/////////直流電機驅動調試電路//////////////
/////////moto_PWM.c//////////////////////////
#include <C8051F040.h>
typedef unsigned int uint;
typedef unsigned char uchar;
typedef unsigned long ulong;
#define MOTO_BREAK DIR1A=DIR1B
#define MOTO_FORD DIR1A=0;DIR1B=1
#define MOTO_BACK DIR1A=1;DIR1B=0
sfr16 RCAP2=0xca;
sfr16 RCAP3=0xca;
sfr16 RCAP4=0xca;
sfr16 TMR4=0xcc;
sfr16 TMR3=0xcc;
sfr16 TMR2=0xcc;
sfr16 PCA0CP0=0xfb;
sfr16 PCA0CP1=0xfd;
sfr16 PCA0CP2=0xe9;
sfr16 PCA0CP3=0xeb;
sfr16 PCA0CP4=0xed;
sfr16 PCA0CP5=0xe1;
uchar temppage;
sbit  DIR1A=P3^0;//方向控制管腳
sbit  DIR1B=P3^1;
void pca0ini(){//CEX0為8bit PWM輸出模式
	SFRPAGE = 0x00;
	PCA0CPM0=0X42;
}
void delay1ms(uint time){//延遲1ms
	uint i;
	uint j;
	for (i=0;i<time;i++){
		for(j=0;j<300;j++);
	}
}	
void PWM0_set(uchar val){//高電平占空比為val/256
	SFRPAGE = 0x00;
	PCA0CPH0=~val+1;
}
void pcaini(){
	SFRPAGE=0x00;
	PCA0MD=0x08;//PCA采用系統時鐘，且PCA溢出中斷禁止
	PCA0CN=0x40;//啟動PCA計數器
}
void config(){
//看門狗禁止
	WDTCN = 0x07;	
    WDTCN = 0xDE;   
   	WDTCN = 0xAD;
	SFRPAGE = 0x0F;
//交叉開關配置，CEX0-CEX5配置到P0.0-P0.5
	XBR0 = 0x30;	
	XBR1 = 0x00;	
	XBR2 = 0x40;
 	XBR3 = 0x00;   
//管腳輸出配置，P0口為開漏輸出，其中P0.6接上拉電阻，P0為數字輸入口
 	SFRPAGE = 0x0F;
 	P0MDOUT = 0x00; 
 	P1MDIN = 0xFF;  
//晶振配置，采用內部晶振8分頻
	SFRPAGE = 0x0F;
 	CLKSEL = 0x00;  
	OSCXCN = 0x00;	
	OSCICN = 0x84;	
}
void main(void){
	config();
	pcaini();
	pca0ini();
	while(1){
		//慢速反向運行2秒
		MOTO_BACK;
		PWM0_set(10);
		delay1ms(2000);
		MOTO_BREAK;//急停
		//慢速正向運行2秒
		MOTO_FORD;
		PWM0_set(10);
		delay1ms(2000);
		MOTO_BREAK;//急停
		delay1ms(2000);
		//快速反向運行2秒
		MOTO_BACK;
		PWM0_set(200);
		delay1ms(2000);
		MOTO_BREAK;//急停
		delay1ms(500);
		//快速正向運行2秒
		MOTO_FORD;
		PWM0_set(200);
		delay1ms(2000);
		MOTO_BREAK;//急停
		delay1ms(2000);
		}
	
}