├── LICENSE
├── README.md
├── SmartTracingCar.c
├── car.JPG
├── design.png
├── map.png
└── tou.c


/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2017 
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # SmartTracingCar
2 | 一个基于51单片机的智能寻迹小车</br>
3 | 
4 | ![image](https://github.com/linyacool/SmartTracingCar/blob/master/car.JPG)</br>
5 | 
6 | ![image](https://github.com/linyacool/SmartTracingCar/blob/master/design.png)</br>
7 |  部分地图</br>
8 | ![image](https://github.com/linyacool/SmartTracingCar/blob/master/map.png)</br>
9 | 


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/SmartTracingCar.c:
--------------------------------------------------------------------------------
  1 | #include <STC12C5A60S2.h>
  2 | #include "intrins.h"
  3 | 
  4 | 
  5 | #define BLACK 0
  6 | #define WHITE 1
  7 | 
  8 | //---------------------------------ADC查询部分说明------------------------------------
  9 | #define FOSC 18432000L
 10 | #define BAUD 9600
 11 | 
 12 | #define ADC_POWER 0x80
 13 | #define ADC_FLAG 0x10
 14 | #define ADC_START 0x08
 15 | #define ADC_SPEEDLL 0x00
 16 | #define ADC_SPEEDL 0x20
 17 | #define ADC_SPEEDH 0x40
 18 | #define ADC_SPEEDHH 0x60
 19 | #define  uint unsigned int
 20 | #define  uchar unsigned char
 21 | //---------------------------------ADC查询部分说明------------------------------------
 22 | typedef unsigned char BYTE;
 23 | typedef unsigned int WORD;
 24 | 
 25 | sbit L298_IN1=P2^1;
 26 | sbit L298_IN2=P2^2;
 27 | sbit L298_IN3=P2^3;
 28 | sbit L298_IN4=P2^4;
 29 | sbit L29B_ENA=P2^5;
 30 | sbit L29B_ENB=P2^6;
 31 | char L298_flag=0;
 32 | sbit BSD=P3^7;
 33 | sfr ADC_LOW2 = 0xBE;
 34 | 
 35 | 
 36 | //-----------------------------------------传感器部分声明--------------------------------------------
 37 | #define uchar unsigned char
 38 | #define uint unsigned int
 39 | 
 40 | //char state ;
 41 | unsigned char disbuf[4];
 42 | unsigned int ADC_select=0;       //5路通道AD选择
 43 | unsigned int ADC0_value;       //0通道AD数据
 44 | unsigned int ADC1_value;       //1通道AD数据
 45 | unsigned int ADC2_value;       //2通道AD数据
 46 | unsigned int ADC3_value;       //3通道AD数据
 47 | unsigned int ADC4_value;       //4通道AD数据
 48 | sbit LED=P0^2;
 49 | sbit LY=P3^6;
 50 | sbit GD=P3^2;
 51 | sbit TEST=P3^7;
 52 | 
 53 | unsigned int OUTPUT_select=0;      //5路通道AD输出选择
 54 | //声明
 55 | void _delay_ms(unsigned int ms);//延时
 56 | void InitUart();//初始化串口
 57 | void SendUart(unsigned char dat);//串口发送一字节  
 58 | void ADC_Init(void);//初始化ADC
 59 | //-----------------------------------------传感器部分声明--------------------------------------------
 60 | 
 61 | int gray[10];
 62 | int flag=0;
 63 | int R;
 64 | int last_color;
 65 | int now_color;
 66 | /*************前进*************/
 67 | void L298_forward(char speed_M2,char speed_M1,char timer)   //speed_M1、speed_M2的范围为0~20；数值越大速度越大
 68 | {
 69 |   int i,j;
 70 |   for(j=0;j<timer*10;j++)
 71 |   {
 72 |     for(i=0;i<100;i++)  
 73 |     {     
 74 |       if(L298_flag<speed_M1)
 75 |       {
 76 |         L29B_ENA=1; 
 77 |         L298_IN1=1;
 78 |         L298_IN2=0;
 79 |       }
 80 |       else
 81 |       {
 82 |         L29B_ENA=0;
 83 |         L298_IN1=0;
 84 |         L298_IN2=0;
 85 |       }
 86 | 
 87 |       if(L298_flag<speed_M2)
 88 |       {
 89 |         L29B_ENB=1;
 90 |         L298_IN3=1;
 91 |         L298_IN4=0;
 92 |       }
 93 |       else
 94 |       {
 95 |         L29B_ENB=0;
 96 |         L298_IN3=0;
 97 |         L298_IN4=0;
 98 |       }
 99 |       L298_flag=++L298_flag%20;
100 |     }
101 |    }
102 |     L29B_ENA=0;
103 |     L298_IN1=0;
104 |      L298_IN2=0;
105 |    L29B_ENB=0;
