/*****************************************************************************************************************
2009年3月5日14:58:54
下面的程序已經(jīng)實(shí)現(xiàn)了步進(jìn)電機(jī)的基本控制很好。現(xiàn)在要實(shí)現(xiàn)附加的功能
*****************************************************************************************************************/
#include <AT89X51.h> 
#define uint unsigned int;
#define uchar unsigned char
//以下定義LED片選信號
sbit LED_1 = P3^0; 
//定義輸入按鍵的序號
sbit K_1 = P1^0;
sbit K_2 = P1^1;
sbit K_3 = P1^2;
sbit K_4 = P1^3;
sbit K_5 = P1^4;
sbit K_6 = P1^5;
//以下定義共陰極LED的顯示代碼，0~9
uchar code tab[10] = 
{0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f};
//以下定義M1驅(qū)動(dòng)信號
sbit M1_1  = P2^0;
sbit M1_2  = P2^1;
sbit M1_3  = P2^2;
sbit M1_4  = P2^3;

static unsigned int count; //計(jì)數(shù) 
static int step_index; //步進(jìn)索引數(shù)，值為0－7 即是到該轉(zhuǎn)哪一步了 
static bit turn; //步進(jìn)電機(jī)轉(zhuǎn)動(dòng)方向 turn=1 反向  turn=0 正向
static bit stop_flag; //步進(jìn)電機(jī)停止標(biāo)志 
static int speedlevel; //步進(jìn)電機(jī)轉(zhuǎn)速參數(shù)，數(shù)值越大速度越慢，最小值為1，速度最快 
static int spcount; //步進(jìn)電機(jī)轉(zhuǎn)速參數(shù)計(jì)數(shù) 
void delay(unsigned int endcount); //延時(shí)函數(shù)，延時(shí)為endcount*0.5毫秒 
void gorun(); //步進(jìn)電機(jī)控制步進(jìn)函數(shù) 
//主函數(shù)開始
void main(void) 
{ 

LED_1 = 0;//顯示第一個(gè)LED，既M1的狀態(tài)
count = 0; 
step_index = 0;
speedlevel =2; 
spcount = 0;
stop_flag = 1;//這里一開始設(shè)定為  stop_flag = 0 表示開機(jī)即進(jìn)行運(yùn)轉(zhuǎn)，stop_flag = 1則表示停止
P2_0 = 0; 
P2_1 = 0; 
P2_2 = 0; 
P2_3 = 0; 
EA = 1; //允許CPU中斷 
TMOD = 0x11; //設(shè)定時(shí)器0和1為16位模式1 
ET0 = 1; //定時(shí)器0中斷允許 

TH0 = 0x50; //BEFORE  FE0C
TL0 = 0x00; //設(shè)定時(shí)每隔65.53ms中斷一次 
TR0 = 1; //開始計(jì)數(shù) 

delay(10000);

} 
//定時(shí)器0中斷處理 在這個(gè)中斷中完成步進(jìn)電機(jī)的步進(jìn)功能的
void timeint(void) interrupt 1 
{ 
TH0=0x50; 
TL0=0x00;//設(shè)定時(shí)每隔65.536ms中斷一次 
TR0 = 1;
count++; 
spcount--;
if(spcount<=0) //速度調(diào)整，SPEEDLEVEL越大，延時(shí)越長（延時(shí)約為1MS*SPEEDLEVEL），// 頻率越小，速度越慢
{
spcount = speedlevel;  

gorun();
}
K_1 = 1;//讀數(shù)前先置1
if (K_1 == 0) stop_flag = 1; 
K_2 = 1;//讀數(shù)前先置1
if (K_2 == 0) stop_flag = 0 ;
K_3 = 1;//讀數(shù)前先置1
if (K_3 == 0) turn = 1 ;
K_4 = 1;//讀數(shù)前先置1
if (K_4 == 0) turn= 0 ;
K_5 = 1;//讀數(shù)前先置1
if (K_5 == 0) 
{

speedlevel+=1;
}
K_6 = 1;//讀數(shù)前先置1
if (K_6 == 0) 
{
speedlevel-=1;
}
} 

void delay(unsigned int endcount) 
{ 
count=0; 
do{}while(count<endcount); 
} 

void gorun() 
{ 
if (stop_flag==1) 
{ 
P2_0 = 0; 
P2_1 = 0; 
P2_2 = 0; 
P2_3 = 0; 
P0	  = tab[0];
return; 
} 
else if (stop_flag==0)
{
if (turn==0)
P0	  = tab[1];
else
P0	  = tab[2];
}

switch(step_index) 
{ 
case 0: //0 
P2_0 = 0; 
P2_1 = 0; 
P2_2 = 0; 
P2_3 = 1; 
break; 
case 1: //0、1 
P2_0 = 0; 
P2_1 = 0; 
P2_2 = 1; 
P2_3 = 1; 
break; 
case 2: //1 
P2_0 = 0; 
P2_1 = 0; 
P2_2 = 1; 
P2_3 = 0; 
break; 
case 3: //1、2 
P2_0 = 0; 
P2_1 = 1; 
P2_2 = 1; 
P2_3 = 0; 
break; 
case 4: //2 
P2_0 = 0; 
P2_1 = 1; 
P2_2 = 0; 
P2_3 = 0; 
break; 
case 5: //2、3 
P2_0 = 1; 
P2_1 = 1; 
P2_2 = 0; 
P2_3 = 0; 
break; 
case 6: //3 
P2_0 = 1; 
P2_1 = 0; 
P2_2 = 0; 
P2_3 = 0; 
break; 
case 7: //3、0 
P2_0 = 1; 
P2_1 = 0; 
P2_2 = 0; 
P2_3 = 1; 
} 
if (turn==0) 
{ 
step_index++; 
if (step_index>7) 
step_index=0; 
} 
else 
{ 
step_index--; 
if (step_index<0) 
step_index=7; 
} 
}