#include <C8051F310.h>
sbit TxData=P0^6;
sbit RxData=P0^7;
sbit Run=P1^5;
#define PAUSE  while(1)if(Run==0)break;         
char n=0;        
                        
/*-------------------------------步伐数据---------------------------------------------*/
unsigned char code StepData0[]={
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x00,0x02,0xFA,0x00,0x01,0x00,0x02,0xFA,0x00,0x02,0x00,0x02,0xFA,0x00,0x03,0x00,0x02,0xFA,0x00,0x04,0x00,0x02,0xFA,0x00,0x05,0x00,0x02,0xFA,0x00,0x43,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xD6,0x01,0xFA,0x00,0x01,0xDD,0x01,0xFA,0x00,0x02,0xF6,0x01,0xFA,0x00,0x03,0x96,0x02,0xFA,0x00,0x04,0xC1,0x02,0xF4,0x01,0x05,0x3A,0x02,0x2C,0x01,0xDE,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x09,0x02,0xFA,0x00,0x01,0x79,0x01,0xFA,0x00,0x02,0x6B,0x01,0xFA,0x00,0x03,0x6D,0x02,0xFA,0x00,0x04,0x8F,0x02,0x96,0x00,0x05,0x18,0x02,0x96,0x00,0x0C,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xC7,0x01,0x96,0x00,0x01,0xEB,0x00,0x2C,0x01,0x02,0x36,0x01,0x2C,0x01,0x03,0x03,0x02,0x96,0x00,0x04,0x2B,0x02,0x64,0x00,0x05,0x17,0x02,0x96,0x00,0x76,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xD4,0x01,0xFA,0x00,0x01,0x6E,0x01,0xC8,0x00,0x02,0x9A,0x01,0xC8,0x00,0x03,0xDF,0x01,0xFA,0x00,0x04,0x64,0x02,0x64,0x00,0x05,0x76,0x02,0x64,0x00,0x42,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xFE,0x01,0x96,0x00,0x01,0xD1,0x01,0x96,0x00,0x02,0xD6,0x01,0x96,0x00,0x03,0x49,0x02,0x96,0x00,0x04,0x02,0x03,0xC8,0x00,0x05,0xB2,0x02,0xC8,0x00,0x97,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xFE,0x01,0x96,0x00,0x01,0x63,0x01,0x96,0x00,0x02,0x45,0x01,0x96,0x00,0x03,0x8F,0x02,0x96,0x00,0x04,0xE9,0x02,0x96,0x00,0x05,0x7B,0x02,0x96,0x00,0x05,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x9A,0x01,0x96,0x00,0x01,0x04,0x01,0x2C,0x01,0x02,0x4A,0x01,0x2C,0x01,0x03,0x1C,0x02,0x96,0x00,0x04,0x08,0x02,0xFA,0x00,0x05,0x08,0x02,0x96,0x00,0xF8,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x00,0x02,0xFA,0x00,0x01,0x00,0x02,0xFF,0x03,0x02,0x00,0x02,0xF4,0x01,0x03,0x00,0x02,0xF4,0x01,0x04,0x00,0x02,0xF4,0x01,0x05,0x00,0x02,0xF4,0x01,0x4F,};

