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head.h
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#ifndef __HEAD_H__ //防止重复定义
#define __HEAD_H__
#define uint unsigned int
#define uchar unsigned char
#include <reg52.h>
#include <intrins.h>
#include <stdio.h>
#include "character.h"
//数据初始化/装载
void data_init();
//运动
//左轮
sbit L1 = P1 ^ 0;
sbit L2 = P1 ^ 1;
//右轮
sbit R1 = P1 ^ 2;
sbit R2 = P1 ^ 3;
sbit bzZ = P3 ^ 4; //避障左
sbit bzY = P3 ^ 5; //避障右
sbit xxZ = P3 ^ 7; //巡线左
sbit xxY = P3 ^ 6; //巡线右
extern bit ENbz; //避障开关
extern bit ENxx; //巡线开关
void forward(); //前进
void back(); //后退
void left(); //左转
void right(); //右转
void stop(); //停止
void route(); //运动导向
//数码管
sbit a = P0 ^ 7;
sbit b = P0 ^ 6;
sbit c = P0 ^ 5;
sbit d = P0 ^ 4;
sbit e = P0 ^ 3;
sbit f = P0 ^ 2;
sbit g = P0 ^ 1;
#define NUM0 a = b = c = d = e = f = 0
#define NUM1 b = c = 0
#define NUM2 a = b = d = e = g = 0
#define NUM3 a = b = c = d = g = 0
#define NUM4 f = g = b = c = 0
#define NUM5 a = f = g = c = d = 0
void countDown(); //倒计时
void gearShowRefresh(); //挡位显示刷新
//pwm调速
sbit ENA = P1 ^ 4; //左电机使能
sbit ENB = P1 ^ 5; //右电机使能
extern uint count; //计数
extern uint zkbZ; //左占空比（上限为pwmT）,占空比越高，电机越快
extern uint zkbY; //右占空比（上限为pwmT）
extern uint zkb1Gear; //1档占空比
extern uint correct; //左右轮校正值（=左占空比-右占空比）
extern uint pwmT; //一个周期计数
void pwmInit0(); //计时器0初始化
void Time0Config(); //计时器0配置
void motoControl(); //电机使能控制
//舵机
extern uint djCount; //舵机pwm
sbit dj=P2^6; //舵机电平
extern uint angle;//舵机角度
//定时器2
extern uint count2; //定时器2计数
extern uint line; //碰线计数
extern uint gear; //挡位
extern uint level;
extern bit atoDrive; //自动驾驶开关
extern bit atoGear; //自动档开关
void Timer2Init(); //AI挂挡定时器初始化（使用定时器1）
void Time2Config(); //定时器1进入中断
void gearSwitch(uint signal); //挂档
uint getTime(); //获取定时器2计时
uint getDistance(); //获取距离
//工具箱
sbit beep = P2 ^ 3; //蜂鸣器
void fmq(uint ms); //蜂鸣器
void delayms(uint minute); //延时
void delay20us(); //延迟20us
void clean(); //清除数码管
//蓝牙
void bluetoothInit(); //通讯串口初始化配置（使用计数器1）
void UART(); //串口中断
//电源管理
sbit press=P3^2;
sfr ISP_CONTR = 0xe7;
void boot();
void powerOff();
void press_detect();
//超声波
sbit TRIG = P2 ^ 0; //超声波控制端
sbit ECHO = P2 ^ 1; //超声波接收端
extern uint distance;
//OLED显示屏
sbit SCL = P2 ^ 4;
sbit SDA = P2 ^ 5;
#define STATUS1 16,0
#define STATUS2 32,0
#define STATUS3 48,0
#define STATUS4 64,0
#define STATUS5 80,0
#define STATUS6 96,0
void I2C_start();
void I2C_stop();
void I2C_send_byte(uchar dat);
void oled_send_cmd(uchar cmd);
void oled_send_data(uchar dat);
void oled_clear();
void oledInit();
void oled_show_index();
void delay(uchar i);
void oled_setpos(uchar x, uchar y);
void oled_cover_square(uchar x0, uchar y0, uchar size, uchar BMP[]);
void oled_show_sign();
void showAD();
void turn_off_AD();
#endif