超声波测距，显示不出来，

1楼-- · 2019-07-15 20:34

人中狼发表于 2017-4-26 15:36
显示新内容的时候没有把旧的内容清除掉，至于数字显示不出来，要看程序了，是不是没有做另外半屏的片选

#include<STC12C5A60S2.h>
#include <string.h>
#include <stdio.h>
#include <math.h>
#include<absacc.h>
#define uchar unsigned char
#define uint  unsigned int
#define KSP 0.18       // 比例 0.18
#define KSI 0.0045 //  积分 0.0045
#define KSD 0.0001 // 微分 0.0001
#define KSP1 0.14 // 比例
#define KSI1 0.0018 // 积分
#define KSD1 0.0001 // 微分
uchar code IC_DAT[];
uchar code pic1[];
uchar code pic2[];
uchar code pic3[];
uint size=0;      //位置
uint sizechange,changesize=150; //高度变化停止用
uint displaytime;    //定义屏幕刷新时间
uint Timetime;    //计时
uint RTimetime;    //响应
uint MTimetime;    //保持
uint ZTimetime;    //总时间
uint Beep1stime;    //蜂鸣器1s定时时间
uchar flagchangeStar; //任务变化标志位
uchar shuzi;
uchar code IC_DAT[]={
"任务要求：    "
"响应时间：    s"
"小球位置： mm"
"保持时间:    s"
};

sbit RS  = P1^4;
sbit WRD = P1^5;
sbit E = P1^6;
//sbit PSB = P4^3; //没有此引脚
sbit RES = P1^7;
sbit RX  = P3^7;
sbit TX  = P3^6;
sbit BEEP  = P3^5;

uchar key,keysign,beeptime;

bit  flag =0;
uchar flagStart=0;       //启动标志位
uchar flagStart7=0;       //启动标志位7
uchar flagStart6=0;       //启动标志位7
uchar flagSep=0;       //任务要求标志位
uchar pidchang=0;       //任务要求标志位
uchar flagStart60=0;       //任务6要求标志位
uchar flagStart61=0; //任务6要求标志位1
uchar beepchange1;
uint time=0;
int pwm=255;
uint S=0,S1;

void TransferData(char data1,bit DI);
void display(void);
void display_grapic(void);
void delayms(uint n);
void DisplayLine(uchar line1,uchar line2);
void DisplayGraphic(uchar code *adder);
void delay(uint m);
void lcd_mesg(uchar code *adder1);
void delay25us(void);

/*====================================================================================================
PID Function

The PID (比例、积分、微分) function is used in mainly
control applications. PIDCalc performs one iteration of the PID
algorithm.

While the PID function works, main is just a dummy program showing
a typical usage.
以下为PID参数定义
=====================================================================================================*/

typedef struct PID {

      float  SetPoint;          //  设定目标 Desired Value（期望值）
      float  Proportion;       //  比例常数 Proportional Const
      float  Integral;          //  积分常数 Integral Const
      float  Derivative;       //  微分常数 Derivative Const

      float  LastError;       //  Error[-1] 最后一个误差
      float  PrevError;       //  Error[-2]
      float  SumError;          //  Sums of Errors  总误差

}PID ;

/*====================================================================================================
PID计算部分
=====================================================================================================*/

float PIDCalc( PID *pp, float NextPoint )
{
float  dError,
      Error,
DUTY;
Error = pp->SetPoint -  NextPoint;       // 偏差    设定 - 下一点
pp->SumError += Error;                   // 积分    误差和
dError = pp->LastError - pp->PrevError;    // 当前微分    上一个 - 上上个
pp->PrevError = pp->LastError; //移位上一个》上上个
pp->LastError = Error; //移位上上个》误差
DUTY=
( pp->Proportion * Error             // 比例项    比例*误差
         + pp->Integral * pp->SumError       // 积分项    积分*误差和
         + pp->Derivative * dError          // 微分项    微分*误差变化
);
if(DUTY>255){DUTY=255;}
if(DUTY<-255){DUTY=-255;}
return    DUTY;
}

