/////////舵機調試程序//////////////
/////////servo1.c/////////
#include <C8051F040.h>
#define CEX0PORT p07//舵機控制信號管腳,為P0.7管腳
//系統時鐘為24500KHZ/8=3062.5KHZ
//周期為20ms，則頻率為50HZ，則tmph+tmpl=61250可以保證產生50HZ PWM
#define CONST_W 61250
#define FORMAT_ANG temp=6125L*angval;temp/=180;tmph=(uint)temp+1531;tmpl=(uint)CONST_W-tmph
typedef unsigned int uint;
typedef unsigned char uchar;
typedef unsigned long ulong;
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;
sbit p07=P0^7;
sbit p00=P0^0;
bit iscex0H;
uchar temppage;
xdata uint cex0L,cex0H;
xdata uint tmph,tmpl;
ulong temp;
int xdata angval;//1800表示180度，使得精度為0.1度
	//轉化計算:tmph=6125*angval/180+1531,但是由于計算時超過65535就會溢出
	//，所以不能直接這樣計算,可定義ulong型變量temp，
	//temp=6125L*angval;temp/=180;tmph=(uint)temp+1531實現
void delay1ms(uint time){//延遲1ms
	uint i;
	uint j;
	for (i=0;i<time;i++){
		for(j=0;j<300;j++);
	}
}	
void pca0ini(){//CEX0為高速輸出模式
	SFRPAGE = 0x00;
	PCA0CPM0=0X4d;
}
void CEX0_out(uint h,uint l){//設置高電平值和低電平值
	cex0L=l;
	cex0H=h;
	CEX0PORT=1;
	iscex0H=1;
}
void CEX0_set(uint pram){//設置高速模式下一次中斷的間隔為pram個PCA時鐘
	SFRPAGE = 0x00;
	PCA0CP0+=pram;
	PCA0CPM0|=0x40;//注意編譯的時候sfr16先寫高地址，再寫低地址
	//所以編譯結果使得最后寫PCA0CPL0,將使得ECOM0清零，故加此句置1
}
void pcaini(){
	SFRPAGE=0x00;
	PCA0MD=0x09;//PCA時鐘為系統時鐘
	PCA0CN=0x40;//開PCA時鐘
	EIE1|=0x08;//開PCA中斷
}
void config(){//PCA管腳不配置輸出到crossbar
	WDTCN = 0x07;	// 看門狗禁止
  	WDTCN = 0xDE;   // Disable WDT    
   	WDTCN = 0xAD;
	SFRPAGE = 0x0F;
	XBR0 = 0x00;	// XBAR0: Initial Reset Value
	XBR1 = 0x00;	// XBAR1: Initial Reset Value
	XBR2 = 0x40;	// XBAR2: Initial Reset Value
 	XBR3 = 0x00;    // XBAR3: Initial Reset Value
 	SFRPAGE = 0x0F;
 	P0MDOUT = 0x00; // Output configuration for P0 
 	P1MDOUT = 0x00; // Output configuration for P1 
	P2MDOUT = 0x00; // Output configuration for P2 
	P3MDOUT = 0x00; // Output configuration for P3 
	P4MDOUT = 0x00; // Output configuration for P4
	P5MDOUT = 0x00; // Output configuration for P5
	P6MDOUT = 0x00; // Output configuration for P6
	P7MDOUT = 0x00; // Output configuration for P7
 	P1MDIN = 0xFF;  // Input configuration for P1
	P2MDIN = 0xFF;  // Input configuration for P2
	P3MDIN = 0xFF;  // Input configuration for P3
	SFRPAGE = 0x0F;
 	CLKSEL = 0x00;  // Oscillator Clock Selector
	OSCXCN = 0x00;	// EXTERNAL Oscillator Control Register	
	OSCICN = 0x84;	// Internal Oscillator Control Register
}
void main(void){
	
	config();
	pca0ini();
	pcaini();
	CEX0PORT=0;//將控制信號輸出置0
	//0度對應:tmph=1531,tmpl=CONST_W-tmph
	//180度對應:tmph=7656,tmpl=CONST_W-tmph,
	angval=0;
	FORMAT_ANG;//計算出tmph和tmpl的值
	EA=1;
	CEX0_out(tmph,tmpl);
	delay1ms(1000);
	while(1){
		for(angval=0;angval<=180;angval+=30){//每隔2秒正轉30度
			FORMAT_ANG;
			CEX0_out(tmph,tmpl);
			delay1ms(2000);
		}
		for(angval=180;angval>=0;angval-=30){//每隔2秒反轉30度
		/*注意angval不能定義成uint型，否則angval>=0條件恒真*/
			FORMAT_ANG;
			CEX0_out(tmph,tmpl);
			delay1ms(2000);
		}
				
	}
	
}
void PCA_ISR(void) interrupt 9  {
	temppage=SFRPAGE;
	SFRPAGE = 0x00;
	if(CF){
		CF=0;
	}
	if(CCF0){
		if(iscex0H){
			CEX0_set(cex0L);//隔cex0L個PCA時鐘后發生中斷，則低電平持續時間為
			//cex0L個PCA時鐘
			iscex0H=0;
			}
		else{
			CEX0_set(cex0H);//隔cex0H個PCA時鐘后發生中斷，則高電平持續時間為
			//cex0H個PCA時鐘
			iscex0H=1;
		}
		CEX0PORT=iscex0H;
		CCF0=0;
	}
	SFRPAGE=temppage;
  }