unsigned int code StepDataDelay0[]={300-250,300,270,300,270,300,270,300,300};            
unsigned char code StepData1[]={
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x00,0x02,0xFA,0x00,0x01,0x00,0x02,0xFA,0x00,0x02,0x00,0x02,0xFA,0x00,0x03,0x00,0x02,0xFA,0x00,0x04,0x00,0x02,0xFA,0x00,0x05,0x00,0x02,0xFA,0x00,0x43,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xB4,0x00,0x90,0x01,0x01,0x11,0x03,0xE6,0x00,0x02,0x00,0x02,0x96,0x00,0x03,0x43,0x03,0x90,0x01,0x04,0xCD,0x00,0xE6,0x00,0x05,0x00,0x02,0x96,0x00,0x32,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xB4,0x00,0xFA,0x00,0x01,0x18,0x03,0xC8,0x00,0x02,0xF9,0x01,0xC8,0x00,0x03,0xE4,0x02,0xE8,0x03,0x04,0xCF,0x00,0xC8,0x00,0x05,0xFB,0x01,0xC8,0x00,0xAC,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xBF,0x00,0xFA,0x00,0x01,0x12,0x03,0xC8,0x00,0x02,0xF3,0x01,0xC8,0x00,0x03,0xB1,0x00,0x5E,0x01,0x04,0xFF,0x02,0xFF,0x03,0x05,0xDB,0x01,0xF4,0x01,0xF5,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x26,0x01,0xE8,0x03,0x01,0x19,0x03,0xC8,0x00,0x02,0xF6,0x01,0xC8,0x00,0x03,0xB1,0x00,0x2C,0x01,0x04,0xFF,0x02,0x5E,0x01,0x05,0xDB,0x01,0xC8,0x00,0x94,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x49,0x03,0x90,0x01,0x01,0x07,0x01,0xBC,0x02,0x02,0x2A,0x02,0xF4,0x01,0x03,0xB1,0x00,0x2C,0x01,0x04,0xFF,0x02,0x5E,0x01,0x05,0xDB,0x01,0xC8,0x00,0x85,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x00,0x02,0x2C,0x01,0x01,0x00,0x02,0x2C,0x01,0x02,0x00,0x02,0x90,0x01,0x03,0x00,0x02,0x2C,0x01,0x04,0x00,0x02,0x2C,0x01,0x05,0x00,0x02,0x90,0x01,0x49,};

unsigned int code StepDataDelay1[]={50,800-50,100,600-100-200,400-300,500+250-50,400,};
unsignedintcodeStepDataDelay6[]={50,800-50,100,600-100-200,400-300,500+250-50,400,};
unsigned char code StepData2[]={
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x00,0x02,0xFA,0x00,0x01,0x00,0x02,0xFA,0x00,0x02,0x00,0x02,0xFA,0x00,0x03,0x00,0x02,0xFA,0x00,0x04,0x00,0x02,0xFA,0x00,0x05,0x00,0x02,0xFA,0x00,0x43,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x98,0x02,0x96,0x00,0x01,0x15,0x01,0x2C,0x01,0x02,0xCC,0x01,0x96,0x00,0x03,0x65,0x01,0x96,0x00,0x04,0xED,0x02,0x2C,0x01,0x05,0x35,0x02,0x96,0x00,0x70,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x49,0x03,0x30,0x02,0x01,0xEB,0x00,0x64,0x00,0x02,0x01,0x02,0x64,0x00,0x03,0xB7,0x00,0x30,0x02,0x04,0x17,0x03,0x64,0x00,0x05,0xE9,0x01,0x64,0x00,0x42,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xE2,0x02,0xE8,0x03,0x01,0xEB,0x00,0x96,0x00,0x02,0x01,0x02,0xBE,0x00,0x03,0xB7,0x00,0x4A,0x01,0x04,0x17,0x03,0x96,0x00,0x05,0xE9,0x01,0xBE,0x00,0xC0,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xB0,0x00,0x90,0x01,0x01,0x17,0x03,0xF4,0x01,0x02,0x00,0x02,0xF4,0x01,0x03,0xB7,0x00,0x5E,0x01,0x04,0x21,0x03,0x5E,0x01,0x05,0xE9,0x01,0xBE,0x00,0xA3,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xB0,0x00,0x5E,0x01,0x01,0x17,0x03,0x5E,0x01,0x02,0x00,0x02,0xBE,0x00,0x03,0x22,0x01,0xE8,0x03,0x04,0x21,0x03,0x5E,0x01,0x05,0xE9,0x01,0xBE,0x00,0xAA,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xB0,0x00,0x5E,0x01,0x01,0x17,0x03,0x5E,0x01,0x02,0x00,0x02,0xBE,0x00,0x03,0x4A,0x03,0xFF,0x03,0x04,0xD6,0x00,0xFF,0x03,0x05,0x00,0x02,0x84,0x03,0x33,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x00,0x02,0x2C,0x01,0x01,0x00,0x02,0x5E,0x01,0x02,0x00,0x02,0x5E,0x01,0x03,0x00,0x02,0x2C,0x01,0x04,0x00,0x02,0x5E,0x01,0x05,0x00,0x02,0x5E,0x01,0x49,
};