/*====================================================================================================
Initialize PID Structure
=====================================================================================================*/

void PIDInit (PID *pp)//将PID各个参数初始化为0
{
memset ( pp,0,sizeof(PID));    //MEM组
}

/*====================================================================================================
Main Program
=====================================================================================================*/

float sensor (void)                     //  Dummy Sensor Function  虚拟传感器功能
{
while(!S);
return (float)S; //(S/255.0)*5.0;
}

void actuator(float rDelta)             //  Dummy Actuator Function 虚拟致动器的功能
{
pwm=rDelta; //(rDelta/5.0)*255;
if(pwm<0){pwm=0;} //高
if(pwm>255) pwm=255; //低

pwm=255-pwm;
}

/********************************************************************
* 名称 : 计数器设T0为方式1，GATE=1
* 功能 :
* 输入 :
* 输出 :
***********************************************************************/
void InitTimer0(void)
{
TMOD = 0x11;
TH0 = 0x10;
TL0 = 0x00;
TR0 = 1;
}
/********************************************************************
* 名称 : T0中断用来计数器溢出,超过测距范围
* 功能 :
* 输入 :
* 输出 :
***********************************************************************/
void Timer0Interrupt(void) interrupt 1    //T0中断用来计数器溢出,超过测距范围
{
flag=1;    //中断溢出标志
}

void  StartModule()          //启动发射
{
TX=1;
delay25us();
TX=0;
}
/********************************************************************
* 名称 : Convert(uchar In_Date)
* 功能 : 因为电路设计时，P0.0--P0.7接法刚好了资料中的相反，所以设计该函数。
* 输入 : 12864资料上的值
* 输出 : 送
***********************************************************************/
unsigned char Convert(unsigned char In_Date)
{
unsigned char i, Out_Date = 0, temp = 0;
for(i=0; i<8; i++)
{
      temp = (In_Date >> i) & 0x01;
      Out_Date |= (temp << (7 - i));
}
return Out_Date;
}

/********************************************************************
* 名称 : LCD字库初始化程序
* 功能 : 主函数
* 输入 : 无
* 输出 : 无
***********************************************************************/
void initinal(void)          //LCD字库初始化程序
{
delay(40);          //大于40MS的延时程序
// PSB=1;                //设置为8BIT并口工作模式
delay(1);             //延时
RES=0;                //复位
delay(1);             //延时
RES=1;                //复位置高
delay(10);
TransferData(0x30,0);  //Extended Function Set :8BIT设置,RE=0: basic instruction set, G=0 :graphic display OFF
delay(100);          //大于100uS的延时程序
TransferData(0x30,0);  //Function Set
delay(37);          ////大于37uS的延时程序
TransferData(0x08,0);  //Display on Control
delay(100);          //大于100uS的延时程序
TransferData(0x10,0);  //Cursor Display Control光标设置
delay(100);          //大于100uS的延时程序
TransferData(0x0C,0);  //Display Control,D=1,显示开
delay(100);          //大于100uS的延时程序
TransferData(0x01,0);  //Display Clear
delay(10);          //大于10mS的延时程序
TransferData(0x06,0);  //Enry Mode Set,光标从右向左加1位移动
delay(100);          //大于100uS的延时程序
}

/********************************************************************
* 名称 : LCD显示图片(扩展)初始化程序
* 功能 : 主函数
* 输入 : 无
* 输出 : 无
***********************************************************************/
void    initina2(void)          //LCD显示图片(扩展)初始化程序
{
delay(40);          //大于40MS的延时程序
// PSB=1;                //设置为8BIT并口工作模式
delay(1);             //延时
RES=0;                //复位
delay(1);             //延时
RES=1;                //复位置高
delay(10);

TransferData(0x36,0);  //Extended Function Set RE=1: extended instruction
delay(100);          //大于100uS的延时程序
TransferData(0x36,0);  //Extended Function Set:RE=1: extended instruction set
delay(37);          ////大于37uS的延时程序
TransferData(0x3E,0);  //EXFUNCTION(DL=8BITS,RE=1,G=1)
delay(100);          //大于100uS的延时程序
TransferData(0x01,0);  //CLEAR SCREEN
delay(100);          //大于100uS的延时程序
}

/********************************************************************
* 名称 : 显示文字
* 功能 : 主函数
* 输入 : 无
* 输出 : 无
***********************************************************************/
void lcd_mesg(unsigned char code *adder1)
{
unsigned char i;
TransferData(0x80,0);  //设置图形显示内存addressset图形显示内存地址
delay(100);
for(i=0;i<32;i++)
{
    TransferData(*adder1,1);
   adder1++;
}

