba9da6ef8f6ec7c
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diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.build_log.htm" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.build_log.htm"
new file mode 100644
index 0000000..84ca933
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.build_log.htm"
@@ -0,0 +1,43 @@
+<html>
+<body>
+<pre>
+<h1>礦ision Build Log</h1>
+<h2>Tool Versions:</h2>
+IDE-Version: μVision V5.25.2.0
+Copyright (C) 2018 ARM Ltd and ARM Germany GmbH. All rights reserved.
+License Information: asd ad, ads, LIC=Y2KQD-8KW7P-B5ETQ-NM2M2-Z0PQC-WLNJD
+ 
+Tool Versions:
+Toolchain:       MDK51 Professional  Version: 9.57.0.0
+Toolchain Path:  D:\Keil\C51\BIN
+C Compiler:      C51.exe V9.57.0.0
+Assembler:       A51.exe V8.2.7.0
+Linker/Locator:  BL51.exe V6.22.2.0
+Library Manager: LIB51.exe V4.30.1.0
+Hex Converter:   OH51.exe V2.7.0.0
+CPU DLL:         S8051.DLL V3.113.0.0
+Dialog DLL:      DP51.DLL V2.64.0.0 
+<h2>Project:</h2>
+C:\Users\LingYao\Desktop\51单片机-智能小车例程\7-避障实验\uVision Project\STC89C52RC.uvproj
+Project File Date:  09/02/2021
+
+<h2>Output:</h2>
+Rebuild target 'STC89C52RC'
+compiling ProgramLogic.c...
+compiling APP.c...
+compiling Motor.c...
+compiling PWM.c...
+compiling main.c...
+compiling SYS_LOOP.c...
+linking...
+*** WARNING L16: UNCALLED SEGMENT, IGNORED FOR OVERLAY PROCESS
+    SEGMENT: ?PR?MOTOR_RIGHT?MOTOR
+*** WARNING L16: UNCALLED SEGMENT, IGNORED FOR OVERLAY PROCESS
+    SEGMENT: ?PR?_SYS_DEL_LOOPFUN?SYS_LOOP
+Program Size: data=50.0 xdata=0 code=2024
+creating hex file from "..\Object\STC89C52RC"...
+"..\Object\STC89C52RC" - 0 Error(s), 2 Warning(s).
+Build Time Elapsed:  00:00:02
+</pre>
+</body>
+</html>
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.hex" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.hex"
new file mode 100644
index 0000000..fdb1815
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.hex"
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diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.lnp" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.lnp"
new file mode 100644
index 0000000..9f176df
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.lnp"
@@ -0,0 +1,8 @@
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+"..\Object\Motor.obj",
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+"..\Object\main.obj",
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+TO "..\Object\STC89C52RC" 
+PRINT(".\Listings\STC89C52RC.m51") RAMSIZE(256) 
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/SYS_LOOP.obj" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/SYS_LOOP.obj"
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diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/System/main.c" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/System/main.c"
new file mode 100644
index 0000000..e4e489f
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/System/main.c"
@@ -0,0 +1,25 @@
+#include "STC89C5xRC_RDP.h"
+#include "SYS_LOOP.h"
+#include "ProgramLogic.h"
+
+void Tim1_Isr(void) interrupt 3
+{
+	TL1 = 0x66;//设置定时初值
+	TH1 = 0xFC;//设置定时初值
+	SYS_TimerInterrupt_App();
+}
+void main(void)
+{
+	
+	TMOD = 0x10;//设置定时器模式
+	TL1 = 0x66;//设置定时初值
+	TH1 = 0xFC;//设置定时初值
+	TF1 = 0;//清除TF1标志
+	ET1 = 1;
+	TR1 = 1;//定时器1开始计时
+	EA=1;
+	SYS_LOOP_Init();
+	ProgramLogic_Main();//先执行业务逻辑
+	
+	SYS_LOOP_While_APP();//循环执行系统调度器
+}
\ No newline at end of file
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/\344\276\213\347\250\213\350\257\264\346\230\216.txt" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/\344\276\213\347\250\213\350\257\264\346\230\216.txt"
new file mode 100644
index 0000000..e69de29
-- 
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