附录一程序代码红外遥控编码程序#include<reg51.h>#define uchar unsigned char#define uint unsigned int#define uintlong unsigned longsbit p3_0=P3^0;sbit p2_1=P2^1;sbit p1_0=P1^0;sbit p1_1=P1^1;sbit p1_2=P1^2;sbit p1_3=P1^3;bit out;uint keyvalue=0x00,flag_key=0,value1,value2,keycount=0,i,j,flag_set=0, flag_press=0;uchar code keycode[4]={0x7f,0xbf,0xdf,0xef};uchar codeportvalue[12]={0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08,0x09,0x0a,0x00, 0x0b};uchar code wy[8]={0x01,0x02,0x04,0x08,0x10,0x20,0x40,0x80};//**********红外发送部分**********//uchar user1=0x00,user2=0x00;uint count=0,endcount=0;uint irdata=0;void deltime(void);void key_scan(void);void sendirdata(void);main(void){EA = 1;TMOD = 0x11;ET0 = 1;p3_0=1;P1=0xff;TH0 = 0xFF;TL0 = 0xE4;TR0 = 0;while(1){key_scan();if(flag_press==1){flag_press=0;TR0=1;sendirdata();}}}//**********按键扫描***********// void key_scan(void){for(i=0;i<=3;i++){P1=keycode[i];if(p1_3==0){keycount=i*3+0;flag_key=1; break;}if(p1_2==0){keycount=i*3+1;flag_key=1;break;}if(p1_1==0){keycount=i*3+2;flag_key=1;break;}}if(flag_key==1){flag_key=0;value1=P1;deltime();value2=P1;if(value1==value2){keyvalue=portvalue[keycount];flag_set=1;flag_press=1;}while(flag_set){value2=P1;if(value1!=value2)flag_set=0;}}}//**********延时**********//void deltime(void){uint k;for(k=0;k<=20;k++){ }}//**********定时中断**********// void time0int(void) interrupt 1{TH0=0xFF;TL0=0xE4;count++;}//**********发送数据**********// void sendirdata(){uchar s=0,datapd=0;endcount=320;p3_0=0;count=0;do{}while(count<endcount); endcount=180;count=0;p3_0=1;do{}while(count<endcount);for(s=0;s<=11;s++){endcount=20;count=0;p3_0=0;do{}while(count<endcount);endcount=20;count=0;p3_0=1;do{}while(count<endcount);}irdata=keyvalue;for(s=0;s<=7;s++){datapd=irdata & wy[s];if (datapd==0){endcount=20;count=0;} else{endcount=60;count=0;} p3_0=0;do{}while(count<endcount);endcount=20;count=0;p3_0=1;do{}while(count<endcount);}irdata=keyvalue;for(s=0;s<=7;s++){datapd=irdata & wy[s];if (datapd==0){endcount=60;count=0;} else{endcount=20;count=0;}p3_0=0;do{}while(count<endcount);endcount=20;count=0;p3_0=1;do{}while(count<endcount);}TR0=0;}红外遥控解码及驱动程序COUNT EQU 30HFLAG_USER1 EQU 45HFLAG_USER2 EQU 46HSA VEDATA EQU 47HCS1 EQU P3.0CS2 EQU P3.1RS EQU P3.3RW EQU P3.4E EQU P3.5PAGES EQU 56HCOLUMN EQU 57HNUM EQU 58HORG 0000HLJMP MAINORG 0003HLJMP EXTER0INTORG 000BHLJMP TIMER0INTORG 1000HMAIN:MOV P1,#0C5HSETB P3.6SETB P3.7MOV TMOD,#01H ;中断初始化MOV TH0,#0FFHMOV TL0,#9CHSETB EASETB IT0SETB ET0SETB EX0MOV R0,52H ;数据接收初始化MOV 52H,#00HMOV 53H,#00HMOV 54H,#00HMOV 55H,#00HMOV 51H,#00HMOV COUNT,#00HMOV R1,#08HMOV R2,#02HCLR PSW.5 ;数据接收标志CLR PSW.1 ;数据处理标志MOV FLAG_USER1,#00HLCALL CLEARMOV DPTR,#TAB0 ;显示初始化MOV PAGES,#1MOV COLUMN,#0LCALL LCD_DISPMOV DPTR,#TAB2MOV PAGES,#1MOV COLUMN,#16LCALL LCD_DISPMOV DPTR,#TAB1MOV PAGES,#1MOV COLUMN,#32LCALL LCD_DISPMOV DPTR,#TAB3MOV PAGES,#1MOV COLUMN,#48LCALL LCD_DISPMOV DPTR,#TAB4MOV PAGES,#1MOV COLUMN,#64LCALL LCD_DISPMOV DPTR,#TAB5MOV PAGES,#1MOV COLUMN,#80 ;显示红外遥控模式LCALL LCD_DISPMOV DPTR,#TAB6MOV PAGES,#3MOV COLUMN,#0LCALL LCD_DISPMOV DPTR,#TAB7MOV PAGES,#3MOV COLUMN,#16LCALL LCD_DISPMOV DPTR,#TAB8MOV PAGES,#3MOV COLUMN,#32LCALL LCD_DISPMOV DPTR,#TAB10MOV PAGES,#3MOV COLUMN,#64LCALL LCD_DISPMOV DPTR,#TAB9MOV PAGES,#3MOV COLUMN,#48LCALL LCD_DISP ;显示状态：初始LOOP: ;是否进行数据处理JNB PSW.1,$LCALL DATACHULICLR PSW.1MOV A,SA VEDATALCALL DATASHOWENDLOOP:LJMP LOOPEXTER0INT: ;外部中断SETB TR0MOV 30H,#00HRETITIMER0INT: ;定时中断，数据的验证和接收.MOV TH0,#0FFHMOV TL0,#9CHINC 30HSETB P3.2MOV C,P3.2JB PSW.5,DATARECEIVEPDJNC ENDTIMER0INTMOV A,30HCLR CSUBB A,#90JC ENDTIMER0INTSETB PSW.5CLR TR0MOV R1,#08HMOV 51H,#00HMOV R0,#52HMOV R2,#04H ;共接受两组数据LJMP ENDTIMER0INTDATARECEIVEPD: ;数据接收判断JNC ENDTIMER0INTCLR TR0MOV A,30HCLR TR0SUBB A,#10JC ORECEIVESETB CMOV A,51HRRC AMOV 51H,ALJMP WENDPDORECEIVE:CLR CMOV A,51HRRC AMOV 51H,AWENDPD:DJNZ R1,ENDTIMER0INT ;重复两次接收，确保存储.MOV R1,#08HMOV @R0,51HMOV @R0,51HINC R0MOV 51H,#00HDJNZ R2,ENDTIMER0INTCLR PSW.5SETB PSW.1SETB P0.0ENDTIMER0INT: ;定时中断结束RETIDATACHULI: ;数据处理MOV A,52HCLR CSUBB