步進電機控制程序(c語言51單片機)2007-09-12 16:58#include<reg51.h>

#define uint   unsigned int
#define uchar unsigned char
#define ms *77
// f = 12 M
#define LEDLen 4
#define Dj_star() {IE=0x81; pri_dj=0; }
#define Dj_stop() {IE=0x00; pri_dj=1; P1=0xff; shache="0"; delay(800ms); delay(800ms);delay(400ms); shache = 1; }
#define Chilun_Num 8
/* 齒輪數 8 個*/
#define set_display_num() { LEDBuf[0] = tmp / 1000;      LEDBuf[1] = tmp / 100 % 10;   \
                             LEDBuf[2] = tmp / 10 % 10;   LEDBuf[3] = tmp % 10;         }
uchar LEDBuf[LEDLen] = {0,0,0,0};
void   read_num ();                 /* 讀播碼盤 到 set_round_num   * 8 */
void   display   ();
void   delay(uint   delay_time) { uint   i; for (i=0; i < delay_time ; i++) ; }
void   run ();
void   fx_run();

uint   round_num      = 0;            /* 記錄已轉的 齒輪數 , 中斷1次 加 1*/
uint   set_round_num = 0;            /* 播碼盤設置 圈數 */
uint   set_pwm_width = 0;            /* 播碼盤設置 步進電機 正向速度 */
bit    one_round_flg = 0;
sbit   led_1000       = P0^7;         //use for display
sbit   led_100        = P0^6;         //use for display
sbit   led_10         = P0^5;         //use for display
sbit   led_1          = P0^4;         //use for display

sbit   key_start      = P3^0;
sbit   key_puse       = P3^0;
sbit   key_clear      = P3^1;
                                    /*   P3^2 接齒輪傳感器 中斷   */
sbit   bujin_zx_stop = P3^3;         /* 接步進電機 ,正向到位傳感器 ,為 0 停機 */
sbit   bujin_fx_stop = P3^4;         /* 接步進電機 ,反向到位傳感器 ,為 0 停機 */

sbit   shache         = P3^5;         /* 接剎車控制繼電器    0 電位有效 */
sbit   pri_dj         = P3^6;         /* 接主電機控制繼電器 0 電位有效 */

void main(){
         TCON = 0x01;
         display();
         while(1) {
             IE="0x00";
             round_num = 0;
             display();
             if ( bujin_fx_stop ) fx_run();
             while ( key_start );
             delay ( 8ms );
             if(!key_start){
                 read_num();
                 //set_round_num   = 8;
                 while ( !key_start );
                 run ();
                 fx_run();
             }
         }
}

void run () {
     #define Delay_time    180
     /* 轉一圈 50 次循環，每循環 4 步 ，50 * 4 = 200 ， 200 * 1。8 = 360 */
     uchar i ;
     P1 = 0xff;
     set_pwm_width = 15 + set_pwm_width / 10;
     while ( 1 ) {

             while( !shache | !key_start );
             Dj_star();
             for ( i="0" ; bujin_zx_stop & !pri_dj;i++ ){
                 P1 =   0xf9;
                 delay ( Delay_time   );         // bujin_zx_stop = P3^3;
                 P1 =   0xfc;                    // bujin_fx_stop = P3^4;
                 delay ( Delay_time);           // key_puse       = P3^0;
                 P1 =   0xf6;                    // key_clear      = P3^1;
                 delay ( Delay_time   );         // shache         = P3^5;
                 P1 =   0xf3;                    // pri_dj         = P3^6;
                 delay ( Delay_time );
                 if( i == set_pwm_width ) { P1 = 0xff; i = 0; one_round_flg = 0; while ( !one_round_flg & key_puse );}
                 if(!key_puse) { delay(4ms);   if(!key_puse) break;   }
             }