106 |     L298_IN3=0;
107 |    L298_IN4=0;
108 | }
109 |  
110 | /*************后退*************/
111 | void L298_backward(char speed_M1,char speed_M2,char timer)
112 | {
113 |   int i,j;
114 |   for(j=0;j<timer*10;j++)
115 |   {
116 |     for(i=0;i<100;i++)  
117 |     {     
118 |       if(L298_flag<speed_M1)
119 |       {
120 |         L29B_ENA=1;
121 |       
122 |         L298_IN1=0;
123 |         L298_IN2=1;
124 |       }
125 |       else
126 |       {
127 |         L29B_ENA=0;
128 |         L298_IN1=0;
129 |         L298_IN2=0;
130 |       }
131 |       if(L298_flag<speed_M2)
132 |       {
133 |           L29B_ENB=1;
134 |         L298_IN3=0;
135 |         L298_IN4=1;
136 |       }
137 |       else
138 |       {
139 |         L29B_ENB=0;
140 |         L298_IN3=0;
141 |         L298_IN4=0;
142 |       }
143 |       L298_flag=++L298_flag%20;
144 |     }
145 |   }
146 |     L29B_ENA=0;
147 |     L29B_ENB=0;
148 | }
149 | 
150 | /*************右转*************/
151 | void L298_right(char speed_M1,char speed_M2,int timer)
152 | {
153 |   int i,j;
154 |   for(j=0;j<timer*10;j++)
155 |   {
156 |     for(i=0;i<100;i++)  
157 |     {     
158 |       if(L298_flag<speed_M1)
159 |       {
160 |         L29B_ENA=1;
161 |       
162 |         L298_IN1=1;
163 |         L298_IN2=0;
164 |       }
165 |       else
166 |       {
167 |         L29B_ENA=0;
168 |         L298_IN1=0;
169 |         L298_IN2=0;
170 |       }
171 |       if(L298_flag<speed_M2)
172 |       {
173 |           L29B_ENB=1;
174 |         L298_IN3=0;
175 |         L298_IN4=1;
176 |       }
177 |       else
178 |       {
179 |           L29B_ENB=0;
180 |         L298_IN3=0;
181 |         L298_IN4=0;
182 |       }
183 |       L298_flag=++L298_flag%20;
184 |     }
185 |   }
186 |   L29B_ENA=0;
187 |     L29B_ENB=0;
188 | }
189 | 
190 | /************左转*************/
191 | void L298_left(char speed_M1,char speed_M2,int timer)
192 | {
193 |   int i,j;
194 |   for(j=0;j<timer*10;j++)
195 |   {
196 |     for(i=0;i<100;i++)  
197 |     {     
198 |       if(L298_flag<speed_M1)
199 |       {
200 |         L29B_ENA=1;
201 |         L298_IN1=0;
202 |         L298_IN2=1;
203 |       }
204 |       else
205 |       {
206 |         L29B_ENA=0;
207 |         L298_IN1=0;
208 |         L298_IN2=0;
209 |       }
210 |       if(L298_flag<speed_M2)
211 |       {
212 |           L29B_ENB=1;
213 |         L298_IN3=1;
214 |         L298_IN4=0;
215 |       }
216 |       else
217 |       {
218 |           L29B_ENB=0;
219 |         L298_IN3=0;
220 |         L298_IN4=0;
221 |       }
222 |       L298_flag=++L298_flag%20;
223 |     }
224 |   }
225 |   L29B_ENA=0;
226 |     L29B_ENB=0;
227 | }
228 | 
229 | /*************后右走*************/
230 | void backward_right(char speed,int timer)
231 | {
232 |   int i,j;
233 |   for(j=0;j<timer*10;j++)
234 |   {
235 |     for(i=0;i<100;i++)  
236 |     {     
237 |       if(L298_flag<speed)
238 |       {
239 |         L29B_ENA=1;
240 |         L29B_ENB=1;
241 |       
242 |         L298_IN1=0;
243 |         L298_IN2=1;
244 |         L298_IN3=1;
245 |         L298_IN4=0;
246 |       }
247 |       else
248 |       {
249 |         L29B_ENA=0;
250 |         L29B_ENB=0;
251 |       }
252 |       L298_flag=++L298_flag%20;
253 |     }
254 |   }
255 |   L29B_ENA=0;
256 |   L29B_ENB=0;
257 | }
258 | 
259 | /************后左转*************/
260 | void backward_left(char speed,int timer)
261 | {
262 |   int i,j;
263 |   for(j=0;j<timer*10;j++)
264 |   {
265 |     for(i=0;i<100;i++)  
266 |     {     
267 |       if(L298_flag<speed)
268 |       {
269 |       L29B_ENA=1;
270 |         L29B_ENB=1;
271 |     