A,FLAG_USER1JNZ ENDDATACHULIMOV A,54HANL A,55HJNZ ENDDATACHULIMOV A,54HMOV SA VEDATA,AMOV 52H,#00HMOV 53H,#00HMOV 54H,#00HMOV 55H,#00HENDDATACHULI: ;处理完成，返回主程序RETDATASHOW: ;判断接收信号，进行相应处理CJNE A,#00H,CON1LJMP AOTO ;状态判断CON1:CJNE A,#02H,CON2MOV P1,#0FAHMOV DPTR,#TAB11MOV PAGES,#3LJMP ENDDATASHOW ;后转并显示CON2:CJNE A,#04H,CON3MOV P1,#0E5HMOV DPTR,#TAB12MOV PAGES,#3LJMP ENDDATASHOW ;左转并显示CON3:CJNE A,#05H,CON4MOV P1,#0C5HMOV DPTR,#TAB13MOV PAGES,#3LJMP ENDDATASHOW ;停转并显示CON4:CJNE A,#06H,CON5MOV P1,#0D5HMOV DPTR,#TAB14MOV PAGES,#3LJMP ENDDATASHOW ;右转并显示CON5:CJNE A,#08H,CON6MOV P1,#0F5HMOV DPTR,#TAB15MOV PAGES,#3LJMP ENDDATASHOW ;前转并显示CON6:JMP ENDDATASHOW1ENDDATASHOW:MOV COLUMN,#48LCALL LCD_DISPMOV DPTR,#TAB16MOV PAGES,#3MOV COLUMN,#64LCALL LcD_DISPENDDATASHOW1:RETAOTO:MOV P1,#0C0H ;寻迹壁障程序MOV DPTR,#TAB17MOV PAGES,#1MOV COLUMN,#0LCALL LCD_DISPMOV DPTR,#TAB18MOV PAGES,#1MOV COLUMN,#16LCALL LCD_DISPMOV DPTR,#TAB19MOV PAGES,#1MOV COLUMN,#32LCALL LCD_DISPMOV DPTR,#TAB20MOV PAGES,#1MOV COLUMN,#48LCALL LCD_DISP ;显示寻迹避障MOV DPTR,#TAB10MOV PAGES,#3MOV COLUMN,#64LCALL LCD_DISPMOV DPTR,#TAB9MOV PAGES,#3MOV COLUMN,#48LCALL LCD_DISP ;显示初始LCALL DLY ;模式工作前等待3秒AOTO1: ;自动寻迹避障程序MOV DPTR,#TAB15MOV PAGES,#3MOV COLUMN,#48LCALL LCD_DISPMOV DPTR,#TAB16MOV PAGES,#3MOV COLUMN,#64LCALL LCD_DISP ;显示前转MOV P1,#0F5HJNB PSW.5,AOTO2 ;检测红外信号LCALL CLEARMOV P1,#0C5HLCALL DLY1LJMP MAINAOTO2:JNB P1.6,ZZ ;状态判断JNB P1.7,YZJNB P3.6,HTJNB P3.7,HTSJMP AOTO1ZZ:MOV P1,#0E5H ;右寻迹灯亮MOV DPTR,#TAB12MOV PAGES,#3MOV COLUMN,#48LCALL LCD_DISPLCALL DLYSJMP DDYZ:MOV P1, #0D5H ;左寻迹灯亮MOV DPTR,#TAB14MOV PAGES,#3MOV COLUMN,#48LCALL LCD_DISPLCALL DLYHT:MOV P1,#0FAH ;发现障碍物MOV DPTR,#TAB11MOV PAGES,#3MOV COLUMN,#48LCALL LCD_DISPLCALL DLYSJMP ZZDD:LJMP AOTO1DL Y:MOV R7,#0BDH ;3秒延时DL1:MOV R6,#0E6HDL0:MOV R5,#21HDJNZ R5,$DJNZ R6,DL0DJNZ R7,DL1RETDLY1:MOV R7,#0A7H ;1秒延时DL3:MOV R6,#0ABHDL2:MOV R5,#10HDJNZ R5,$DJNZ R6,DL2DJNZ R7,DL3NOPRETCLEAR: MOV R4,#00H ;清屏程序CLEAR1:MOV A ,R4ORL A,#0B8HLCALL WCL0LCALL WCR0MOV B,#40HLCALL WCL0LCALL WCR0MOV R3,#40HCLEAR2:MOV