数码管显示及键盘控制程序

#include

void Write(unsigned char com,unsigned char dta);//发送带数据的命令
char read_zlg7289(unsigned char command);
void send_byte(unsigned char out_byte);//发送8位数据

volatile char temp=0xff;
char k,x,newkey,m;
long int i;

void Ctrl_IO_bit(unsigned char IO_bit,unsigned char level)
{
unsigned long int data=0x00000001;

data=data<
if(level)
{
*AT91C_PIOA_ODSR =(*AT91C_PIOA_ODSR)|data;
}
else
{
data=~data;
*AT91C_PIOA_ODSR =(*AT91C_PIOA_ODSR)&data;
}
}

void delay(unsigned long int x) //延时函数
{
while(--x) ;
}

void Write(unsigned char com,unsigned char dta)//发送带数据的命令
{
Ctrl_IO_bit(21,0); //cs=0
delay(1000);
send_byte(com);
send_byte(dta);
Ctrl_IO_bit(21,1); //cs=1;
}


void io_irq_handler(void) __irq //I/O中断函数
{
newkey=0x01;
temp=read_zlg7289(0x15);

switch(temp)
{

case 0x00:
m=1;
Write(0x83,1);
break;

case 0x01:
m=2;
Write(0x83,2);
break;
case 0x02:
m=3;
Write(0x83,3);
break;
case 0x03:
m=4;
Write(0x83,4);
break;
case 0x04:
m=8;
Write(0x83,8);
break;
case 0x05:
m=5;
Write(0x83,5);
break;
case 0x06:
m=6;
Write(0x83,6);
break;
case 0x07:
m=7;
Write(0x83,7);
break;
default : break;
}
*AT91C_AIC_EOICR=1; // End of Interrupt
*AT91C_AIC_ICCR=0x4; //清除IPR中相应的中断，沿触发有效
delay(100000); //arm7处理速度很快，以致7289反应速度较慢，因此加延时
}


int main()
{

//*AT91C_RSTC_RMR = 0xa5000801;


*AT91C_PIOA_PER=0x02e0e00f;//pio使能寄存器
*AT91C_PIOA_ODR=0x0000e000; // 设置成输入 13.14，15
*AT91C_PIOA_OER=0x02e0000f; //输出使能寄存器
*AT91C_PIOA_OWER=0x02e0000f; //输出写使能寄存器

*AT91C_PIOA_ODSR= 0x02000000; //蜂鸣器不响

*AT91C_PMC_PCER=(unsigned int)1<*AT91C_PMC_PCER=1<
*AT91C_PIOA_PPUDR=0x00004000;//上拉禁用，14
*AT91C_PIOA_PDR=0x00100000; //外设使能寄存器
*AT91C_PIOA_BSR=0x00100000;//使能外设B
*AT91C_AIC_SMR=*AT91C_AIC_SMR|0x00000020; //负沿触发

*AT91C_AIC_IECR=1<
AT91C_AIC_SVR[AT91C_ID_IRQ0]=(long int)*io_irq_handler; //中断入口地址

/**AT91C_PIOA_PER=0x02e0e00f;//pio使能寄存器
*AT91C_PIOA_ODR=0x0000e000; // 设置成输入 13.14，15
*AT91C_PIOA_OER=0x02e0000f; //输出使能寄存器
*AT91C_PIOA_OWER=0x02e0000f; //输出写使能寄存器

