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步进电机控制程序(c语言+51单片机)
#include
#define uintunsigned 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
/* 齿轮数 8 个*/
#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};
voidread_num ();/* 读播码盘 到 set_round_num* 8 */
voiddisplay();
voiddelay(uintdelay_time) { uinti; for (i=0; i < delay_time ; i++) ; }
voidrun ();
voidfx_run();
uintround_num = 0; /* 记录已转的 齿轮数 , 中断1次 加 1*/
uintset_round_num = 0; /* 播码盘设置 圈数 */
uintset_pwm_width = 0; /* 播码盘设置 步进电机 正向速度 */
bit one_round_flg = 0;
sbitled_1000 = P0^7; //use for display
sbitled_100 = P0^6; //use for display
sbitled_10 = P0^5; //use for display
sbitled_1 = P0^4; //use for display
sbitkey_start = P3^0;
sbitkey_puse = P3^0;
sbitkey_clear = P3^1;
/*P3^2 接齿轮传感器 中断*/
sbitbujin_zx_stop = P3^3; /* 接步进电机 ,正向到位传感器 ,为 0 停机 */
sbitbujin_fx_stop = P3^4; /* 接步进电机 ,反向到位传感器 ,为 0 停机 */
sbitshache = P3^5; /* 接刹车控制继电器 0 电位有效 */
sbitpri_dj = P3^6; /* 接主电机控制继电器 0 电位有效 */
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
/* 转一圈 50 次循环，每循环 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{ /* 主电机 齿轮 中断 */
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(){
/* 读播码盘 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;
}
voidfx_run(){
#define f_Delay_time 180
while ( bujin_fx_stop ) { /* 反向 回车 直到 传感器 动作*/
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;
}
