1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
| //-----------------------------------------------------------------
// 名称:步进电机(28BYJ-48)程序
//-----------------------------------------------------------------
//---1~9档的转速------------------------------------------------
//DEE4 定时时间 8.476ms , 转速 1.73r/min
//E1EC 定时时间 7.7ms , 转速 1.90r/min
//E5D4 定时时间 6.7ms, 转速 2.19r/min
//E9BC 定时时间 5.7ms, 转速 2.57r/min
//EDA4 定时时间 4.7ms, 转速 3.12r/min
//F18C 定时时间 3.7ms, 转速 3.96r/min
//F574 定时时间 2.7ms, 转速 5.43r/min
//F95C 定时时间 1.7ms, 转速 8.62r/min
//FC18 定时时间 1ms , 转速 14.65r/min
//-----------------------------------------------------------------
//转一圈需要节拍数：360/(5.625/64) = 4096 个节拍
//转速r/min = (60\*1000) / (4096 \* 定时时间)
//-----------------------------------------------------------------
#include "Key.h"
//0~9 的共阳数码管段码，最后一个是黑屏
const uchar SEG_CODE[] = {0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90,0xFF};
//输出励磁序列的频率参数{TH1,TL1}
const uchar Timer[9][2]={{0xDE,0xE4},{0xE1,0xEC},{0xE5,0xD4},{0xE9,0xBC}, //8.476 ~ 1ms
{0xEd,0xA4},{0xF1,0x8C},{0xF5,0x74},{0xF9,0x5C},{0xFC,0x18}};
//步进电机正转的励磁序列
const uchar FFW[] = {0x1F,0x3F,0x2F,0x6F,0x4F,0xCF,0x8F,0x9F}; //DCBAXXXX
//步进电机反转的励磁序列
const uchar REV[] = {0x9F,0x8F,0xCF,0x4F,0x6F,0x2F,0x3F,0x1F}; //DCBAXXXX
//枚举变量--正反转标志
typedef enum
{FwdRun, RevRun} RunFlag;
RunFlag flag1 = FwdRun;
uchar speed = 0;
//函数声明
void T0\_Init(); //定时器0初始化函数声明
void T1\_Init(); //定时器1初始化函数声明
void KeyService(); //按键服务函数声明
void delay\_ms(uint t); //毫秒延时函数声明
//-----------------------------------------------------------------
// 主程序
//-----------------------------------------------------------------
void main()
{
T0\_Init(); //定时器0初始化
T1\_Init(); //定时器1初始化
FWD_LED = 0; //正转指示灯亮，默认初始化是正转
delay\_ms(500); //延时500ms，待各个模块上电稳定
EA = 1; //开启中断
while(1)
{
KeyService(); //按键服务程序
}
}
//-----------------------------------------------------------------
// Timer0 初始化，模式1，允许中断，1ms定时
// Timer0 用于按键扫描
//-----------------------------------------------------------------
void T0\_Init()
{
TMOD &= 0xF0;
TMOD |= 0x01; //T0工作于模式1,16位定时器
TH0 = (65536 - 1000) >> 8; //1ms定时
TL0 = (65536 - 1000) & 0xFF;
ET0 = 1; //允许T0中断
TR0 = 1; //启动T0
}
//-----------------------------------------------------------------
// Timer1 初始化，模式1，允许中断
// Timer1 用于改变步进电机转速
//-----------------------------------------------------------------
void T1\_Init()
{
TMOD &= 0x0F;
TMOD |= 0x10; //定时器1工作于模式1,16位定时器
TH1 = Timer[speed][0];
TL1 = Timer[speed][1]; //定时器1，定时用于步进电机转速控制
ET1 = 1; //允许T1中断
PT1 = 1; //定时器1优先级高
TR1 = 0; //关闭定时器1
}
//-----------------------------------------------------------------
// Timer0 中断服务程序
//-----------------------------------------------------------------
void InterruptTime0() interrupt 1
{
TH0 = (65536 - 1000) >> 8; //1ms
TL0 = (65536 - 1000) & 0xFF;
KeyScan(); //按键扫描
}
//-----------------------------------------------------------------
// Timer1 中断服务程序
//-----------------------------------------------------------------
void InterruptTime1() interrupt 3
{
static volatile unsigned char step1 = 0;
static volatile unsigned char step2 = 0;
if(!speed) speed = 1;
TH1 = Timer[speed - 1][0]; //根据不同的转速档位，给定时器1赋定时器值
TL1 = Timer[speed - 1][1];
//按照定时器1的频率循环发送正转励磁序列的脉冲给步进电机，使其不停地转动
if(flag1 == FwdRun)//正转
{
MotorDriver = FFW[step1++];
step1 %= 8;
}
//按照定时器1的频率循环发送反转励磁序列的脉冲给步进电机，使其不停地转动
else if(flag1 == RevRun)
{
MotorDriver = REV[step2++];
step2 %=8;
}
}
//-----------------------------------------------------------------
// 按键服务程序
//-----------------------------------------------------------------
void KeyService()
{
switch (KeyCode)
{
case 1: flag1 = FwdRun; //正转
SpeedShow = SEG_CODE[speed];
FWD_LED = 0; REV_LED = 1; //正转指示灯亮
if(TR1 == 0) TR1 = 1;
KeyCode = 0;
break;
case 2: flag1 = RevRun; //反转
SpeedShow = SEG_CODE[speed];
FWD_LED = 1; REV_LED = 0; //反转指示灯亮
if(TR1 == 0) TR1 = 1;
KeyCode = 0;
break;
case 3: speed++; //速度加
if(speed >= 9) speed = 9;
SpeedShow = SEG_CODE[speed];
if(TR1 == 0) TR1 = 1;
KeyCode = 0;
break;
case 4: speed--; //速度减
if(speed <= 1 ) speed = 1;
SpeedShow = SEG_CODE[speed];
if(TR1 == 0) TR1 = 1;
KeyCode = 0;
break;
case 5: TR1 = 0; //停止
SpeedShow = 0xFF;
MotorDriver = 0x00;
KeyCode = 0;
break;
default: ;
}
}
//-----------------------------------------------------------------
//函数名称： void delay\_ms(uint t)
//函数功能: 延时ms程序(粗略)
//调用子函数: 无
//输入参数: t
//返回值: 无
//-----------------------------------------------------------------
void delay\_ms(uint t)
{
uchar i; while(t--) for(i = 0; i < 125; i++);
}
|