272 |       L298_IN1=0;
273 |       L298_IN2=1; //you
274 |       L298_IN3=1;
275 |       L298_IN4=0; //zuo
276 |       }
277 |       else
278 |       {
279 |         L29B_ENA=0;
280 |         L29B_ENB=0;
281 |       }
282 |     L298_flag=++L298_flag%20;
283 |     }
284 |   }
285 |     L29B_ENA=0;
286 |     L29B_ENB=0;
287 | }
288 | 
289 | //***********延时***************/
290 | void _delay_ms(unsigned int ms)
291 | {
292 |   unsigned int i;
293 |   while(ms--){
294 |   for(i=0;i<125*6;i++);}
295 | }
296 | void Sendstring(unsigned char *a)
297 | {
298 |   while(*a)
299 |   {
300 |     SendUart(*a);
301 |     a++;
302 |   }
303 | }      
304 | void ADC_OUTPUT(unsigned int temp)
305 | {
306 |   disbuf[0]=temp%10000/1000;
307 |   disbuf[1]=temp%1000/100;
308 |   disbuf[2]=temp%100/10;
309 |   disbuf[3]=temp%10;
310 | 
311 |   SendUart(disbuf[0]+48);
312 |   SendUart(disbuf[1]+48);
313 |   SendUart(disbuf[2]+48);
314 |   SendUart(disbuf[3]+48);
315 | }
316 | 
317 | //-----------------------------------------ADC查询---------------------------------------------------------------
318 | void InitUart();
319 | void InitADC();
320 | void SendData(BYTE dat);
321 | BYTE GetADCResult(BYTE ch);
322 | //void Delay(WORD n);
323 | void ShowResult(BYTE ch);
324 | 
325 | void ShowResult(BYTE ch)
326 | {
327 |   BYTE res;
328 |   //SendData(ch);
329 |   res = GetADCResult(ch);
330 |   //SendData(res);
331 |   if (res == 0)
332 |     gray[ch] = 0;
333 |   else
334 |     gray[ch] = 1;
335 |   //delta += gray[ch] * weight[ch];
336 | }
337 | BYTE GetADCResult(BYTE ch)
338 | {
339 |   ADC_CONTR = ADC_POWER|ADC_SPEEDLL|ch|ADC_START;
340 |   _nop_();
341 |   _nop_();
342 |   _nop_();
343 |   _nop_();
344 |   while (!(ADC_CONTR & ADC_FLAG))
345 |   ;
346 |   ADC_CONTR &= ~ADC_FLAG;
347 | 
348 |   return ADC_RES;
349 | }
350 | 
351 | void InitUart()
352 | {
353 |   SCON = 0x5a;
354 |   TMOD = 0x20;
355 |   TH1 = TL1 = -(FOSC/12/32/BAUD);
356 |   TR1 = 1;
357 | 
358 |   //分中断部
359 |   IT0=1;
360 |   EX0=1;
361 |   EA=1;
362 |   flag=0;
363 | }
364 | 
365 | void exint0() interrupt 0
366 | {
367 |   flag++;
368 | }
369 |  
370 | 
371 | void InitADC()
372 | {
373 |   P1ASF = 0xff;
374 |   ADC_RES = 0;
375 |   ADC_CONTR = ADC_POWER|ADC_SPEEDLL;
376 |   //Delay(2);
377 | }
378 | void SendData(BYTE dat)
379 | {
380 |   while (!TI);
381 |   TI=0;
382 |   SBUF = dat;
383 | }
384 | 
385 | /************初始化*************/
386 | void L298_init(void)
387 | {
388 |     L29B_ENA=0;
389 |     L29B_ENB=0;
390 |     L298_IN1=0;
391 |     L298_IN2=0;
392 |     L298_IN3=0;
393 |     L298_IN4=0;
394 | }
395 | void f()
396 | {
397 |   if(gray[4]==WHITE && gray[1]==BLACK && gray[0]==BLACK && gray[2]==BLACK && R==3)
398 |   {
399 |     //backward_right(15,60);
400 |     L298_forward(20,0,90);
401 |     return;
402 |   }
403 |   if(gray[4]==WHITE && gray[3]==WHITE && gray[1]==WHITE && gray[0]==WHITE)
404 |   {
405 |     L298_forward(20,20,10);
406 |     return;
407 |   }
408 |   if(gray[4]==BLACK && gray[3]==BLACK && gray[1]==BLACK && gray[0]==BLACK)
409 |   {
410 |     L298_forward(20,20,10);
411 |     return;
412 |   }
413 |   if(gray[4]==WHITE && gray[3]==BLACK && gray[1]==WHITE && gray[0]==WHITE)
414 |   {
415 |     L298_forward(15,20,10);
416 |     return;
417 |   }
418 |   if(gray[4]==WHITE && gray[3]==WHITE && gray[1]==BLACK && gray[0]==WHITE)
419 |   {
420 |     L298_forward(20,15,10);
421 |     return;
422 |   }
423 |   if(gray[4]==WHITE && gray[3]==WHITE && gray[1]==WHITE && gray[0]==BLACK)
424 |   {
425 |     L298_forward(20,0,10);
426 |     return;
427 |   }
428 |   if(gray[4]==BLACK && gray[3]==WHITE && gray[1]==WHITE && gray[0]==WHITE)
