求各位大佬帮帮忙指点一下
现在有两个问题，给A1A2高电平时，LO会随着HO的导通逐渐关闭，而不是一直关闭的状态，给A1A2低电平时，LO不导通，不知道是什么原因求各位大佬帮忙看看什么问题
单片机源程序如下:
#include<reg51.h>
#include<intrins.h>
#define u8 unsigned char
#define u16 unsigned int
//----------------------------------------------------------
//STC15寄存器声明
sfr P1M1=0x83;
sfr P1M0=0xE3;
sfr P3M1=0xB1;
sfr P3M0=0xB2;
sfr AUXR=0x8e;
sfr T2H=0xd6;
sfr T2L=0xd7;
sfr IE2=0xaf;
//----------------------------------------------------------
//引脚定义
sbit A1=P3^2;
sbit A2=P3^6;
sbit AK=P3^3;
sbit B1=P1^2;
sbit B2=P1^4;
sbit BK=P1^3;
sbit IN1=P1^0;
sbit IN2=P1^1;
//----------------------------------------------------------
//软件PWM
u8 PWM_count;
u8 PWM_duty_A;
u8 PWM_duty_B;
u8 PWM_value;
//----------------------------------------------------------
//控制
u16 timer1,timer2;
u16 pulse;
u16 IN1_H_time,IN2_H_time;
bit IN1_last,IN2_last;
bit get_pulse1,get_pulse2;
bit get_new;
int mix_x,mix_y;
bit Direction_A,Direction_B;
int pulse1=150,pulse2=150;
u8 lose_A=20,lose_B=20; //更新：上电默认处于失控状态，防止第一次信号检测错误
//----------------------------------------------------------
//混控设置
bit mix_en=0; //关闭混控，两路独立
//bit mix_en=1; //开启混控
void delay_ms(u16 ms) //STC15 @12.000MHz
{
u16 i;
do{
i = 12000000 / 13022;
_nop_(),_nop_(),_nop_();
while(--i) ;
}while(--ms);
}
void delay_us(u8 us) //@12.000MHz
{
while(--us)
_nop_(),_nop_();
}
void shock( u8 n) //震动发声
{
u8 i;
for(i=0;i<250;i++)
{
A1=0,A2=0;
B1=0,B2=0;
delay_us(n);
A1=1;B1=1;
A2=0;B2=0;
delay_us(n);
A1=0;B1=0;
A2=0;B2=0;
delay_us(n);
A2=1;B2=1;
A1=0;B1=0;
delay_us(n);
}
A1=0,A2=0;
B1=0,B2=0;
delay_us(n);
}
main()
{
P1=0xE3;
P3=0xB0; //上电关闭输出
P3M0=0x4C; //IO推挽输出
P1M0=0x1C;
//P5M0=0x0F;
delay_ms(400);
shock(200); //新增 上电音乐，表明正常工作
shock(150);
shock(100);
IE=0x80;
IE2=0x04;
T2L=0xF6;T2H=0xFF; //开启软件PWM
AUXR=0x10;
while(1)
{
if(get_pulse1)
{
get_pulse1=0;
pulse =IN1_H_time;
IN1_H_time=0;
if(pulse >85 && pulse <215) //只受理合理舵量范围
{
timer1=0;
if(pulse <105)pulse =105;
if(pulse >195)pulse =195;
if(lose_A)lose_A--; //丢信号重连保护
else get_new=1,pulse1=pulse;
}
}
if(get_pulse2)
{
get_pulse2=0;
pulse =IN2_H_time;
IN2_H_time=0;
if(pulse >85 && pulse <215)
{
timer2=0;
if(pulse <105)pulse =105;
if(pulse >195)pulse =195; //舵量限幅 1050~1950
if(lose_B)lose_B--; //丢信号重连保护
else get_new=1,pulse2=pulse;
}
}
if(get_new)
{
get_new=0;
if(mix_en) //引脚高电平 使能混控
{
if(pulse2>152 || pulse2<148) //通道2为差向输入，中位死区
{
mix_x=pulse1 + pulse2 -150;
mix_y=pulse1 - pulse2 +150;
}
else
{
mix_x=pulse1; //通道1为同向输入，
mix_y=pulse1;
}
}
else //引脚低电平 两通道独立
{
mix_x=pulse1;
mix_y=pulse2;
}
if(mix_x<105)mix_x=105;
if(mix_x>195)mix_x=195;
if(mix_y<105)mix_y=105;
if(mix_y>195)mix_y=195;
if(mix_x>=153 ) //正转
{
AK=1;
A2=0;
PWM_duty_A= (mix_x-151)*100/44; //补偿摩擦力
Direction_A=0;
}
else if(mix_x<=147 ) //反转
{
AK=1;
A1=0;
PWM_duty_A= (149-mix_x)*100/44;
Direction_A=1;
}
else //停止
{
PWM_duty_A=0;
AK=0;
}
if(mix_y>=153 ) //正转
{
BK=1;
B2=0;
PWM_duty_B= (mix_y-151)*100/44; //补偿摩擦力
Direction_B=0;
}
else if(mix_y<=147 ) //反转
{
BK=1;
B1=0;
PWM_duty_B= (149-mix_y)*100/44;
Direction_B=1;
}
else //停止
{
PWM_duty_B=0;
BK=0;
}
}
}
}
void T2_isr()interrupt 12//软件PWM 1Khz
{
if(IN1) //通道1脉宽检测
{
IN1_last=1;
IN1_H_time++;
}
else
{
if(IN1_last)get_pulse1=1;
IN1_last=0;
}
if(IN2) //通道2脉宽检测
{
IN2_last=1;
IN2_H_time++;
}
else
{
if(IN2_last)get_pulse2=1;
IN2_last=0;
}
PWM_count++;
if(PWM_count==100) //100级分辨率
{
PWM_count=0;
timer1++;
if(timer1>500)//0.5S无信号保护
{
timer1=0; lose_A=30;
pulse1=150,get_new=1;
}
timer2++;
if(timer2>500)//0.5S无信号保护
{
timer2=0; lose_B=30;
pulse2=150,get_new=1;
}
}
if(PWM_duty_A > PWM_count)
{
if(Direction_A)
A1=1;
else A2=1;
}
else A1=0,A2=0;
if(PWM_duty_B > PWM_count)
{
if(Direction_B)
B1=1;
else B2=1;
}
else B1=0,B2=0;
} |
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