unsigned int code StepDataDelay2[]={400-250,450-50,300-100,60,700-400,120-20,600+100,400-50,};
//unsigned int code StepDataDelay3[]={400-250,450-50+100,300-100+100,60,700-400,120-20,600+100,500+100,};
unsigned char code StepData4[]={
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x00,0x02,0xFA,0x00,0x01,0x00,0x02,0xFA,0x00,0x02,0x00,0x02,0xFA,0x00,0x03,0x00,0x02,0xFA,0x00,0x04,0x00,0x02,0xFA,0x00,0x05,0x00,0x02,0xFA,0x00,0x43,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x06,0x02,0x2C,0x01,0x01,0x14,0x02,0x82,0x00,0x02,0x1C,0x02,0xC8,0x00,0x03,0x6E,0x02,0x16,0x03,0x04,0xF3,0x02,0x68,0x01,0x05,0x7A,0x02,0xE6,0x00,0x2F,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xAE,0x02,0xEB,0x00,0x01,0x07,0x02,0x96,0x00,0x02,0x5C,0x01,0x96,0x00,0x03,0xBC,0x02,0x5A,0x00,0x04,0x55,0x02,0x54,0x01,0x05,0x88,0x01,0xFF,0x03,0xAF,
};

unsigned int code StepDataDelay4[]={1000-900,300,550,};
unsigned char code StepData5[]={
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x01,0x02,0xFF,0x03,0x01,0x11,0x01,0x96,0x00,0x02,0x0F,0x01,0xFF,0x03,0x03,0xE6,0x01,0xE6,0x00,0x04,0xEA,0x01,0x46,0x00,0x05,0x0B,0x02,0x64,0x00,0xFD,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x5C,0x01,0xFF,0x03,0x01,0x2E,0x01,0x1C,0x02,0x02,0xBA,0x01,0xB2,0x02,0x03,0xFB,0x01,0x49,0x00,0x04,0xEF,0x01,0x64,0x00,0x05,0xEE,0x01,0x50,0x00,0x38,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x25,0x01,0x5A,0x00,0x01,0x7E,0x01,0x54,0x01,0x02,0x56,0x02,0xFF,0x03,0x03,0x62,0x01,0xEB,0x00,0x04,0x0F,0x02,0x96,0x00,0x05,0xB1,0x02,0x96,0x00,0x3F,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x00,0x02,0xFF,0x03,0x01,0xE8,0x01,0x50,0x00,0x02,0xF1,0x01,0x64,0x00,0x03,0xE2,0x01,0xE8,0x03,0x04,0xD8,0x02,0x82,0x00,0x05,0xFF,0x02,0xE8,0x03,0x82,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xFF,0x01,0x64,0x00,0x01,0x14,0x02,0x64,0x00,0x02,0x1D,0x02,0x6E,0x00,0x03,0xBE,0x02,0xE8,0x03,0x04,0xF8,0x02,0x82,0x00,0x05,0x57,0x02,0xFE,0x01,0x41,
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0xAE,0x02,0x04,0x01,0x01,0x07,0x02,0x96,0x00,0x02,0x5C,0x01,0xA0,0x00,0x03,0xBC,0x02,0xC8,0x00,0x04,0x55,0x02,0x54,0x01,0x05,0x88,0x01,0x7C,0x01,0xA2,
};

unsigned int code StepDataDelay5[]={700,150,700,680,150,450,};
unsigned char code StepData7[]={
0xFF,0xFF,0xFE,0x22,0x83,0x1E,0x04,0x00,0x00,0x02,0xFA,0x00,0x01,0x00,0x02,0xFA,0x00,0x02,0x00,0x02,0xFA,0x00,0x03,0x00,0x02,0xFA,0x00,0x04,0x00,0x02,0xFA,0x00,0x05,0x00,0x02,0xFA,0x00,0x43,
};

unsigned int code StepDataDelay7[]={10};
void pio_init(void);
void sys_init(void);
void UART_init(void);
void T1_init(void);
void T0_init(void);
void interrupt_init(void);
void delay_1ms(unsigned int);
void send(unsigned char *StepData,unsigned int StepDataSize ,unsigned int *StepDataDelay);