429 |   {
430 |     L298_forward(0,20,10);
431 |     return;
432 |   }
433 |   if(gray[4]==WHITE && gray[3]==BLACK && gray[1]==BLACK && gray[0]==BLACK && gray[2]==WHITE)
434 |   {
435 |     L298_forward(20,0,10);
436 |     return;
437 |   }
438 |   if(gray[4]==BLACK && gray[3]==BLACK && gray[1]==BLACK && gray[0]==WHITE)
439 |   {
440 |     L298_forward(0,20,10);
441 |     return;
442 |   }
443 |   if(gray[4]==WHITE && gray[3]==WHITE && gray[1]==BLACK && gray[0]==BLACK && gray[2]==WHITE)
444 |   {
445 |     L298_forward(20,0,10);
446 |     return;
447 |   }
448 |   if(gray[4]==WHITE && gray[3]==WHITE && gray[1]==BLACK && gray[0]==WHITE && gray[2]==BLACK)
449 |   {
450 |     L298_forward(20,0,10);
451 |     return;
452 |   }
453 |   if(gray[4]==BLACK && gray[3]==BLACK && gray[1]==WHITE && gray[0]==WHITE)
454 |   {
455 |     L298_forward(0,20,10);
456 |     return;
457 |   }
458 | }
459 | void main()
460 | {
461 |   int i = 0;
462 |   LY=0;
463 |   BSD=0;
464 |   R=0;
465 |   last_color=WHITE;
466 |   now_color=WHITE;
467 |   L298_init();
468 |   InitUart();
469 |   InitADC();
470 |   while (1)
471 |   {
472 |     if(flag==1)
473 |     {
474 |       BSD=0;
475 |       LY=1;
476 |     }
477 |     if(flag==2)
478 |     {
479 |       LY=0;
480 |       BSD=1;
481 |     }
482 |     for (i = 0; i <= 4; ++i)
483 |       ShowResult(i);
484 |     last_color=now_color;
485 |     now_color=gray[2];
486 |     if(last_color==WHITE && now_color==BLACK)
487 |       ++R;
488 |     f();
489 |   }
490 | }
491 | 


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/car.JPG:
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https://raw.githubusercontent.com/linyacool/SmartTracingCar/2531ced1788d13043bfc43e53dc5510b239d4ba0/car.JPG


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/design.png:
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https://raw.githubusercontent.com/linyacool/SmartTracingCar/2531ced1788d13043bfc43e53dc5510b239d4ba0/design.png


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/map.png:
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https://raw.githubusercontent.com/linyacool/SmartTracingCar/2531ced1788d13043bfc43e53dc5510b239d4ba0/map.png


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/tou.c:
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  1 | 
  2 | 
  3 | 
  4 | #define uint unsigned int
  5 | #define uchar unsigned char
  6 | 
  7 | //--------------------------------------------------------------------------------
  8 | //新一代 1T 8051系列 单片机内核特殊功能寄存器 C51 Core SFRs
  9 | //                                          7     6      5       4     3    2    1     0   Reset Value
 10 | sfr ACC  = 0xE0; //Accumulator                                                              0000,0000
 11 | sfr B    = 0xF0; //B Register                                                               0000,0000
 12 | sfr PSW  = 0xD0; //Program Status Word      CY    AC    F0    RS1   RS0    OV    F1    P    0000,0000
 13 | //-----------------------------------
 14 | sbit CY  = PSW^7;
 15 | sbit AC  = PSW^6;
 16 | sbit F0  = PSW^5;
 17 | sbit RS1 = PSW^4;
 18 | sbit RS0 = PSW^3;
 19 | sbit OV  = PSW^2;
 20 | sbit P   = PSW^0;
 21 | //-----------------------------------
 22 | sfr SP   = 0x81; //Stack Pointer                                                            0000,0111
 23 | sfr DPL  = 0x82; //Data Pointer Low Byte                                                    0000,0000
 24 | sfr DPH  = 0x83; //Data Pointer High Byte                                                   0000,0000