B,#00HLCALL WCL1LCALL WCR1DJNZ R3,CLEAR2INC R4CJNE R4, #08H, CLEAR1RETLCD_DISP: ;汉字显示程序MOV R1,#02HMOV R0,#00HMOV NUM,#10HDISP: MOV R4,NUMDISPWORD:MOV A,COLUMNCLR CSUBB A,#63JNC YXPMOV A,COLUMNORL A,#40HMOV B,ALCALL WCL0ORL A,#0B8HMOV B,ALCALL WCL0 DISPDATA1:INC COLUMNMOV A,R0MOVC A,@A+DPTRMOV B,ALCALL WCL1LJMP NEXTDISPYXP:MOV A,COLUMNCLR CSUBB A,#64ORL A,#40HMOV B,ALCALL WCR0MOV A,PAGESORL A,#0B8HMOV B,ALCALL WCR0 DISPDATA2:INC COLUMNMOV A,R0MOVC A,@A+DPTRMOV B,ALCALL WCR1 NEXTDISP:INC R0DJNZ R4,DISPWORDCLR CSUBB A,#10HMOV COLUMN, AINC PAGESDJNZ R1,DISPRETWCL0: CLR CS1SETB CS2CLR RSSETB RWWCL00: MOV P2,#0FFHSETB EMOV A,P2CLR EJB ACC.7,WCL00CLR RWMOV P2, BSETB ENOPCLR ERETWCL1: CLR CS1SETB CS2CLR RSSETB RWWCL11: MOV P2,#0FFHSETB EMOV A,P2CLR EJB ACC.7,WCL11CLR RWSETB RSMOV P2, BSETB ECLR ERETWCR0: SETB CS1CLR CS2CLR RSSETB RWWCR00: MOV P2,#0FFHSETB EMOV A,P2CLR EJB ACC.7,WCR00CLR RWMOV P2, BSETB ECLR ERETWCR1: SETB CS1CLR CS2CLR RSSETB RWWCR11: MOV P2,#0FFHSETB EMOV A,P2CLR EJB ACC.7,WCR11CLR RWSETB RSMOV P2, BSETB ECLR ERETTAB0:DB20H,30H,0ACH,63H,20H,10H,04H,04H,04H,04H,0FCH,04H,06H,04H,00H,00H,22H,67H,22H,12H,12H,52H,40H,40H,40H,40H,7FH,40H,40H,60H,40H,00H ; 红TAB1:DB40H,42H,44H,0CCH,00H,42H,36H,2AH,22H,0FEH,21H,29H,25H,80H,00H,00H,00H,40H,20H,1FH,21H,41H,5DH,49H,49H,4FH,49H,49H,5DH,61H,21H,00H ; 外TAB2:DB00H,80H,0E0H,18H,17H,10H,90H,70H,00H,0FFH,20H,40H,80H,00H,00H,00H,01H,40H,20H,11H,0AH,04H,03H,00H,00H,0FFH,00H,00H,00H,01H,03H,00H ; 遥TAB3:DB10H,10H,10H,0FFH,90H,50H,0CH,44H,24H,15H,06H,14H,24H,54H,0CH,00H,02H,42H,81H,7FH,00H,40H,42H,42H,42H,42H,7EH,42H,43H,62H,40H,00H ; 控TAB4:DB10H,10H,0D0H,0FFH,94H,14H,0E4H,0BFH,0A4H,0A4H,0A4H,0BFH,0F4H,26H,04H,00H,04H,03H,00H,0FFH,08H,89H,8BH,4AH,2AH,1EH,2AH,2AH,4BH,0C8H,48H,00H ; 模TAB5:DB10H,10H,90H,90H,90H,90H,90H,10H,0FFH,10H,12H,14H,10H,18H,10H,00H,00H,20H,60H,20H,1FH,10H,10H,08H,01H,06H,18H,20H,40H,80H,70H,00H ; 式TAB6:DB00H,08H,30H,00H,0FFH,20H,20H,20H,20H,0FFH,20H,22H,24H,30H,20H,00H,08H,0CH,02H,01H,0FFH,40H,20H,1CH,03H,00H,03H,0CH,30H,60H,20H,00H; 