51单片机蓝牙+超声波小车代码

/*******************/ /* Designed By YYQ */ /*******************/ #include "STC15W4Kxx.H" #define DATA_PORT P0//并行口数据线选定P0 #define CYCLE 0x7FFFL //PWM周期 #define DUTY10 20L //占空比设置 /*****************************/ /******12864功能引脚定义******/ sbit LCD12864_EN = P2^2; sbit LCD12864_RSET = P2^4; sbit LCD12864_RS = P2^0; sbit LCD12864_RW = P2^1; sbit LCD12864_PSB = P2^3; /*****************************/ /*******超声波引脚定义********/ sbit Trig=P1^4; sbit Echo=P1^5; /*****************************/ /********L298N引脚定义********/ sbit IN1 = P1^0; sbit IN2 = P1^7; sbit IN3 = P1^2; sbit IN4 = P1^3; /*****************************/ sbit ACK = P2^7; //确认按键定义 sbit SR04_Sta = P2^6; //超声波状态定义 sbit BlueTooth_Sta = P2^5; //蓝牙状态定义 sbit Ctrl = P1^6; //控制模式按键定义 bit Ctrl_Flag = 0;//控制模式标志 0:超声波自动避障 1:蓝牙控制 unsigned char rxbuf;//串口数据寄存 unsigned int time;//超声波定时 unsigned long dist;//距离 unsigned char DisplayBuffer[4]={0,0,0,0};//12864显示距离数组 unsigned char cnt;//预留计数器,程序中基本无用 unsigned long count0; unsigned long count1; const unsigned char binli[]= { 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x27,0xFF,0xFF,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0xFF,0xFF,0xFF,0xFF,0xF0,0x00,0x00,0x1C,0x00,0x00,0x06,0x0F,0x1C,0x00,0x07,0x00 , 0xFF,0xFF,0xFF,0xFF,0xF8,0x00,0x00,0x3E,0x00,0x00,0x0F,0x0F,0x1E,0x00,0x0F,0x00 , 0xFF,0xFF,0xFF,0xFF,0xFC,0x00,0x00,0x3E,0x00,0x00,0x1F,0x0F,0x1E,0x00,0x0F,0x00 , 0xFF,0xFF,0xFF,0xFF,0xFC,0x00,0x1F,0xFF,0xC0,0x00,0x1F,0x0F,0x7F,0xFF,0xFF,0xC0 , 0x00,0x3E,0x00,0x00,0x7C,0x07,0xFF,0xFF,0xFF,0xE0,0x1F,0x0F,0xFF,0xFF,0xFF,0xE0 , 0x00,0x7C,0x00,0x00,0x3C,0x7F,0xFF,0xFF,0xFF,0xFE,0x1F,0x0F,0xFF,0xFF,0xFF,0xE0 , 0x00,0x7C,0x00,0x00,0x7C,0x7F,0xFF,0xFF,0xFF,0xFF,0x1F,0x0F,0xFF,0xFF,0xFF,0xC0 , 0xFF,0xFF,0xFF,0xFF,0x7C,0x7F,0xFE,0x00,0xFF,0xFF,0x1F,0x0F,0xBF,0xE1,0xFF,0x80 , 0xFF,0xFF,0xFF,0xFF,0xFC,0x7F,0xFF,0x80,0x7F,0xFF,0x1F,0x0F,0x9F,0xFB,0xFF,0x80 , 0xFF,0xFF,0xFF,0xFF,0xF8,0x00,0xFF,0xE1,0xFF,0xEE,0x1F,0x0F,0x9F,0xFF,0xFF,0x80 , 0xFF,0xFF,0xFF,0xFF,0xF8,0x00,0x3F,0xFF,0xFF,0x00,0x1F,0x0F,0x1E,0xFF,0xFF,0x80 , 0x7F,0xFF,0xFF,0xFF,0xF8,0x00,0x07,0xFF,0xF8,0x00,0x1F,0x0F,0x1E,0x7F,0xCF,0x80 , 0x01,0xF0,0x00,0x01,0xF8,0x00,0x03,0xFF,0xC0,0x00,0x0F,0x0F,0x1E,0xFF,0xEF,0x80 , 0x01,0xE0,0x00,0x03,0xFC,0x00,0x0F,0xFF,0xF8,0x00,0x0F,0x0F,0x1F,0xFF,0xFF,0x80 , 0xFF,0xFF,0xFF,0xFF,0xFC,0x00,0x7F,0xFF,0xFE,0x00,0x0F,0x3F,0x1F,0xFF,0xFF,0x80 , 0xFF,0xFF,0xFF,0xFF,0xFC,0x03,0xFF,0xE3,0xFF,0xC0,0x07,0xFF,0x1F,0xF1,0xFF,0x00 , 0xFF,0xFF,0xFF,0xFF,0xBC,0x0F,0xFF,0xFF,0xFF,0xFE,0x03,0xFE,0x1F,0xFF,0xFF,0x00 , 0xFF,0xFF,0xFF,0xFF,0x7C,0x3F,0xFF,0xFF,0xFF,0xFF,0x07,0xFC,0x1F,0xFF,0xFF,0x00 , 0xFF,0xFF,0xFF,0xFE,0x7C,0x3F,0xFF,0xFF,0xFF,0xFF,0x0F,0xF0,0x1F,0xFF,0xFE,0x00 , 