 25 | //--------------------------------------------------------------------------------
 26 | //新一代 1T 8051系列 单片机系统管理特殊功能寄存器
 27 | //                                          7     6      5    4     3      2    1     0     Reset Value
 28 | sfr PCON   = 0x87; //Power Control        SMOD  SMOD0  LVDF  POF   GF1    GF0   PD   IDL    0001,0000
 29 | //                                        7     6       5      4     3      2      1      0   Reset Value
 30 | sfr AUXR  = 0x8E; //Auxiliary Register  T0x12 T1x12 UART_M0x6 BRTR S2SMOD BRTx12 EXTRAM S1BRS  0000,0000
 31 | //-----------------------------------
 32 | sfr AUXR1 = 0xA2; //Auxiliary Register 1  -  PCA_P4  SPI_P4  S2_P4  GF2    ADRJ   -    DPS  0000,0000
 33 | /*
 34 | PCA_P4:
 35 |     0, 缺省PCA 在P1 口
 36 |     1，PCA/PWM 从P1 口切换到P4 口: ECI 从P1.2 切换到P4.1 口，
 37 |                                    PCA0/PWM0 从P1.3 切换到P4.2 口
 38 |                                    PCA1/PWM1 从P1.4 切换到P4.3 口
 39 | SPI_P4:
 40 |     0, 缺省SPI 在P1 口
 41 |     1，SPI 从P1 口切换到P4 口: SPICLK 从P1.7 切换到P4.3 口
 42 |                                MISO 从P1.6 切换到P4.2 口
 43 |                                MOSI 从P1.5 切换到P4.1 口
 44 |                                SS 从P1.4 切换到P4.0 口
 45 | S2_P4: 
 46 |     0, 缺省UART2 在P1 口
 47 |     1，UART2 从P1 口切换到P4 口: TxD2 从P1.3 切换到P4.3 口
 48 |                                  RxD2 从P1.2 切换到P4.2 口
 49 | GF2: 通用标志位
 50 | 
 51 | ADRJ:
 52 |     0, 10 位A/D 转换结果的高8 位放在ADC_RES 寄存器, 低2 位放在ADC_RESL 寄存器
 53 |     1，10 位A/D 转换结果的最高2 位放在ADC_RES 寄存器的低2 位, 低8 位放在ADC_RESL 寄存器
 54 | 
 55 | DPS: 0, 使用缺省数据指针DPTR0
 56 |      1，使用另一个数据指针DPTR1
 57 | */
 58 | //-----------------------------------
 59 | sfr WAKE_CLKO = 0x8F; //附加的 SFR WAK1_CLKO
 60 | /*
 61 |       7            6          5          4          3       2       1      0         Reset Value
 62 |    PCAWAKEUP  RXD_PIN_IE  T1_PIN_IE  T0_PIN_IE  LVD_WAKE    _    T1CLKO  T0CLKO      0000,0000B
 63 | 
 64 | b7 - PCAWAKEUP : PCA 中断可唤醒 powerdown。
 65 | b6 - RXD_PIN_IE : 当 P3.0(RXD) 下降沿置位 RI 时可唤醒 powerdown(必须打开相应中断)。
 66 | b5 - T1_PIN_IE : 当 T1 脚下降沿置位 T1 中断标志时可唤醒 powerdown(必须打开相应中断)。
 67 | b4 - T0_PIN_IE : 当 T0 脚下降沿置位 T0 中断标志时可唤醒 powerdown(必须打开相应中断)。
 68 | b3 - LVD_WAKE : 当 CMPIN 脚低电平置位 LVD 中断标志时可唤醒 powerdown(必须打开相应中断)。
 69 | b2 - 
 70 | b1 - T1CLKO : 允许 T1CKO(P3.5) 脚输出 T1 溢出脉冲，Fck1 = 1/2 T1 溢出率
 71 | b0 - T0CLKO : 允许 T0CKO(P3.4) 脚输出 T0 溢出脉冲，Fck0 = 1/2 T1 溢出率
 72 | */
 73 | //-----------------------------------
 74 | sfr CLK_DIV = 0x97; //Clock Divder          -     -      -       -     -  CLKS2 CLKS1 CLKS0 xxxx,x000
 75 | //-----------------------------------
 76 | sfr BUS_SPEED = 0xA1; //Stretch register      -     -    ALES1   ALES0   -   RWS2  RWS1  RWS0 xx10,x011
 77 | /*
 78 | ALES1 and ALES0:
 79 | 00 : The P0 address setup time and hold time to ALE negative edge is one clock cycle
 80 | 01 : The P0 address setup time and hold time to ALE negative edge is two clock cycles.
 81 | 10 : The P0 address setup time and hold time to ALE negative edge is three clock cycles. (default)
 82 | 11 : The P0 address setup time and hold time to ALE negative edge is four clock cycles.
 83 | 
 84 | RWS2,RWS1,RWS0:
 85 |   000 : The MOVX read/write pulse is 1 clock cycle. 
 86 |   001 : The MOVX read/write pulse is 2 clock cycles.
 87 |   010 : The MOVX read/write pulse is 3 clock cycles.
 88 |   011 : The MOVX read/write pulse is 4 clock cycles. (default)
 89 |   100 : The MOVX read/write pulse is 5 clock cycles.
 90 |   101 : The MOVX read/write pulse is 6 clock cycles.
 91 |   110 : The MOVX read/write pulse is 7 clock cycles.
 92 |   111 : The MOVX read/write pulse is 8 clock cycles.