             P1 = 0xff;
             if ( pri_dj )   break;

             if ( !key_puse ) {
                 delay ( 8ms );
                 if ( !key_puse   ) {
                     Dj_stop();
                     while ( !key_puse );
                     // next pree key
                     while( !shache );

                     while(1){
                         while (   key_puse &   key_clear );
                         delay ( 8ms );
                         if ( !key_clear )   { round_num = 0; display(); }
                         if ( !key_puse   )   break;
                     }
                     while( !key_puse );
                     delay(8ms);
                     while( !key_puse );
                  }
             }
     }
}
void ext_int0(void) interrupt 0   {    /* 主電機 齒輪 中斷 */
     uint tmp;
     EA = 0;
     if( !pri_dj ){
             round_num ++;
             if (round_num % Chilun_Num == 0 ){
                 one_round_flg = 1;
                 tmp = round_num   / Chilun_Num ;
                 set_display_num();
                 P0 = 0xf0;
                 P0 = P0 | LEDBuf[0] ;
                 led_1000   = 0;
                 P0 |= 0xf0;

                 P0 = 0xf0;
                 P0 = P0 | LEDBuf[1] ;
                 led_100    = 0;
                 P0 |= 0xf0;

                 P0 = 0xf0;
                 P0 = P0 | LEDBuf[2] ;
                 led_10     = 0;
                 P0 |= 0xf0;

                 P0 = 0xf0;
                 P0 = P0 | LEDBuf[3] ;
                 led_1      = 0;
                 P0 |= 0xf0;

                 P0 = 0xf0;
             }
             if ( round_num >= set_round_num   ) Dj_stop();
         }
     EA = 0x81;
}

void display(){
      uchar i;
      uint tmp = 0;
      tmp = round_num   / Chilun_Num ;
      set_display_num();
      for(i = 0; i < LEDLen ; i ++){
            P0 = 0xf0;
            P0 = P0 | LEDBuf[i] ;
            if(i==0) led_1000   = 0;         //P0^4
            if(i==1) led_100    = 0;         //P0^5
            if(i==2) led_10     = 0;         //P0^6
            if(i==3) led_1      = 0;         //P0^7
            P0 |= 0xf0;
      }
      P0 = 0xf0;
}

void read_num(){
      /* 讀播碼盤 到 set_round_num   ，set_pwm_width   */
      uchar tmp;
      P2 =   0xFF;
      P2 =   0xEF;     // 1110 1111
      delay ( 1ms   );
      tmp =    ~(P2   | 0xF0);

      P2 =   0xDF;     // 1101 1111
      delay ( 1ms   );
      tmp = (~(P2 | 0xF0 )) * 10    + tmp;
      set_round_num = tmp;

      P2 =   0xBF;     // 1011 1111
      delay ( 1ms   );
      tmp = (~(P2 | 0xF0));

      P2 =   0x7F;     // 0111 1111
      delay ( 1ms   );
      tmp = (~(P2 | 0xF0)) * 10 + tmp;

      set_round_num = set_round_num   + tmp * 100;
      set_round_num = set_round_num   * Chilun_Num;

      P2 =   0xFF;
      P1 =   0xbF;     // 0111 1111
      delay ( 1ms );
      tmp =    ~(P2   | 0xF0) ;

      P1   =   0xFF;
      P2   =   0xFF;
      P1 &=   0x7F;     // 1011 1111
      delay ( 1ms );
      tmp = (~(P2 | 0xF0)) * 10 + tmp ;
      set_pwm_width = tmp ;

      P1   = 0xFF;
      P2   = 0xFF;
}

void   fx_run(){
     #define f_Delay_time 180
     while ( bujin_fx_stop ) {    /* 反向 回車 直到 傳感器 動作*/
         P1 =   0xf3;                    //0011
         delay ( f_Delay_time );
         P1 =   0xf6;                    //0110
         delay ( f_Delay_time );
         P1 =   0xfc;                    //1100
         delay ( f_Delay_time );
         P1 =   0xf9;                    //1001
         delay ( f_Delay_time );
     }
     P1 = 0xff;