//下面是 函数声明
extern void delay(uchar time);//延时程序
void init_cpu(void);//初始化51单片机
void led_show(void);//LED显示程序
void int0_isr();//中断处理程序
void motor_driver();//电机控制程序
void key_1();//KEY_1处理程序，既主轴正转程序
void key_2();//主轴反转程序
void key_3();//M2处理程序，既X轴电机
void key_4();//M3处理程序，既Y轴电机
void key_5();//设置X轴或Y轴位置递增或递减程序
void key_6();//未定义，留待功能扩展
//主函数开始
void main()
{
  init_cpu();//初始化单片机
  while(1)
  {
  led_show(); //显示当前电机状态
  }
}
void init_cpu()
{
  EA   = 0;//关所有中断
  IT0 = 0;//下降沿触发
  EX0 = 1;//允许INT0中断
  EA   = 1;//开所有中断
}
void led_show()
{
  uchar i;
  LED_1 = 0;//显示第一个LED，既M1的状态
  if(m1_zheng == 1) //如果是正传，i = 1
   i = 1;
  else if (m1_fan == 2)//如果是反转，i = 2
     i = 2;
         else
       i = 0;             //如果是停止,i = 0
  P0       = tab[i];
  delay(20);//延时20ms
  LED_1 = 1;
  LED_2 = 0;//显示第二个LED，既M2的状态
  i         = m2_mode;
  P0     = tab[i];
  delay(20);//延时20ms
  LED_2 = 1;
  LED_3 = 0;//显示第三个LED，既M3的状态
  i         = m3_mode;
  P0       = tab[i];
  delay(20);
  LED_3 = 1;
}

void int0_isr() interrupt 0 using 0
{ EX0 = 0;
  K_1 = 1;//读数前先置1
  if (K_1 == 0) key_1();//key_1按下，则调用key_1（）
  K_2 = 1;//读数前先置1
  if (K_2 == 0) key_2();//key_2按下，则调用key_2（）
  K_3 = 1;//读数前先置1
  if (K_3 == 0) key_3();//key_3按下，则调用key_3（）
  K_4 = 1;//读数前先置1
  if (K_4 == 0) key_4();//key_4按下，则调用key_4（）
  K_1 = 1;//读数前先置1
  if (K_5 == 0) key_5();//key_5按下，则调用key_5（）
  K_6 = 1;//读数前先置1
  if (K_6 == 0) key_6();//key_6按下，则调用key_6（）
  EX0 = 1;
}

void key_1()
{
  m1_zheng = 1;//表示主轴正转
  m1_fan     = 0;//清除反转标志
  while( K_1 == 0 )//KEY_1键一直按着，则一直循环显示正转信号和主轴正转
  {
  

   led_show();
   choose_motor = 1;//驱动M1
   motor_driver();
   if (m1_zheng_val <= 7 )
     m1_zheng_val++;
   else
     m1_zheng_val = 0;

  }

}

void key_2()
{
  m1_zheng = 0;//清除正转标志
  m1_fan   = 2;//表示反转
  while( K_2 == 0 )//KEY_2键一直按着，则循环显示反转信号和主轴反转
  {
  
   led_show();
   choose_motor = 1;//驱动M1
   motor_driver();
   if (m1_fan_val <= 7 )
     m1_fan_val++;
   else
     m1_fan_val = 0;
   }
}

void key_3()
{    
  if( inc_dec == 0)//如果是递增的，
     m2_mode = 0;//m2X轴位置递增
  else
     m2_mode = 1;//m2X轴位置递减
  if ( m2_mode != m2_pre_mode ) //判断前一次和这次不都是递增或者递减
  {
   if (inc_dec == 0) m2_zheng_val=0;//这次递增，前一次递减则m2_zheng_val清0
   else m2_fan_val = 0;//这次递减，前一次递增，则m2_fan_val清0
  }
  led_show();
  choose_motor = 2;//驱动M2
  motor_driver();
  if( (inc_dec == 0) && (m2_zheng_val <= 8 ) )//如果是递增的,且m2_zheng_val <= 7
   m2_zheng_val++;
  if ( m2_zheng_val == 9 )m2_zheng_val = 0;//m2_zheng_val等于9则清0
  if( (inc_dec == 1 ) && (m2_fan_val <= 8 ))//如果是 递减，且m2_fan_val <= 7
   m2_fan_val++;
  if ( m2_fan_val == 9 )m2_fan_val = 0;//m2_fan_val等于9则清0
  while( K_3 == 0 ){;}//当KEY_3还按着时，等待，直到KEY_3松开
}

void key_4()
{
  if (inc_dec == 0 )//如果是递增的，则m3_y加1,否则减1
     m3_mode = 0;//m3 y轴位置递增
  else
     m3_mode = 1;//m3 y轴位置递减
  led_show();
  choose_motor = 3;//驱动M3
  motor_driver();
  if( (inc_dec == 0) && (m3_zheng_val <= 8 ) )//如果是递增的,且m3_zheng_val <= 7
   m3_zheng_val++;
  if ( m3_zheng_val == 9 )m3_zheng_val = 0;//m3_zheng_val等于9则清0
  if( (inc_dec == 1 ) && (m3_fan_val <= 8 ))//如果是 递减，且m3_fan_val <= 7
   m3_fan_val++;
  if ( m3_fan_val == 9 )m3_fan_val = 0;//m3_fan_val等于9则清0
  while( K_4 == 0 );//KEY_4未松开，等待
}

void key_5()
{
  uchar i ;
  i = (inc_dec ^ 0x0ff );//inc_dec中的值与0x0ff异或，值变反
       inc_dec = i;
  while( K_5 == 0 ){;}//KEY_5未松开，等待
}

void key_6()
{
;}

void motor_driver()
{
  uchar j;
  if (choose_motor == 1 )//驱动M1
  {
   if(m1_zheng == 1)//如果是 正转
       j = zheng[m1_zheng_val];
   if(m1_fan == 2 )//如果是 反转
       j = fan[m1_fan_val];
   M1_1 = j^0;
   M1_2 = j^1;
   M1_3 = j^2;
   M1_4 = j^3;
  }
  if (choose_motor == 2 )//驱动M2
  {
   if(m2_mode == 0 )//正转，+X
     j = zheng[m2_zheng_val];
   if(m2_mode == 1 )//反转,-X
     j = fan[m2_fan_val];
   M2_1 = j^0;
   M2_2 = j^1;
   M2_3 = j^2;
   M2_4 = j^3;
  }
  if (choose_motor == 3 )//驱动M3
  {
   if(m3_mode == 0 )//正转，+X
     j = zheng[m3_zheng_val];
   if(m3_mode == 1 )//反转,-X
     j = fan[m3_fan_val];
   M3_1 = j^0;
   M3_2 = j^1;
   M3_3 = j^2;
   M3_4 = j^3;
  }
}