#include<reg51.h>
#include<intrins.h>
#define uchar unsigned char
#define uint unsigned int
#define left_infrare 0
#define right_infrare 1
#define dj_state1 0X5F //前进 
#define dj_state2 0X4F //右转 
#define dj_state3 0X1F //左转 
#define dj_state4 0X0F //后退 
#define dj_state5 0XfF //停车
#define light_off 0x0f //关转向灯
#define left_light 0X5F //左转向灯 两个是5f
#define right_light 0XaF //右转向灯0xaf，两个是0xbf
#define back_light 0XcF //刹车灯即后灯
#define front_light 0x3f //前灯
#define light_on 0xff //开所有灯
#define true 1
#define false 0
#define LCD_Data P0
#define Busy 0x80 //用于检测LCD状态字中的Busy标识
sbit c = P1 ^ 2; //转向灯使能端
uchar code talk1[] = {"backward"};
uchar code talk2[] = {"forward"};
uchar code talk3[] = {"Turnleft"};
uchar code talk4[] = {"Turn right"};
uchar flage = 0x00;
sbit ledcs = P1 ^ 2; //74H573的片选信号
//sbit left_led=P0^2; //左红外发射管
//sbit right_led=P0^3; //右红外发射管
sbit LCD_RS = P1 ^ 5; //LCD定义引脚
sbit LCD_RW = P1 ^ 6; //
sbit LCD_E = P1 ^ 7 ;
void Delay5Ms(void)
{
    uint TempCyc = 5552;
    while (TempCyc--);
}
//400ms延时
void Delay400Ms(void)
{
    uchar TempCycA = 5;
    uint TempCycB;
    while (TempCycA--) {
        TempCycB = 7269;
        while (TempCycB--);
    }
}
//LCD读状态
unsigned char ReadStatusLCD(void)
{
    LCD_Data = 0xFF;
    LCD_RS = 0;
    LCD_RW = 1;
    LCD_E = 0;
    LCD_E = 0;
    LCD_E = 1;
    while (LCD_Data & Busy); //检测忙信号
    return (LCD_Data);
}
//LCD写数据
void WriteDataLCD(unsigned char WDLCD )
{
    ReadStatusLCD(); //检测忙
    LCD_Data = WDLCD;
    LCD_RS = 1;
    LCD_RW = 0;
    LCD_E = 0; //若晶振速度太高可以在这后加小的延时
    LCD_E = 0; //延时 ,为了安全
    LCD_E = 0; //延时
    LCD_E = 1;
}
//LCD写指令
void WriteCommandLCD(unsigned char WCLCD, BuysC)
{
    if (BuysC) ReadStatusLCD(); //根据需要检测忙,BuysC为0时忽略忙检测
    LCD_Data = WCLCD;
    LCD_RS = 0;
    LCD_RW = 0;
    LCD_E = 0; //延时 ,为了安全
    LCD_E = 0;
    LCD_E = 0; //延时
    LCD_E = 1;
}
void LCDInit(void) //LCD初始化
{
    Delay400Ms();
    LCD_Data = 0;
    WriteCommandLCD(0x38, 0); //三次显示模式设置，不检测忙信号
    Delay5Ms();
    WriteCommandLCD(0x38, 0);
    Delay5Ms();
    WriteCommandLCD(0x38, 0);
    Delay5Ms();
    WriteCommandLCD(0x38, 1); //显示模式设置,开始要求每次检测忙信号
    WriteCommandLCD(0x08, 1); //关闭显示
    WriteCommandLCD(0x01, 1); //显示清屏
    WriteCommandLCD(0x06, 1); // 显示光标移动设置
    WriteCommandLCD(0x0C, 1); // 显示开及光标设置
}
//按指定位置显示一个字符
void DisplayOneChar(uchar X, uchar Y, uchar DData)
{
    Y &= 0x1;
    X &= 0xF; //限制X不能大于15，Y不能大于1
    if (Y)
        X |= 0x40; //当要显示第二行时地址码+0x40;
    X |= 0x80; // 算出LCD的指令码
    WriteCommandLCD(X, 0); //这里不检测忙信号，发送地址码
    WriteDataLCD(DData);
}
//按指定位置显示一串字符(只能写一行)；
void DisplayListChar(uchar X, uchar Y, uchar ListLength, uchar *DData, uchar n)
{
    uchar i;
    Y &= 0x01;
    X &= 0x0F; //限制X不能大于15，Y不能大于1
    for (i = 0; i < ListLength; i++) {
        if (X <= 0x0F) { //X坐标应小于0xF
            DisplayOneChar(X, Y, DData[i]); //显示单个字符
            if (n == true)Delay400Ms();
            X++;
        }
    }
}
/****************************
红外线接收子程序,利用了中断的下降沿触发方式