 93 | */
 94 | //--------------------------------------------------------------------------------
 95 | //新一代 1T 8051系列 单片机中断特殊功能寄存器
 96 | //有的中断控制、中断标志位散布在其它特殊功能寄存器中，这些位在位地址中定义
 97 | //其中有的位无位寻址能力，请参阅 新一代 1T 8051系列 单片机中文指南
 98 | //                                           7     6     5    4     3    2    1    0   Reset Value
 99 | sfr IE      = 0xA8;  //中断控制寄存器        EA  ELVD  EADC   ES   ET1  EX1  ET0  EX0  0x00,0000
100 | //-----------------------
101 | sbit EA       = IE^7;
102 | sbit ELVD     = IE^6; //低压监测中断允许位
103 | sbit EADC     = IE^5; //ADC 中断允许位
104 | sbit ES       = IE^4;
105 | sbit ET1      = IE^3;
106 | sbit EX1      = IE^2;
107 | sbit ET0      = IE^1;
108 | sbit EX0      = IE^0;
109 | //-----------------------
110 | sfr IE2       = 0xAF;  //Auxiliary Interrupt   -     -     -    -     -    -  ESPI  ES2  0000,0000B
111 | //-----------------------
112 | //                                          7     6     5    4    3    2    1    0    Reset Value
113 | sfr IP      = 0xB8; //中断优先级低位      PPCA  PLVD  PADC  PS   PT1  PX1  PT0  PX0   0000,0000
114 | //--------
115 | sbit PPCA     = IP^7;  //PCA 模块中断优先级
116 | sbit PLVD     = IP^6;  //低压监测中断优先级
117 | sbit PADC     = IP^5;  //ADC 中断优先级
118 | sbit PS       = IP^4;
119 | sbit PT1      = IP^3;
120 | sbit PX1      = IP^2;
121 | sbit PT0      = IP^1;
122 | sbit PX0      = IP^0;
123 | //-----------------------
124 | //                                         7      6      5     4     3     2     1     0    Reset Value
125 | sfr IPH   = 0xB7; //中断优先级高位       PPCAH  PLVDH  PADCH  PSH  PT1H  PX1H  PT0H  PX0H   0000,0000
126 | sfr IP2   = 0xB5; //                       -      -      -     -     -     -   PSPI   PS2   xxxx,xx00
127 | sfr IPH2  = 0xB6; //                       -      -      -     -     -     -   PSPIH  PS2H  xxxx,xx00
128 | //-----------------------
129 | //新一代 1T 8051系列 单片机I/O 口特殊功能寄存器
130 | //                                      7     6     5     4     3     2     1     0         Reset Value
131 | sfr P0   = 0x80; //8 bitPort0          P0.7  P0.6  P0.5  P0.4  P0.3  P0.2  P0.1  P0.0       1111,1111
132 | sfr P0M0 = 0x94; //                                                                         0000,0000
133 | sfr P0M1 = 0x93; //                                                                         0000,0000
134 | sfr P1   = 0x90; //8 bitPort1          P1.7  P1.6  P1.5  P1.4  P1.3  P1.2  P1.1  P1.0       1111,1111
135 | sfr P1M0 = 0x92; //                                                                         0000,0000
136 | sfr P1M1 = 0x91; //                                                                         0000,0000
137 | sfr P1ASF = 0x9D; //P1 analog special function
138 | sfr P2   = 0xA0; //8 bitPort2          P2.7  P2.6  P2.5  P2.4  P2.3  P2.2  P2.1  P2.0       1111,1111
139 | sfr P2M0 = 0x96; //                                                                         0000,0000
140 | sfr P2M1 = 0x95; //                                                                         0000,0000
141 | sfr P3   = 0xB0; //8 bitPort3          P3.7  P3.6  P3.5  P3.4  P3.3  P3.2  P3.1  P3.0       1111,1111
142 | sfr P3M0 = 0xB2; //                                                                         0000,0000
143 | sfr P3M1 = 0xB1; //                                                                         0000,0000
144 | sfr P4   = 0xC0; //8 bitPort4          P4.7  P4.6  P4.5  P4.4  P4.3  P4.2  P4.1  P4.0       1111,1111
145 | sfr P4M0 = 0xB4; //                                                                         0000,0000
146 | sfr P4M1 = 0xB3; //                                                                         0000,0000
147 | //                                      7      6         5         4      3     2     1     0     Reset Value
148 | sfr P4SW = 0xBB; //Port-4 switch	    -   LVD_P4.6  ALE_P4.5  NA_P4.4   -     -     -     -	    x000,xxxx
149 | 
150 | sfr P5   = 0xC8; //8 bitPort5           -     -       -      -    P5.3  P5.2  P5.1  P5.0    xxxx,1111
151 | sfr P5M0 = 0xCA; //                                                                         0000,0000
152 | sfr P5M1 = 0xC9; //                                                                         0000,0000
153 | //--------------------------------------------------------------------------------
154 | //新一代 1T 8051系列 单片机定时器特殊功能寄存器
155 | //                                          7     6     5     4     3     2     1     0     Reset Value
