#include "AT89X52.H"

#include "math.h"

sbit NTL = P0^0;//继电器控制，输出

sbit NTR = P0^1;

sbit NTU = P0^2;

sbit NTD = P0^3;

sbit INL = P0^4;//云台运动状况的检测电，输入

sbit INR = P0^5;

sbit INU = P0^6;

sbit IND = P0^7;

sbit LEFC = P2^0;//继电器的通断检测，

sbit LEGC = P2^1;

sbit UPPC = P2^2;

sbit DOWC = P2^3;

sbit SOUND = P2^7;

int counter=0,TimerCnt1Ms=0,LastTime1Ms;

char b,c,d= 0;

char Flag = 0,sc[3];

void Delay(int DelayTimeInMs);

void sendchar();

void checkpinc(char c);

void checkpind(char d);

void show(void);

void judge(char Flag);

void main (void)

{

SCON = 0x52; /* 设置串行口控制寄存器SCON*/

TMOD = 0x21; /* */

TCON = 0x69; /* TCON */

TH1 = 0xf3; /* TH1 */

ET1=1;

EA=1;

b = 0x01;

while( b<0x10 )

{ P0=0xFF;

switch(b)

{case 0x01 :

P0|=0x0F;

NTL=0;

break;

case 0x02 :

P0|=0x0F;

NTR=0;

break;

case 0x04 :

P0|=0x0F;

NTU=0;

break;

case 0x08 :

P0|=0x0F;

NTD=0;

break;

default:

P0=0x0F;

break;

}

Delay(900);

b <<=1;

}

SOUND=1;//蜂鸣器响

P0|=0x0F;

for(;;)

{

show();

judge (Flag);

sendchar();

if (Flag!=0xff)

{

int DelayNum=0;

do

{

SOUND=~SOUND;

DelayNum++;

Delay(1);

}

while( DelayNum<3000);

}

else

Delay(500);

}

}

void show(void)

{

b = 0x01;

c = 0x80;

d = 0x10;

Flag=0x00;

while( b<0x10 )

{ switch(b)

{case 0x01 :

P0|=0x0F;

NTL=0;

break;

case 0x02 :

P0|=0x0F;

NTR=0;

break;

case 0x04 :

P0|=0x0F;

NTU=0;

break;

case 0x08 :

P0|=0x0F;

NTD=0;

break;

}

checkpinc(c);

if (counter>10)

checkpind(d);

b <<=1;

c >>=1;

d <<=1;

counter=0;

}

SOUND=1;

NTL=1;

NTR=1;

NTU=1;

NTD=1;

}

void Delay(int DelayTimeInMs) // Note:DelayTimeInMs<1000

{

int LastTime1Ms = TimerCnt1Ms;

while(abs(TimerCnt1Ms-LastTime1Ms){}

TimerCnt1Ms=0;

}

// Timer0 overflow IntNum=10

void timer1_ovf_isr(void) interrupt 3

{

unsigned char Second,Minute,Hour = 0;

TimerCnt1Ms++;

if( TimerCnt1Ms==1000 )//1秒

{

TimerCnt1Ms = 0;

Second++;

if( Second==60 )

{

Second = 0;

Minute++;

if( Minute==60 )

{

Minute = 0;

Hour++;

}

}

}

}

void sendchar()

{

char i;

sc[2]=0x0d;

if ((Flag&0x0f)>9)

sc[0]=65+(Flag&0x0f)-0x0a;

else

sc[0]=48+(Flag&0x0f);

if((Flag&0xf0)>0x90)

sc[1]=65+((Flag>>4)&0x0f)-0x0a;

else

sc[1]=48+((Flag&0xf0)>>4);

for (i=0;i<=2;i++)

{

SBUF=sc[i];

// while (!(USR & 0x40))

{

}

// USR|=0x40;

}

}

void checkpinc(char c) //C端口检测

{

int DelayNum=0;

Delay(30);

counter=0;

do

{

Delay(2);

DelayNum++;

// if (PINC&c==c)

counter++;

}

while( DelayNum<15);

if (counter>10)

Flag |=c;

}

void checkpind(char d) //D端口检测

{

int DelayNum=0;

counter=0;

do

{

Delay(2);

DelayNum++;

// if (d!=(PIND&d))

counter++;

}

while( DelayNum<30);

if (counter>5)

Flag |=(d>>4);

}

void judge (char Flag)

{

int j,m,n;

for (j=0;j<=2;j++)

{

if (Flag!=0xff)

{

m=((Flag||0x0f)>>4)||0xf0;

n=Flag||0xf0;

if ((m-n)<=0)

{}

else

{

if ((((~n)||0xf3)==0xff)|((n||0xf3)==0xff))

{

}

else

{

P0=((~n)||0xf3);

Delay(200);

P0=0x8f;

}

if ((((~n)||0xfc)==0xff)|((n||0xfc)==0xff))

{

}

else

{

P0=((~n)||0xfc);

Delay(200);

P0=0x8f;

}

}

Delay(5);

show();

}

else j=3;

P0=0x8f;

}

}

电原理图

控制板