TransferData(0x90,0);  //设置图形显示内存地址
delay(100);
for(i=32;i<64;i++)
{
TransferData(*adder1,1);
adder1++;
}
}

/********************************************************************
* 名称 : 传送数据或者命令
* 功能 :
* 输入 : 无
* 输出 : 无
***********************************************************************/
void TransferData(char data1,bit DI)  //传送数据或者命令,当DI=0时,传送命令,当DI=1时,传送数据.
{
WRD=0;
RS=DI;
delay(1);
P0=Convert(data1);
E=1;
delay(1);
E=0;
}
void Conut(void)
{
time=TH0*256+TL0;
TH0=0;
TL0=0;
S=time*0.179;    //算出来是CM    11。0592M晶振
if(flag==1)       //超出测量
{
flag=0;
}
else
{
if(S>480) S1=0;
else S1=480-S;

}
}
void Distance(void)
{
   StartModule();      //计算
   while(!RX); //当RX为零时等待
   TR0=1;       //开启计数
   while(RX); //当RX为1计数并等待
   TR0=0; //关闭计数
   Conut();

}
/********************************************************************
* 名称 : 毫秒延时
* 功能 :
* 输入 : 无
* 输出 : 无
***********************************************************************/
void delayms(unsigned int xms)          //延时xms毫秒
{
unsigned int i,j;
for(i=xms;i>0;i--)
for(j=1320;j>0;j--);
}

/********************************************************************
* 名称 : 10us延时程序
* 功能 :
* 输入 : 无
* 输出 : 无
***********************************************************************/
void delay(unsigned int m)          //延时程序
{
unsigned int i,j;
for(i=0;i<m;i++)
for(j=0;j<13;j++);
}

/********************************************************************
* 名称 : 25us延时程序
* 功能 :
* 输入 : 无
* 输出 : 无
***********************************************************************/
void delay25us(void)    //延时25us误差 0us
{
unsigned char a,b;
for(b=33;b>0;b--)
      for(a=3;a>0;a--);
}

void InitTimer1(void) //定时器初始化
{
TMOD = 0x11;
TH1 = 0x0EC;
TL1 = 0x78;
EA = 1;
ET1 = 1;
TR1 = 1;
}

void Timer1Interrupt(void) interrupt 3
{
TH1 = 0x0EC;
TL1 = 0x78;
displaytime++;
Timetime++;  //计时

}

/********************************************************************
* 名称 : 显示图形
* 功能 : 主函数
* 输入 : 无
* 输出 : 无
***********************************************************************/
void DisplayGraphic(unsigned char code *adder)
{
int i,j;
//显示上半屏内容设置
for(i=0;i<32;i++)
{
TransferData((0x80 + i),0); //SET  垂直地址 VERTICAL ADD
TransferData(0x80,0);    //SET  水平地址 HORIZONTAL ADD
for(j=0;j<16;j++)
{
TransferData(*adder,1);
adder++;
}
}
//显示下半屏内容设置
for(i=0;i<32;i++)
{
TransferData((0x80 + i),0); //SET 垂直地址 VERTICAL ADD
TransferData(0x88,0);    //SET 水平地址 HORIZONTAL ADD
for(j=0;j<16;j++)
{
TransferData(*adder,1);
adder++;
}
}
}