156 | sfr TCON = 0x88; //T0/T1 Control           TF1   TR1   TF0   TR0   IE1   IT1   IE0   IT0    0000,0000
157 | //-----------------------------------
158 | sbit TF1 = TCON^7;
159 | sbit TR1 = TCON^6;
160 | sbit TF0 = TCON^5;
161 | sbit TR0 = TCON^4;
162 | sbit IE1 = TCON^3;
163 | sbit IT1 = TCON^2;
164 | sbit IE0 = TCON^1;
165 | sbit IT0 = TCON^0;
166 | //-----------------------------------
167 | sfr TMOD = 0x89; //T0/T1 Modes             GATE1 C/T1  M1_1  M1_0  GATE0 C/T0  M0_1  M0_0   0000,0000
168 | sfr TL0  = 0x8A; //T0 Low Byte                                                              0000,0000
169 | sfr TH0  = 0x8C; //T0 High Byte                                                             0000,0000
170 | sfr TL1  = 0x8B; //T1 Low Byte                                                              0000,0000
171 | sfr TH1  = 0x8D; //T1 High Byte                                                             0000,0000
172 | //--------------------------------------------------------------------------------
173 | //新一代 1T 8051系列 单片机串行口特殊功能寄存器
174 | //                                          7     6     5     4     3     2     1     0     Reset Value
175 | sfr SCON = 0x98; //Serial Control         SM0/FE SM1   SM2   REN   TB8   RB8    TI    RI    0000,0000
176 | //-----------------------------------
177 | sbit SM0 = SCON^7;  //SM0/FE
178 | sbit SM1 = SCON^6;
179 | sbit SM2 = SCON^5;
180 | sbit REN = SCON^4;
181 | sbit TB8 = SCON^3;
182 | sbit RB8 = SCON^2;
183 | sbit TI  = SCON^1;
184 | sbit RI  = SCON^0;
185 | //-----------------------------------
186 | sfr SBUF = 0x99; //Serial Data Buffer                                                     xxxx,xxxx
187 | sfr SADEN = 0xB9; //Slave Address Mask                                                    0000,0000
188 | sfr SADDR = 0xA9; //Slave Address                                                         0000,0000
189 | //-----------------------------------
190 | //                                7      6      5      4      3      2     1     0        Reset Value
191 | sfr S2CON = 0x9A; //S2 Control  S2SM0  S2SM1  S2SM2  S2REN  S2TB8  S2RB8  S2TI  S2RI      00000000B
192 | sfr S2BUF = 0x9B; //S2 Serial Buffer                                                      xxxx,xxxx
193 | sfr BRT = 0x9C; //S2 Baud-Rate Timer                                                    0000,0000
194 | //--------------------------------------------------------------------------------
195 | //新一代 1T 8051系列 单片机看门狗定时器特殊功能寄存器
196 | sfr WDT_CONTR = 0xC1; //Watch-Dog-Timer Control register
197 | //                                      7     6     5      4       3      2   1   0     Reset Value
198 | //                                  WDT_FLAG  -  EN_WDT CLR_WDT IDLE_WDT PS2 PS1 PS0    xx00,0000
199 | //-----------------------
200 | 
201 | //--------------------------------------------------------------------------------
202 | //新一代 1T 8051系列 单片机PCA/PWM 特殊功能寄存器
203 | //                                         7     6     5     4     3     2     1     0     Reset Value
204 | sfr CCON   = 0xD8;   //PCA 控制寄存器。    CF    CR    -     -     -     -    CCF1  CCF0   00xx,xx00
205 | //-----------------------
206 | sbit CF     = CCON^7; //PCA计数器溢出标志,由硬件或软件置位,必须由软件清0。
207 | sbit CR     = CCON^6; //1:允许 PCA 计数器计数, 必须由软件清0。
208 | //-
209 | //-
210 | sbit CCF1   = CCON^1; //PCA 模块1 中断标志, 由硬件置位, 必须由软件清0。
211 | sbit CCF0   = CCON^0; //PCA 模块0 中断标志, 由硬件置位, 必须由软件清0。
212 | //-----------------------
213 | sfr CMOD  = 0xD9; //PCA 工作模式寄存器。   CIDL   -     -     -   CPS2   CPS1  CPS0  ECF   0xxx,x000
214 | /*
215 | CIDL: idle 状态时 PCA 计数器是否继续计数, 0: 继续计数, 1: 停止计数。
216 | 
217 | CPS2: PCA 计数器脉冲源选择位 2。
218 | CPS1: PCA 计数器脉冲源选择位 1。
219 | CPS0: PCA 计数器脉冲源选择位 0。
220 |    CPS2   CPS1   CPS0
221 |     0      0      0    系统时钟频率 fosc/12。
222 |     0      0      1    系统时钟频率 fosc/2。
223 |     0      1      0    Timer0 溢出。
224 |     0      1      1    由 ECI/P3.4 脚输入的外部时钟，最大 fosc/2。
225 |     1      0      0    系统时钟频率，  Fosc/1
226 |     1      0      1    系统时钟频率/4，Fosc/4
227 |     1      1      0    系统时钟频率/6，Fosc/6
228 |     1      1      1    系统时钟频率/8，Fosc/8
229 | 
230 | ECF: PCA计数器溢出中断允许位, 1--允许 CF(CCON.7) 产生中断。
231 | */
232 | //-----------------------
233 | sfr CL     = 0xE9; //PCA 计数器低位                                                        0000,0000
234 | sfr CH     = 0xF9; //PCA 计数器高位                                                        0000,0000
235 | //-----------------------
