C51串口控制小车（蓝牙）

前期准备：

(43条消息) 基于C51语音控制小车_菜鸟成长之路丶的博客-CSDN博客

项目：

uart.c文件

#include "reg52.h"
#include "motor.h"
#include "string.h"
sbit D5 = P3^7;
#define SIZE 12
 
sfr AUXR = 0x8E;
char buffer[SIZE];
 
void UartInit(void)     //9600bps@11.0592MHz
{
    AUXR = 0x01;
    SCON = 0x50; //配置串口工作方式1，REN使能接收
    TMOD &= 0x0F;
    TMOD |= 0x20;//定时器1工作方式位8位自动重装
     
    TH1 = 0xFD;
    TL1 = 0xFD;//9600波特率的初值
    TR1 = 1;//启动定时器
     
    EA = 1;//开启总中断
    ES = 1;//开启串口中断
}
 
//M1qian  M2 hou M3 zuo  M4 you
void Uart_Handler() interrupt 4
{
    static int i = 0;//静态变量，被初始化一次
    char tmp;
 
    if(RI)//中断处理函数中，对于接收中断的响应
    {
            RI = 0;//清除接收中断标志位
            tmp = SBUF;
            if(tmp == 'M'){
                i = 0;
            }
            buffer[i++] = tmp;
         
            //灯控指令
            if(buffer[0] == 'M'){
                switch(buffer[1]){
                    case '1':
                        goForward();
                        break;
                    case '2':
                        goBack();
                        break;
                    case '3':
                        goLeft();
                        break;
                    case '4':
                        goRight();
                        break;
                    default:
                        stop();
                        break;
                }
            }
         
            if(i == 12) {
                memset(buffer, '\0', SIZE);
                i = 0;
            }
    }
         
}

uart.h文件

void UartInit(void);

motor.c文件

#include "reg52.h"
 
sbit RightCon1A = P3^2;
sbit RightCon1B = P3^3;
 
sbit LeftCon1A = P3^4;
sbit LeftCon1B = P3^5;
 
void goForward()
{
    LeftCon1A = 0;
    LeftCon1B = 1;
     
    RightCon1A = 0;
    RightCon1B = 1;
}
 
void goRight()
{
    LeftCon1A = 0;
    LeftCon1B = 1;
     
    RightCon1A = 0;
    RightCon1B = 0;
}
 
 
void goLeft()
{
    LeftCon1A = 0;
    LeftCon1B = 0;
     
    RightCon1A = 0;
    RightCon1B = 1;
}
 
void goBack()
{
    LeftCon1A = 1;
    LeftCon1B = 0;
     
    RightCon1A = 1;
    RightCon1B = 0;
}
 
void stop()
{
    LeftCon1A = 0;
    LeftCon1B = 0;
     
    RightCon1A = 0;
    RightCon1B = 0;
}

motor.h文件

void goRight();
void goLeft();
void goForward();
void goBack();
void stop();

delay.c文件

#include "intrins.h"
 
void Delay1000ms()      //@11.0592MHz
{
    unsigned char i, j, k;
 
    _nop_();
    i = 8;
    j = 1;
    k = 243;
    do
    {
        do
        {
            while (--k);
        } while (--j);
    } while (--i);
}

delay.h文件

void Delay1000ms();