void main(void)
{
	PCA0MD &= ~0x40;
	pio_init();
	sys_init();
	T1_init();
	T0_init();
	interrupt_init();	
	UART_init();
	TxData=1;
	RxData=0;
	delay_1ms(500);
	SBUF0=0;                                           	//置位TI0
send(StepData7,sizeof(StepData7),StepDataDelay7);              	//立正
PAUSE;                                                        	//默认为立正
send(StepData0,sizeof(StepData0),StepDataDelay0);             	//向前走三步
send(StepData1,sizeof(StepData1),StepDataDelay1);            	//向前翻三次
send(StepData1,sizeof(StepData1),StepDataDelay1);
send(StepData1,sizeof(StepData1),StepDataDelay6);
send(StepData0,sizeof(StepData0),StepDataDelay0);           	//立正后向前进
send(StepData2,sizeof(StepData2),StepDataDelay2);           	//向后翻三次
send(StepData2,sizeof(StepData2),StepDataDelay2);
send(StepData2,sizeof(StepData2),StepDataDelay2);
send(StepData4,sizeof(StepData4),StepDataDelay4);             	//前进
	while(1)
	{
		send(StepData5,sizeof(StepData5),StepDataDelay5);
	}
	while(1){;;}
}

void send(unsigned char *StepData,unsigned int StepDataSize,unsigned int *StepDataDelay)
{	   
	unsigned int	num=0;                                	//寄存器当前数据
	char count=38;                                       	//38个一组发数据用
    	unsigned int	 k=0;                                 	//发延时数据用
  	while(1)
  	{   
		if(TI0==1)
		  { 
		  	TI0=0;
		    	SBUF0=StepData[num];                    //修改点2  StepData0[num]-->StepDatax[num]
			count--;
			if(count==0)
			{
				count=38;
				delay_1ms(StepDataDelay[k]);  	//修改点3  StepDataDelay0[k]-->StepDataDelayx[k]
				k++;
			}
			num++;
			if(num>=StepDataSize)break;  
		   }
	}
}

void delay_1ms(unsigned int time)				//定时时间为time*1 (ms)
{
	unsigned  int i;
	for(i=0;i<time;i++)
	{
		TH0 = 0xD4;
		TL0 = 0xCD;
		TF0 = 0;                                    	//清T0中断标志
		TR0 = 1;                                    	//开启T0
		while(!TF0);                                	//等待计时溢出
		TR0 = 0;                                        //关闭T0
 	}
} 

void pio_init(void)
{
	XBR0=0x01;                                           	//UART
	XBR1=0x40;                                           	//使能交叉开关

	P0MDIN=0xf3;	                                        //模拟(0);数字(1) 
	P0MDOUT=0xff;                                       	//推挽输出
	P0SKIP=0xcf;	                          

	P1MDIN=0xff;	                                        //数字信号 
	P1MDOUT=0xfc;                                       	//开漏(0);推挽(1)
	P1SKIP=0xff;	                         
}

void sys_init(void)                                          	//晶振11.0592MHz
{ 
	int i;
	OSCICL=0x43;
	OSCICN=0xc2;
	CLKSEL=0x00;
	OSCXCN=0x67;                                         	//晶体振荡器方式
	for(i=0;i<1000;i++);
	while((OSCXCN & 0x80)==0){;;}
	CLKSEL=0x01;
	OSCICN=0x00;
}

void UART_init(void)  
{
	SCON0=0x20;                                           	//8位方式 
}

void T1_init(void)
{
	TCON|=0x40;                                            	//T1允许
	TMOD|=0x20;                                           	//自动重装载定时器
	CKCON|=0x08;                                          	//11.0592MHZ
	TH1=0xd0;                                             	//波特率：115200
	TL1=0xd0;
}

void T0_init(void)                                            	//T0初始化
{
	TCON|=0x10;                              
	TMOD|=0x01;                           
	CKCON|=0x04;                           
	TH0=0xD4;                               
	TL0=0xCD;
}

void interrupt_init(void)
{
	IE=0x00;                                               	//禁止UART中断
}