0x07,0x80,0x00,0x00,0x78,0x7F,0xFF,0xFF,0xFF,0xFF,0x0F,0xCF,0x0F,0xFF,0xFC,0x00 , 0x0F,0x80,0x00,0x00,0xF8,0x7C,0x00,0x00,0x00,0x7E,0x0F,0x8F,0x03,0xFF,0xFF,0xC0 , 0x0F,0x80,0x00,0x00,0xF8,0x7C,0x00,0x00,0x0F,0xFF,0x0F,0x0F,0x7F,0xFF,0xFF,0xC0 , 0x0F,0x00,0x00,0x00,0xF0,0x7C,0x00,0x0F,0xFF,0xFF,0x0F,0x0F,0xFF,0xFF,0xFF,0xE0 , 0x1F,0x00,0x00,0x00,0xF0,0x7C,0x3F,0xFF,0xFF,0xFF,0x0F,0x0F,0xFF,0xFF,0xFF,0xE0 , 0x1E,0x00,0x00,0x00,0xF0,0x3C,0x7F,0xFF,0xFF,0xFE,0x0F,0x0F,0x7F,0xFF,0xFF,0xC0 , 0x3E,0x00,0x00,0x00,0xF0,0x3E,0xFF,0xFF,0xFF,0xF0,0x0F,0x0F,0x00,0x7F,0xC0,0x00 , 0x3E,0x00,0x00,0x00,0xF0,0x3E,0xFF,0xFC,0x00,0x7E,0x0F,0x0F,0x00,0x7F,0xC0,0x00 , 0x3E,0x00,0x00,0x00,0xF0,0x1E,0x7C,0x00,0xFF,0xFF,0x0F,0x0F,0x00,0x7F,0xC0,0x00 , 0x7C,0x00,0x00,0x00,0xF0,0x1F,0x1F,0xFF,0xFF,0xFF,0x0F,0x0F,0x00,0x7F,0xC0,0x00 , 0x7C,0x00,0x00,0x00,0xF0,0x1F,0x7F,0xFF,0xFF,0xFF,0x0F,0x0F,0x00,0x7F,0xC0,0x00 , 0x7C,0x00,0x00,0x00,0xF0,0x1F,0xFF,0xFF,0xFF,0xFE,0x0F,0x0F,0x00,0x7F,0xC0,0x00 , 0x78,0x00,0x00,0x00,0xF0,0x1E,0xFF,0xFF,0xFE,0x00,0x0F,0x0F,0x00,0x7F,0xC0,0x00 , 0xF8,0x00,0x00,0x00,0xF8,0x1E,0x7F,0xE0,0x07,0xFF,0x0F,0x0F,0x00,0x7F,0xC0,0x00 , 0xF0,0x00,0x00,0x00,0xF8,0x3E,0x00,0x07,0xFF,0xFF,0x0F,0x0F,0x00,0x7F,0xC0,0x00 , 0xF0,0x00,0x00,0x00,0x78,0x3E,0x1F,0xFF,0xFF,0xFF,0x0F,0x0F,0x0F,0xFF,0xFF,0xC0 , 0xF0,0x00,0x00,0x00,0x7C,0x7C,0x7F,0xFF,0xFF,0xFE,0x0F,0x0F,0x7F,0xFF,0xFF,0xE0 , 0xF0,0x00,0x00,0x00,0x7C,0x7C,0xFF,0xFF,0xFF,0xF8,0x0F,0x0F,0x7F,0xFB,0xFF,0xE0 , 0xE0,0x00,0x00,0x00,0x3C,0x78,0xFF,0xFF,0x00,0x00,0x0F,0x0F,0x7F,0xF1,0xFF,0xE0 , 0xE0,0x00,0x00,0x00,0x3C,0x78,0x7F,0x00,0x00,0x00,0x0F,0x0F,0x7F,0xE0,0xFF,0xE0 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 , };//开机绘图数组 void delay(unsigned int x) //11.0592晶振 { unsigned int i,j; for(j=0;j<x;j++) for(i=0;i<110*9;i++); }//延时函数，110*9原因：110是因为用了11.0592晶振，*9是由于这种单片机比常规51单片机速度快约10倍 /*以下为12864功能函数定义*/ bit LcdBusyCheck()//忙检测 { bit result; LCD12864_RS = 0; LCD12864_RW = 1; LCD12864_EN = 1; result = (bit)(DATA_PORT&0x80); LCD12864_EN = 0; return result; } void WriteCmdToLCD(unsigned char cmd)//写命令 { delay(10); LCD12864_RS=0; LCD12864_RW=0; LCD12864_EN=1; DATA_PORT=cmd; delay(5); LCD12864_EN=0; delay(5); LCD12864_EN=1; } void WriteDatToLcd(unsigned char dat)//写数据 { delay(10); LCD12864_RS=1; LCD12864_RW=0; LCD12864_EN=1; DATA_PORT=dat; delay(5); LCD12864_EN=0; delay(5); LCD12864_EN=1; } void WriteStrToLcd(unsigned char *str)//写数据串，采用指针方式 { while(*str != '\0') { WriteDatToLcd(*str++); delay(5); } } void WriteCharToLcd(unsigned char c)//写单个字符 { WriteDatToLcd(c); delay(5); } void LcdPos(unsigned char x,unsigned char y)//设定12864的显示坐标 { unsigned char pos; if(x == 1) { x = 0x80; } else if(x == 2) { x = 0x90; } else if(x == 3) { x = 0x88; } else if(x == 4) { x = 0x98; }