unsigned char code pic2[]=
{
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x3F,0x00,0x03,0x98,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0xFF,0x00,0x01,0x8C,0x00,0xE0,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x03,0x37,0x80,0x01,0x88,0x00,0x60,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x01,0xFF,0x00,0x01,0x00,0x00,0xE0,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x01,0xF6,0x00,0x03,0xF0,0x00,0x01,0xC0,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x01,0x3E,0x00,0x07,0xF0,0x02,0x0F,0xE0,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x01,0xF8,0x00,0x3F,0x80,0x03,0x07,0xC0,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x38,0x00,0x3F,0x00,0x03,0x01,0x80,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0xF8,0x00,0x1F,0x90,0x01,0x83,0x80,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0xF8,0x00,0x0D,0x98,0x01,0x03,0x60,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0xFC,0x00,0x09,0x30,0x01,0x3F,0xF8,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x01,0xE0,0x00,0x19,0x60,0x00,0x5C,0x38,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x9F,0xC0,0x12,0xC0,0x00,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x0F,0x78,0xE0,0x73,0x80,0x01,0x80,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x0C,0x03,0xE0,0x63,0x03,0x01,0x80,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x43,0x07,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x10,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x10,0x00,0x06,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x08,0x00,0x00,0x00,0x00,0x01,0xB0,0x00,0x63,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x38,0x30,0x00,0x38,0x00,0x0D,0xA0,0x00,0xE3,0x80,0x00,0x00,0x00,
0x00,0x00,0x01,0xF0,0x78,0x00,0x1C,0x00,0x0C,0xE0,0x01,0xE3,0xF0,0x00,0x00,0x00,
0x00,0x00,0x00,0xDB,0xFC,0x00,0x9C,0x00,0x0C,0xFC,0x00,0x57,0x38,0x00,0x00,0x00,
0x00,0x00,0x00,0x0B,0x18,0x00,0xDF,0x00,0x0F,0xCE,0x01,0x58,0x30,0x00,0x00,0x00,
0x00,0x00,0x00,0xF9,0xB0,0x00,0xFB,0x80,0x1F,0x1E,0x03,0x73,0xC0,0x00,0x00,0x00,
0x00,0x00,0x00,0xE9,0xF0,0x04,0xDF,0x00,0x28,0x70,0x03,0xE7,0x80,0x00,0x00,0x00,
0x00,0x00,0x00,0x99,0xE0,0x07,0xDE,0x00,0x33,0xE0,0x03,0x46,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0xF9,0x80,0x06,0xDC,0x00,0x63,0x60,0x02,0x05,0xC0,0x00,0x00,0x00,
0x00,0x00,0x00,0xD2,0x78,0x06,0xF8,0x00,0x60,0xC0,0x02,0x1F,0x80,0x00,0x00,0x00,
0x00,0x00,0x00,0xB5,0x8C,0x00,0x5F,0xE0,0x40,0xF0,0x02,0x1F,0x80,0x00,0x00,0x00,
0x00,0x00,0x01,0xFE,0x1C,0x01,0xFF,0xF0,0x07,0xB8,0x02,0x85,0x80,0x00,0x00,0x00,
0x00,0x00,0x03,0x96,0x04,0x1F,0xE0,0xF0,0x08,0x20,0x03,0x09,0x00,0x00,0x00,0x00,
0x00,0x00,0x02,0x10,0x00,0x1F,0x00,0x00,0x00,0x20,0x03,0x33,0x04,0x00,0x00,0x00,
0x00,0x00,0x00,0x10,0x00,0x0C,0x00,0x00,0x04,0x60,0x01,0x23,0x0C,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x03,0xC0,0x01,0x01,0xFC,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
};

/*******************************************************************/
/*                                                                */
/*  矩阵键盘扫描                                                   */
/*                                                                */
/*******************************************************************/
uchar keyscan(void)//键盘扫描函数，使用行列反转扫描法比如：行为低电位，列为高四位
{
uchar cord_h,cord_l;//行列值
P2=0x0f;//行线输出全为0
cord_h=P2&0x0f;//读入列线值
if(cord_h!=0x0f) //先检测有无按键按下
{
delay(1); //去抖
if(cord_h!=0x0f)
{
cord_h=P2&0x0f; //读入列线值
P2=cord_h|0xf0; //输出当前列线值
cord_l=P2&0xf0; //读入行线值
return(cord_h+cord_l);//键盘最后组合码值
}
}
else return(0xff);//返回该值
}
/**********************************************************/
void beep()
{
  uchar i;
  for (i=0;i<100;i++)
{
delay(10);
BEEP=!BEEP;                //BEEP取反
}
  BEEP=1;                   //关闭蜂鸣器
}

void beepchange()    //变音蜂鸣器
{
uchar i;
for (i=0;i<(20-beeptime)*10;i++)
{
delay((beeptime+2)*3);
BEEP=!BEEP;                //BEEP取反
}
BEEP=1;                   //关闭蜂鸣器