236 | //                                         7     6      5      4     3     2     1     0     Reset Value
237 | sfr CCAPM0 = 0xDA; //PCA 模块0 PWM 寄存器  -   ECOM0  CAPP0  CAPN0  MAT0  TOG0  PWM0  ECCF0   x000,0000
238 | sfr CCAPM1 = 0xDB; //PCA 模块1 PWM 寄存器  -   ECOM1  CAPP1  CAPN1  MAT1  TOG1  PWM1  ECCF1   x000,0000
239 | 
240 | //ECOMn = 1:允许比较功能。
241 | //CAPPn = 1:允许上升沿触发捕捉功能。
242 | //CAPNn = 1:允许下降沿触发捕捉功能。
243 | //MATn  = 1:当匹配情况发生时, 允许 CCON 中的 CCFn 置位。
244 | //TOGn  = 1:当匹配情况发生时, CEXn 将翻转。
245 | //PWMn  = 1:将 CEXn 设置为 PWM 输出。
246 | //ECCFn = 1:允许 CCON 中的 CCFn 触发中断。
247 | 
248 | //ECOMn  CAPPn  CAPNn  MATn  TOGn  PWMn  ECCFn
249 | //  0      0      0     0     0     0     0   0x00   未启用任何功能。
250 | //  x      1      0     0     0     0     x   0x21   16位CEXn上升沿触发捕捉功能。
251 | //  x      0      1     0     0     0     x   0x11   16位CEXn下降沿触发捕捉功能。
252 | //  x      1      1     0     0     0     x   0x31   16位CEXn边沿(上、下沿)触发捕捉功能。
253 | //  1      0      0     1     0     0     x   0x49   16位软件定时器。
254 | //  1      0      0     1     1     0     x   0x4d   16位高速脉冲输出。
255 | //  1      0      0     0     0     1     0   0x42   8位 PWM。
256 | 
257 | //ECOMn  CAPPn  CAPNn  MATn  TOGn  PWMn  ECCFn
258 | //  0      0      0     0     0     0     0   0x00   无此操作
259 | //  1      0      0     0     0     1     0   0x42   普通8位PWM, 无中断
260 | //  1      1      0     0     0     1     1   0x63   PWM输出由低变高可产生中断
261 | //  1      0      1     0     0     1     1   0x53   PWM输出由高变低可产生中断
262 | //  1      1      1     0     0     1     1   0x73   PWM输出由低变高或由高变低都可产生中断
263 | 
264 | //-----------------------
265 | sfr CCAP0L = 0xEA; //PCA 模块 0 的捕捉/比较寄存器低 8 位。                                    0000,0000
266 | sfr CCAP0H = 0xFA; //PCA 模块 0 的捕捉/比较寄存器高 8 位。                                    0000,0000
267 | sfr CCAP1L = 0xEB; //PCA 模块 1 的捕捉/比较寄存器低 8 位。                                    0000,0000
268 | sfr CCAP1H = 0xFB; //PCA 模块 1 的捕捉/比较寄存器高 8 位。                                    0000,0000
269 | //-----------------------
270 | //                                                       7   6   5   4   3   2    1     0    Reset Value
271 | sfr PCA_PWM0 = 0xF2; //PCA 模块0 PWM 寄存器。            -   -   -   -   -   -  EPC0H EPC0L   xxxx,xx00
272 | sfr PCA_PWM1 = 0xF3; //PCA 模块1 PWM 寄存器。            -   -   -   -   -   -  EPC1H EPC1L   xxxx,xx00
273 | //PCA_PWMn:    7      6      5      4      3      2      1      0
274 | //             -      -      -      -      -      -    EPCnH  EPCnL
275 | //B7-B2: 保留
276 | //B1(EPCnH): 在 PWM 模式下，与 CCAPnH 组成 9 位数。
277 | //B0(EPCnL): 在 PWM 模式下，与 CCAPnL 组成 9 位数。
278 | //--------------------------------------------------------------------------------
279 | //新一代 1T 8051系列 单片机 ADC 特殊功能寄存器
280 | //                                            7        6      5       4         3      2    1    0   Reset Value
281 | sfr ADC_CONTR = 0xBC; //A/D 转换控制寄存器 ADC_POWER SPEED1 SPEED0 ADC_FLAG ADC_START CHS2 CHS1 CHS0 0000,0000
282 | sfr ADC_RES  = 0xBD;  //A/D 转换结果高8位 ADCV.9 ADCV.8 ADCV.7 ADCV.6 ADCV.5 ADCV.4 ADCV.3 ADCV.2	 0000,0000
283 | sfr ADC_RESL = 0xBE;  //A/D 转换结果低2位                                           ADCV.1 ADCV.0	 0000,0000
284 | //--------------------------------------------------------------------------------
285 | //新一代 1T 8051系列 单片机 SPI 特殊功能寄存器
286 | //                                      7     6     5     4     3     2     1     0    Reset Value
287 | sfr SPCTL  = 0xCE; //SPI Control Register  SSIG  SPEN  DORD  MSTR  CPOL  CPHA  SPR1  SPR0  0000,0100
288 | sfr SPSTAT = 0xCD; //SPI Status Register   SPIF  WCOL   -     -     -     -     -     -    00xx,xxxx
289 | sfr SPDAT  = 0xCF; //SPI Data Register                                                     0000,0000
290 | //--------------------------------------------------------------------------------
291 | //新一代 1T 8051系列 单片机 IAP/ISP 特殊功能寄存器
292 | sfr IAP_DATA    = 0xC2;
293 | sfr IAP_ADDRH   = 0xC3;
294 | sfr IAP_ADDRL   = 0xC4;
295 | //                                                7    6    5      4    3    2    1     0    Reset Value
296 | sfr IAP_CMD     = 0xC5; //IAP Mode Table          0    -    -      -    -    -   MS1   MS0   0xxx,xx00
297 | sfr IAP_TRIG    = 0xC6;
298 | sfr IAP_CONTR   = 0xC7; //IAP Control Register  IAPEN SWBS SWRST CFAIL  -   WT2  WT1   WT0   0000,x000
299 | //--------------------------------------------------------------------------------
300 | 
301 | 


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