*AT91C_PIOA_ODSR= 0x02000000; //蜂鸣器不响 */

Write(0x80,0);
Write(0x80,0);
Write(0x81,0);
Write(0x82,0);
Write(0x83,0);
while(1)
{
if(newkey)
{
if(m==1)
{
Ctrl_IO_bit(0,0);
Ctrl_IO_bit(1,0);
Ctrl_IO_bit(2,1); //前进
Ctrl_IO_bit(3,0);
}
if(m==2)
{
Ctrl_IO_bit(0,0);
Ctrl_IO_bit(1,0);
Ctrl_IO_bit(2,0); //后退
Ctrl_IO_bit(3,1);
}
if(m==3)
{
Ctrl_IO_bit(0,0); //右转
Ctrl_IO_bit(1,1);
Ctrl_IO_bit(2,1);
Ctrl_IO_bit(3,0);
}
if(m==4)
{
Ctrl_IO_bit(0,1); //左转
Ctrl_IO_bit(1,0);
Ctrl_IO_bit(2,1);
Ctrl_IO_bit(3,0);
}
if(m==5)
{
if(!(*AT91C_PIOA_PDSR&(1<<14))) //循迹
{
Ctrl_IO_bit(3,0); //前右转
Ctrl_IO_bit(0,0);
Ctrl_IO_bit(1,1);
Ctrl_IO_bit(2,1);
}
else
{
Ctrl_IO_bit(3,0); //前左转
Ctrl_IO_bit(1,0);
Ctrl_IO_bit(0,1);
Ctrl_IO_bit(2,1);
}
}
if(m==6) //避障
{
if(!(*AT91C_PIOA_PDSR&(1<<14))) //101
{
Ctrl_IO_bit(3,0); //前左转
Ctrl_IO_bit(1,0);
Ctrl_IO_bit(0,1);
Ctrl_IO_bit(2,1);
delay(7000000);
Ctrl_IO_bit(3,0); //前右转
Ctrl_IO_bit(0,0);
Ctrl_IO_bit(1,1);
Ctrl_IO_bit(2,1);
delay(5000000);
}
else
{
Ctrl_IO_bit(0,0); //前进
Ctrl_IO_bit(1,0);
Ctrl_IO_bit(3,0); //前进
Ctrl_IO_bit(2,1);
}
}
if(m==7)
{
*AT91C_PIOA_PER=0x02e0e00b;//PA1.PA2.PA3的I/O功能使能
*AT91C_PIOA_OER=0x02e0000b; //输出使能
*AT91C_PIOA_OWER=0x02e0000b; //输出写使能
*AT91C_PIOA_PDR=0x00000004;//PA2由外设控制 ,调速
*AT91C_PIOA_ASR=0x00000004;//PA2由外设A控制
*AT91C_PWMC_ENA=0x00000004;//通道2使能寄存器
*AT91C_PWMC_CH2_CMR=0x00000001; //模式选择,左对齐，低电平启动，对MCK进行2分频作为选择时钟
*AT91C_PWMC_CH2_CPRDR=16384;//周期选择，CPRD=MCK/X,其中X为分频因子
*AT91C_PWMC_CH2_CDTYR=5000;//
Ctrl_IO_bit(3,0); //前进
Ctrl_IO_bit(1,0);
Ctrl_IO_bit(0,0);

delay(100000);
*AT91C_PIOA_PER=0x02e0e00f;//pio使能寄存器
*AT91C_PIOA_OER=0x02e0000f; //输出使能寄存器
*AT91C_PIOA_OWER=0x02e0000f; //输出

写使能寄存器
}
if(m==8)
{
Ctrl_IO_bit(3,0); //停止
Ctrl_IO_bit(0,0);
Ctrl_IO_bit(1,0);
Ctrl_IO_bit(2,0);
}
}
}

}




void send_byte(unsigned char out_byte)//发送8位数据

{
unsigned char i;

Ctrl_IO_bit(22,0);//*AT91C_PIOA_ODSR=0xff9ffff0; //clk=0
delay(340);
for(i=0;i<8;i++)
{
if(out_byte&0x80)
{
Ctrl_IO_bit(23,1);//*AT91C_PIOA_ODSR=0xff9ffff0; //data=1
}
else
{
Ctrl_IO_bit(23,0);//*AT91C_PIOA_ODSR=0xff1ffff0; //data=0
}
delay(20);
Ctrl_IO_bit(22,1);//*AT91C_PIOA_ODSR=*AT91C_PIOA_ODSR|0xff4ffff0; //clk=1;
delay(37);
Ctrl_IO_bit(22,0);//*AT91C_PIOA_ODSR=*AT91C_PIOA_ODSR&0xffbffff0; //clk=0
delay(40);
out_byte=out_byte*2;
}
Ctrl_IO_bit(23,0);//*AT91C_PIOA_ODSR=*AT91C_PIOA_ODSR&0xff7ffff0; //data=0
}



char receive_byte(void) //从SPI 总线读取1 个字节的数据
{
char dat;
unsigned char t = 8;
*AT91C_PIOA_ODR=*AT91C_PIOA_ODR|0x00800000; //ZLG7289_pinDIO = 1; //读取数据之前DIO 引脚要置1 以切换到输入状态
do
{
Ctrl_IO_bit(22,1);//*AT91C_PIOA_ODSR=*AT91C_PIOA_ODSR|0x00400000; //ZLG7289_pinCLK = 1;
delay(40);
dat <<= 1;
if(*AT91C_PIOA_PDSR&(1<<23))dat++;
Ctrl_IO_bit(22,0);//*AT91C_PIOA_ODSR=*AT91C_PIOA_ODSR&0xffbffff0;//ZLG7289_pinCLK = 0;
delay(40);
}
while (--t!= 0);
return dat;
}



char read_zlg7289(unsigned char command)
{
char key;

Ctrl_IO_bit(21,0);//*AT91C_PIOA_ODSR=*AT91C_PIOA_ODSR&0xffdffff0;//ZLG7289_pinCS = 0;
delay(200);
send_byte(0x15);
delay(200);
key=receive_byte();
*AT91C_PIOA_OER=*AT91C_PIOA_OER|0x00800000; //输出使能寄存器
*AT91C_PIOA_OWER=*AT91C_PIOA_OWER|0x00800000; //输出写使能寄存器
delay(200);
Ctrl_IO_bit(21,1);
return key;
}