}
/********************************************************************
* 名称 : Main()
* 功能 : 主函数
* 输入 : 无
* 输出 : 无
***********************************************************************/
void main(void)
{
PID       sPID;                //  PID Control Structure  PID控制结构
float    rOut;                //  PID Response (Output)  PID控制器的响应（输出）
float    rIn;                   //  PID Feedback (Input)    PID反馈（输入）

PIDInit ( &sPID );                //  Initialize Structure
if(pidchang==0) // 准
{
sPID.Proportion = KSP;             //  Set PID Coefficients    比例
sPID.Integral = KSI; //  积分
sPID.Derivative = KSD; // 微分
}
if(pidchang==1)    // 稳
{
sPID.Proportion = KSP1;             //  Set PID Coefficients    比例
sPID.Integral = KSI1; //  积分
sPID.Derivative = KSD1; // 微分
}

sPID.SetPoint = size;          //  Set PID Setpoint    设定值

P4SW = 0x70;
initina2();             //调用LCD显示图片(扩展)初始化程序
DisplayGraphic(pic2);    //显示图片2
beep();
beep();
delayms(200);
initinal();         //调用LCD字库初始化程序
delay(100);             //大于100uS的延时程序
lcd_mesg(IC_DAT);       //显示中文汉字1
InitTimer0();    //计时器
InitTimer1();    //中断初始化

CCON = 0;                      //主控制寄存器的初始
                                 //PCA timer 停止运行
                                 //清除CF标志
                                 //清除所有中断标志模块
CL = 0;                      //复位 PCA base timer
CH = 0;
CMOD = 0x02;                   //设置 PCA timer 时钟源在 Fosc/2
                                 //禁用PCA timer溢出中断
CCAP0H = CCAP0L = 0xff;       //pwm0端口输出的50%占空比的矩形波
CCAPM0 = 0x42;                //PCA模块工作在8位PWM模式禁止PCA中断

CCAP1H = CCAP1L = 0xff;       //PWM1输出端口0方波的占空比
CCAPM1 = 0x42;                //PCA模块工作在8位PWM模式禁止PCA中断
   CR = 1;                      //PCA timer 启动运行
   beep();
   beep();
while(1)
{

sPID.SetPoint = 480-size;          //  Set PID Setpoint    设定值
Distance();
delayms(10);
// CCAP1H = CCAP1L = pwm;       //pwm0端口输出的50%占空比的矩形方波
CCAP0H = CCAP0L = pwm;       //pwm0端口输出的50%占空比的矩形方波
key=keyscan();//调用键盘扫描，
switch(key)
{
   case 235:key=0;break; //0 按下相应的键显示相对应的码值原理就是高四位一列低四位一列的组
//合。0111 1110 7e 0表示按键后为0，1表示没有按键按下的。
//其他类推。
case 119:key=1;break; //1
case 123:key=2;break; //2
case 125:key=3;break; //3
case 183:key=4;break; //4
case 187:key=5;break; //5
case 189:key=6;break; //6
case 215:key=7;break; //7
case 219:key=8;break; //8
case 221:key=9;break; //9
case 126:key=10;break; //A
case 190:key=11;break; //B
case 222:key=12;break; //C
case 238:key=13;break; //D
case 231:key=14;break; //*
case 237:key=15;break; //#
case 255:key=16;break; //空

}
if(key==16)
{
if(keysign!=16)
{
beeptime=keysign;
if(beeptime!=14)
{
if((flagStart==1)&&(beeptime<=9)) {flagStart=1; beepchange1=1;}
else beepchange();
}
if((flagStart==0)&&(keysign<=9)) {flagSep=keysign; shuzi=keysign;} //任务显示
if((flagStart==1)&&(keysign<=9)) { size=200-keysign*10; pidchang=1;} //任务3
if((shuzi==2)&&(flagSep==1))
{
} //任务3
if(keysign==15)
{
ZTimetime=0;
flagStart=1;    //标志位置1
if(flagSep==1)
{
if(flagStart6==0)size=150;
}//任务1 位置
if(keysign==5) flagchangeStar=5 ; //任务5 位置
}
if(keysign==14)  {flagStart=3;beepchange1=0; } //标志位置0    BEEP可以等于0;
}

