51单片机控制步进电机正反转和加减速keil源程序 -

/***********************************************************************************
* 标题: 步进电机+上位机控制正反转和加减速 *
* *
* 通过本例程了解步进马达使用及驱动程序编写 *
*; 单双八拍工作方式： *
*; A-AB-B-BC-C-CD-D-DA *
* * *
**************************************************************************************/
//接线方法：请你一定要看，步进电机杜邦线接方法步进电机模块上“-”接到开发板上的GND “+接VCC
//IN1~IN4 分别接到P1.0~P1.3”
#include "reg52.h"
#include <string.h>
void delay(unsigned int t);
//Motor
sbit F1 = P1^0;
sbit F2 = P1^1;
sbit F3 = P1^2;
sbit F4 = P1^3;
unsigned char code FFW[8]={0xfe,0xfc,0xfd,0xf9,0xfb,0xf3,0xf7,0xf6}; //反转
unsigned char code FFZ[8]={0xf6,0xf7,0xf3,0xfb,0xf9,0xfd,0xfc,0xfe}; //正转
unsigned char g_Speed = 10; //最慢，1为最快
unsigned char g_State = 0; //0: 停止， 1为正转，2为反转
/*协议定义*/
bit startBit = 0; //串口接收开始标志位
bit newLineReceived = 0; //串口一帧协议包接收完成
unsigned char inputString[50]; //接收数据协议
/**********************************************************************
* *
* 步进电机驱动 *
* *
***********************************************************************/
void motor_ffw()
{
unsigned char i;
unsigned int j;
for (j=0; j<64; j++)
{
for (i=0; i<8; i++)
{
if(g_State==1) P1 = FFW[i]&0x1f; //取数据
if(g_State==2) P1 = FFZ[i]&0x1f;
delay(g_Speed); //调节转速
}
}
}
/******************************************************
*
* 延时程序
*
********************************************************/
void delay(unsigned int t)
{
unsigned int k;
while(t--)
{
for(k=0; k<80; k++)
{ }
}
}
//串口初始化
void ComInit(void)
{
SCON = 0x50; // SCON: 模式1, 8-bit UART, 使能接收
TMOD |= 0x20;
TH1=0xfd; //波特率9600 初值
TL1=0xfd;
TR1= 1;
EA = 1; //开总中断
ES= 1; //打开串口中断
}
//串口发送函数
/*void PutString(unsigned char *TXStr)
{
ES=0;
while(*TXStr!=0)
{
SBUF=*TXStr;
while(TI==0);
TI=0;
TXStr++;
}
ES=1;
}*/
void Protocol(void)
{
while (newLineReceived) //协议数据接收完毕一包
{
//判断是否是51的协议
if(inputString[1] != '5' || inputString[2] != '1')
{
newLineReceived = 0;
memset(inputString, 0x00, sizeof(inputString));
break;
}
//判断是否是Step motor的协议数据
if(inputString[4] != 'S' && inputString[5] != 'M' && inputString[6] != 'T')
{
newLineReceived = 0;
memset(inputString, 0x00, sizeof(inputString));
break;
}
if(inputString[8] == '1') //加速
{
g_Speed--;
if(g_Speed == 0)
g_Speed = 1;
}
else if(inputString[8] == '2') //减速
{
g_Speed++;
if(g_Speed > 10)
g_Speed = 10;
}
//读取功能执行
if(inputString[7] == '0') //停止
{
g_State = 0;
newLineReceived = 0;
memset(inputString, 0x00, sizeof(inputString));
break;
}
else if(inputString[7] == '1') //顺转
{
g_State = 1;
newLineReceived = 0;
memset(inputString, 0x00, sizeof(inputString));
break;
}
else if(inputString[7] == '2') //逆转
{
g_State = 2;
newLineReceived = 0;
memset(inputString, 0x00, sizeof(inputString));
break;
}
newLineReceived = 0;
memset(inputString, 0x00, sizeof(inputString));
}
}
void main()
{
ComInit();
P1 = 0xff;
while(1)
{
if(g_State != 0 )
{
motor_ffw();
}
}
}
/******************************************************************/
/* 串口中断程序*/
/******************************************************************/
void UART_SER () interrupt 4
{
unsigned char n; //定义临时变量
static int num = 0;
if(RI) //判断是接收中断产生
{
RI = 0; //标志位清零
n = SBUF; //读入缓冲区的值
//control=n;
if(n ==
)
{
startBit = 1;
num = 0;
}
if(startBit == 1)
{
inputString[num] = n;
num++;
}
if (n == '#')
{
newLineReceived = 1;
startBit = 0;
Protocol();
}
if(num >= 50)
{
num = 0;
startBit = 0;
newLineReceived = 0;
}
}
}

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