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|
status equ 03h
portc equ 07h
trisc equ 87h
portd equ 08h ;hw,smoke
trisd equ 88h
porta equ 05h
trisa equ 85h
porte equ 09h ;re0蜂鸣器 低有效
trise equ 89h
;keyborad
portb equ 06h
trisb equ 86h
;=================定时器tmr0===================
tmr0 equ 01h
option_reg equ 81h
intcon equ 0bh
tmr0b_fast equ 128
tmr0b_slow equ 0
;==================常量定义===================
count equ 21h ;电机转数
ljt_status equ 22h ;桶盖状态，0为关闭，1为打开状态
jp_status equ 23h ;键盘状态
yw_status equ 24h ;yw
;===================体1设置=========================
org 000h
nop
bsf status,5
bcf status,6 ;转到体1
movlw 00h ;电机四位信号输出
movwf trisc
movlw 0ffh
movwf trisd ;红外信号一低两位输入,0为遮挡
movlw 0ffh ;设置ra为输入
movwf trisa
movlw 0ffh ;rb输入
movwf trisb
movlw 00h ;蜂鸣器输出
movwf trise
movlw 03h ;分频数
movwf option_reg
bcf option_reg,3 ;分频器分配给tmr0
bcf option_reg,4 ;上升沿tmr0递增
bcf option_reg,5 ;内部时钟提供时钟源
bcf option_reg,7 ;启用b端口上拉电阻
goto init
;=====================体0设置=====================
init
bcf status,5 ;转到体0
movlw 00h ;输出初始化
movwf portc
movwf ljt_status ;桶盖初始状态为0
movlw 0ffh ;蜂鸣器初始不工作
movwf porte
movlw 01dh ;电机初始转数
movwf count
nop
nop
goto main
;======================主程序====================
main
call scan ;调用键盘扫描
call yw_gy
movlw 01dh ;电机初始转数
movwf count
btfsc portd,0
goto work1
btfss ljt_status,0 ;若桶盖为1,跳过正转
call djzz ;电机正转
work1
movlw 01dh ;电机初始转数
movwf count
btfss portd,0
goto main
btfsc ljt_status,0 ;若桶盖为0,跳过反转
call djfz ;电机反转
goto main
;==============键盘扫描===============
scan
;第一行扫描
movlw B'11111110'
movwf portb
nop
nop
bsf status,5 ;到体1，转换方向
movlw 0f0h
movwf trisb
bcf status,5 ;返回体0
movf portb,0
movwf jp_status ;键盘状态读入通用寄存器
btfss jp_status,4
goto set_flag1
btfss jp_status,4
goto scan
btfss jp_status,5
goto set_flag2
;第二行扫描
bsf status,5 ;到体1，转换方向
movlw 0fh
movwf trisb
bcf status,5 ;返回体0
movlw B'11111101'
movwf portb
nop
nop
bsf status,5 ;转换方向
movlw 0f0h
movwf trisb
bcf status,5 ;返回体0
movf portb,0
movwf jp_status
btfss jp_status,4
goto set_flag3
btfss jp_status,5
goto set_flag4
return
;============标志测试=============
set_flag1 ;电机正转打开桶盖
movlw 01dh ;电机初始转数
movwf count
call djzz
bsf ljt_status,0
return
set_flag2 ;电机反转关闭桶盖进入工作状态
movlw 01dh ;电机初始转数
movwf count
call djfz
bcf ljt_status,0
return
set_flag3 ;无
return
set_flag4 ;无
return
;=====================电机正转=====================
djzz
call delay_fast
call delay_fast
call delay_fast
call delay_fast
call delay_fast
call delay_fast
call delay_fast
call delay_fast
movlw 080h
movwf portc
call delay_fast
call delay_fast
call delay_fast
call delay_fast
call delay_fast
call delay_fast
movlw 0c0h
movwf portc
call delay_fast
call delay_fast
call delay_fast
call delay_fast
movlw 040h
movwf portc
call delay_fast
call delay_fast
movlw 060h
movwf portc
call delay_fast
call delay_fast
movlw 020h
movwf portc
call delay_fast
call delay_fast
movlw 030h
movwf portc
call delay_fast
call delay_fast
movlw 010h
movwf portc
call delay_fast
call delay_fast
movlw 090h
movwf portc
call delay_fast
call delay_fast
decfsz count,1
goto djzz
bsf ljt_status,0 ;桶盖打开标志1
return
;======================电机反转====================
djfz
call delay_fast
call delay_fast
call delay_fast
call delay_fast
call delay_fast
call delay_fast
call delay_fast
call delay_fast
movlw 090h
movwf portc
call delay_fast
call delay_fast
call delay_fast
call delay_fast
call delay_fast
call delay_fast
movlw 010h
movwf portc
call delay_fast
call delay_fast
call delay_fast
call delay_fast
movlw 030h
movwf portc
call delay_fast
call delay_fast
movlw 020h
movwf portc
call delay_fast
call delay_fast
movlw 060h
movwf portc
call delay_fast
call delay_fast
movlw 040h
movwf portc
call delay_fast
call delay_fast
movlw 0c0h
movwf portc
call delay_fast
call delay_fast
movlw 080h
movwf portc
call delay_fast
call delay_fast
call hwgy_tg_open ;检测满，是则蜂鸣
decfsz count,1
goto djfz
bcf ljt_status,0 ;桶盖关闭0
call delay_fast
call hwgy_tg_close ;检测清空
return
;==============红外感应===================
;红外感应使桶盖打开 rd0
hwgy_open
call delay_slow
call delay_slow
call delay_slow
btfsc portd,0
goto hwgy_open
return
;红外感应使桶盖关闭 rd0
hwgy_close
call delay_slow
call delay_slow
call delay_slow
btfss portd,0
goto hwgy_close
return
;红外感应范围内是否有目标
hwgy_tg_open
btfss portd,1
call fmq_open
return
hwgy_tg_close
btfsc portd,1
call fmq_close
return
;==============蜂鸣器====================
;蜂鸣器工作
fmq_open
movlw 00h
movwf porte
return
;蜂鸣器停止工作
fmq_close
movlw 0ffh
movwf porte
return
;================短延时===================
delay_fast
bcf intcon,2
movlw tmr0b_fast
movwf tmr0
loop1
btfss intcon,2
goto loop1
return
;===============长延时===================
delay_slow
bcf intcon,2
movlw tmr0b_slow
movwf tmr0
loop2
btfss intcon,2
goto loop2
return
;===========yw===============
yw_gy
btfss portd,4
call fmq_open
btfsc portd,4
call fmq_close
return
end
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