}
keysign=key; //上次的按键

   //***任务要求函数等等***
if((flagStart==1)&&(flagSep==1))
{
rIn = sensor (); //把S转成浮点型             //  Read Input    读取输入
rOut = PIDCalc ( &sPID,rIn ); //PID  //  Perform PID Interation
actuator ( rOut+pwm ); //占空比       //  Effect Needed Changes
}
//***取消小球下降函数***
if(flagStart==3)
{
rIn = sensor (); //把S转成浮点型             //  Read Input    读取输入
rOut = PIDCalc ( &sPID,rIn ); //PID  //  Perform PID Interation
actuator ( rOut+pwm ); //占空比       //  Effect Needed Changes
   size=sizechange+changesize;
   if(S1>=450)
   {
   sizechange=0; //最低点清 0
   flagStart=0;
   BEEP=1;
   pwm=255;
   flagSep=0;
   flagchangeStar=0;

   }
}
if((flagSep==5)&&(flagStart==1))
{

pidchang=1;
if(S1>100) pwm=95;
if(S1<150) {flagSep=1;size=1;}


}

/********************************************************************
* 名称 : 屏幕数据刷新
* 功能 :
* 输入 : 无
* 输出 : 无
***********************************************************************/
if(displaytime>=100 )
{
if(flagStart==3) sizechange=sizechange+40;    //下降专用距离下降  左后停止

TransferData(0x95,0);
TransferData(0x17,1);    //高度显示
TransferData(S1%1000/100+0x30,1);
TransferData(S1%100/10+0x30,1);
TransferData(S1%10+0x30,1);

TransferData(0x8D,0);    //响应时间显示
TransferData(RTimetime/100%10+0x30,1);
TransferData(RTimetime%100/10+0x30,1);
TransferData(0x2E,1);
TransferData(RTimetime%10+0x30,1);

TransferData(0x9d,0); //保持时间显示
TransferData(MTimetime/100%10+0x30,1);
TransferData(MTimetime%100/10+0x30,1);
TransferData(0x2E,1);
TransferData(MTimetime%10+0x30,1);
displaytime=0;

TransferData(0x85,0);    //任务要求显示

TransferData(0x20,1);

if(flagStart==1) TransferData(0x11,1);
else TransferData(0x3C,1);

TransferData(shuzi+0x30,1);
if(flagStart==1) TransferData(0x10,1);

else TransferData(0x3E,1);
}

if((Timetime>=22)&&(flagStart==1)) //0.1s的保持与采样时间计算
{
ZTimetime++;    //总时间

if((flagSep==5)&&(S1>=100))
{
RTimetime=ZTimetime;    //响应时间S
}
if((size==301)&&(S1<200))
{
size=50;

}

if((flagSep==1)&&((110>=S1)|(S1>=190))&&(size==150))
{
RTimetime=ZTimetime;    //响应时间S
pidchang=1;
}
if((flagSep==1)&&((10>=S1)|(S1>=90))&&(size==50))
{
RTimetime=ZTimetime;    //响应时间S
pidchang=1;
}
if((flagSep==1)&&((210>=S1)|(S1>=290))&&(size==250))
{
RTimetime=ZTimetime;    //响应时间S
pidchang=1;
}
else
{
Beep1stime++;
if(Beep1stime>=1) BEEP=1;
if((Beep1stime>=10)&&(beepchange1!=1)) {BEEP=0;Beep1stime=0; }
}
MTimetime=ZTimetime-RTimetime;    //保持时间
Timetime=0;
if(size==301) MTimetime=0;

}
if(flagSep==6)
   {
   flagStart6=1;
      flagSep=1;
         size=301;
pidchang=0;
   }

   if ((MTimetime>=30)&&(flagStart6==1))
   {
   flagStart61++;
   if (flagStart60==0)
   {
   size=250;
   flagStart60=1;
   pidchang=0;
   }
   else
   {
   size=50;
   flagStart60=0;
   pidchang=0;
   }
   MTimetime=0;
   ZTimetime=0;
   RTimetime=0;
   }
   if (flagStart61>=4){pwm=0; flagSep=0;}




   if(flagSep==7) //要求7功能
   {

   if((S1>=2)&&(flagStart7==0)){pwm=0;flagStart7=1;}    //启动标志位
   else
   if(flagStart7==1)
   {
   if (S1>=140) {flagSep=1; size=150;}
   }
   }

   if(flagSep==2) //要求7功能
   {
   flagSep=1;
   pidchang=0;
   }

}
}