****************************/
void infrared_ray()interrupt 0 using 3
{
    uchar i = 90;
    flage = 0x01; //接受标志位
    while (i--); //减小灵敏度
    EX0 = 0; //关掉中断，等到发射方波后才开启，处于别动
}
// 延时子程序
void delay(uint n)
{
    while (--n);
}
//中断初始化
void Init0(void)
{
    EA = 1;
    IT0 = 1;
}
/***************************************
/*原理是把中断打开并 发射方波，
当有中断时就转到中断产生中断位为下一步转向做准备，
当没有是关闭中断
****************************************/
void seng_wave(uchar timer, bit n) //timer通过载波发射信号的时间，n->左右发射管的选择
{
    uchar i;
    P1 |= 0X04; //ledcs=1为74ls573为11脚为高电平时数据直接输出，为低时把数据锁存住，即保持
    IE |= 0X01;
    P0 |= 0x0c; //04
    for (i = timer; i > 0; i--) {
        if (n)P0 ^= 0x08; // 右发射管通过载波发射信号//00
        else P0 ^= 0x04; // 左发射管通过载波发射信号//0c
        delay(100); //这里控制着灵敏度（控制38khz的方波的多少）和距离
    }  //timer*delay(x)即为发射管得到的平均电流
    P1 &= 0Xfb;
    IE &= 0Xfe;
}
//led转向灯指示子程序
void light_control(uchar deng)
{
    ledcs = 1;
    P0 = deng;
    ledcs = 0; //11111011
}
//电机和灯光的控制部分
void control(uchar n, uchar dj_state, uchar light)
{
    uchar i;
// P1|=0x04;
    light_control(light); //led转向指示灯
    delay(100);
    P2 = dj_state; //电机的方向控制
    WriteCommandLCD(0x01, 1); //LCD显示清屏
    switch (dj_state) {
    case dj_state2 : {
        DisplayListChar(3, 1, 10, talk4, false);
    }
    break;
    case dj_state3: {
        DisplayListChar(3, 1, 8, talk3, false);
    }
    break;
    case dj_state4: {
        DisplayListChar(3, 1, 7, talk1, false);
    }
    break;
    default :
        break;
    }
    for (i = n; i > 0; i--) {
        delay(2000);
    }
    P2 = dj_state5; //停车
    light_control(light_off); //led关闭
    WriteCommandLCD(0x01, 1); //LCD显示清屏
    P2 = dj_state1; //前进
    if (dj_state1) {
        P1 |= 0X04; //ledcs=1;
        P0 = 0x0f;
        P1 &= 0XFB;
        delay(100);
        DisplayListChar(0, 0, 7, talk2, false);
    }
}
/****************************************
避障主要控制部分
*****************************************/
void move_car(void)
{
    uchar temp = 0x00;
//左边红外管发射
    seng_wave(1, left_infrare); //向下为中断开启有关闭后，要执行的语句
    if (flage == 0x01) {
        temp |= 0x01;
        flage = 0x00;
    }
//右边红外管发射
    delay(30);
    seng_wave(1, right_infrare); //向下为中断开启有关闭后，要执行的语句
    if (flage == 0x01) {
        temp |= 0x02;
        flage = 0x00;
    }
//左边有障碍物，右转
    if (temp == 0x01) {
        control(2, dj_state2, left_light);
        temp = 0x00;
    }
//右边有障碍物，左转
    else if (temp == 0x02) {
        control(2, dj_state3, right_light );
        temp = 0x00;
    }
//两个方向都有障碍物，后退，右转
    else if (temp == 0x03) {
        control(10, dj_state4, back_light );
        control(5, dj_state2, right_light );
        temp = 0x00;
    }
}
void main(void)
{
    Init0(); //中断初始化
    P1 |= 0X04; //开锁存器的控制位
    P0 = 0xFf; //数据口的清零
    P1 &= 0XFB; //关锁存器的控制位
    LCDInit(); //LCD初始化
    WriteCommandLCD(0x01, 1); //显示清屏
    delay(100);
    P2 = dj_state1;
    DisplayListChar(0, 0, 8, talk2, false);
    while (1) {
        move_car(); //主要控制部分
        delay(200000);//延时
    }
}