状TAB7:DB04H,04H,84H,84H,44H,24H,54H,8FH,14H,24H,44H,44H,84H,86H,84H,00H,01H,21H,1CH,00H,3CH,40H,42H,4CH,40H,40H,70H,04H,08H,31H,00H,00H;态TAB8:DB000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,036H,036H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H,000H ;:TAB9:DB10H,10H,91H,0D6H,30H,98H,00H,08H,08H,0F8H,08H,08H,08H,0FCH,08H,00H,02H,01H,00H,0FFH,01H,82H,40H,20H,18H,07H,40H,80H,40H,3FH,00H,00H ; 初TAB10:DB10H,10H,0F0H,1FH,10H,0F0H,40H,60H,58H,47H,40H,40H,50H,60H,0C0H,00H,40H,22H,15H,08H,16H,61H,00H,0FEH,42H,42H,42H,42H,42H,0FFH,02H,00H;始TAB11:DB00H,00H,0FCH,24H,24H,24H,24H,24H,24H,22H,22H,23H,0A2H,30H,20H,00H,40H,30H,0FH,00H,00H,0FFH,41H,41H,41H,41H,41H,41H,0FFH,01H,00H,00H;后TAB12:DB08H,08H,08H,08H,88H,78H,0FH,08H,08H,08H,08H,88H,0CH,08H,00H,00H,20H,50H,48H,46H,41H,41H,41H,41H,7FH,41H,41H,41H,41H,60H,40H,00H;左TAB13:DB40H,20H,0F8H,07H,00H,04H,74H,54H,55H,56H,54H,54H,76H,04H,00H,00H,00H,00H,0FFH,04H,03H,01H,05H,45H,85H,7DH,05H,05H,01H,05H,03H,00H ;停TAB14:DB08H,08H,08H,08H,0C8H,38H,0FH,08H,08H,08H,08H,08H,88H,0CH,08H,00H,08H,04H,02H,01H,0FFH,41H,41H,41H,41H,41H,41H,41H,0FFH,01H,00H,00H ;右TAB15:DB08H,08H,0E8H,29H,2AH,2EH,0E8H,08H,08H,0CCH,0AH,0BH,0E8H,0CH,08H,00H,00H,00H,0FFH,09H,49H,89H,7FH,00H,00H,0FH,40H,80H,7FH,00H,00H,00H;前TAB16:DB08H,0C8H,0B8H,8FH,0E8H,88H,40H,48H,0C8H,7FH,48H,48H,4CH,68H,40H,00H,08H,18H,08H,04H,0FFH,04H,00H,02H,13H,22H,62H,9AH,06H,02H,00H,00H;转TAB17:DB00H,00H,82H,92H,92H,92H,92H,92H,92H,92H,92H,0FFH,02H,00H,00H,00H,04H,04H,04H,04H,0CH,34H,04H,04H,44H,84H,7FH,04H,04H,06H,04H,00H ;寻TAB18:DB40H,42H,0CCH,00H,08H,0C8H,08H,0F9H,0AH,0EH,0F8H,08H,4CH,88H,00H,00H,40H,20H,1FH,20H,42H,41H,50H,4FH,40H,50H,5FH,40H,40H,63H,20H,00H ;迹TAB19:DB40H,42H,0C4H,00H,0FEH,22H,22H,3FH,8AH,0A8H,0C9H,8EH,0C8H,0ACH,88H,00H,40H,20H,1FH,22H,5FH,51H,51H,5FH,40H,44H,44H,7FH,44H,64H,20H,00H ;避TAB20:DB00H,0FEH,22H,5AH,86H,10H,0D2H,56H,5AH,53H,5AH,56H,0F2H,58H,10H,00H,00H,0FFH,04H,08H,17H,10H,17H,15H,15H,0FDH,15H,15H,17H,10H,10H,00H ;障END。