#include <reg52.h>

#define uchar unsigned char
#define uint unsigned int
#define step_motor_frequence 65536-625
#define timer_10ms 65536-10000
#define up 1
#define down 0
uchar up_list[5];
uchar down_list[5];
uint counter_5s;
extern uchar up_list_flag;
extern uchar down_list_flag;
bit current_direction;
sbit L297_clock=P1^0;
sbit L297_reset=P1^1;
sbit L297_mode=P1^2;
sbit L297_direction=P1^3;
sbit L297_on=P1^4;
/************************初始化程序******************/
void init_port(void)
{
 P0=0x00;
 P2=P2&0x07;
}

void init_stepper_motor(void)
{
 L297_on=1;
 L297_reset=1;
 L297_mode=1;
 L297_direction=up;
}

void init_timer0(void)
{
 TMOD=0x11;
 TH0=step_motor_frequence/256;
 TL0=step_motor_frequence%256;
 ET0=1;
 TH1=timer_10ms/256;
 TL1=timer_10ms%256;
 ET1=0;
// TR0=1;
}
/*****************************主程序************************/
void lift_run(void)
{
 uchar i;
 if((0==down_list_flag)&&(0==up_list_flag))
 {
  TR0=0;
 }
 if((up==current_direction)&&(0!=up_list_flag))
 {
  L297_direction=up;
  while(storey<=up_list[0]);
  for(i=0;i<4;i++)
  up_list[i]=up_list[i+1];
  up_list[4]=0;
  TR1=1;
  counter_5s=500;
  while(counter_5s);
  TR1=0;
 }
 else if((up==current_direction)&&(0==up_list_flag))
 {
  current_direction=down;
 }
 if((down==current_direction)&&(0!=down_list_flag))
 {
  L297_direction=down;
  while(storey>=down_list[0]);
  for(i=0;i<4;i++)
  down_list[i]=down_list[i+1];
  down_list[4]=0;
  TR1=1;
  counter_5s=500;
  while(counter_5s);
  TR1=0;
 }
 else if((down==current_direction)&&(0==down_list_flag))
 {
  current_direction=up;
 }
}

void main(void)
{
 init_port();
 init_exint0();
 init_stepper_motor();
 while(1);
 {
  lift_run();
 }
}

/*****************************中斷程序及其判斷*************/
void exint0(void) interrupt 0 using 1
{
 read_flag=1; 
}

void timer0_interrupt(void) interrupt 1 using 2
{
 L297_clock=!L297_clock;
 TH0=step_motor_frequence/256;
 TL0=step_motor_frequence%256;
}

void timer1_interrupt(void) interrupt 3 using 3
{
 TH1=timer_10ms/256;
 TL1=timer_10ms%256;
 counter_5s--;
}