c8051f410单片机步进电机控制系统 -

/***********************************************
功能：定时器控制步进电机延时，定时器0控速
芯片C8051F410
晶振24.5MHz
P0推挽控制步进电机
L298N驱动
作者：JZ
***********************************************/
#include"C8051F410.h"
#include"stepping_motor410.h"
// Peripheral specific initialization functions,
// Called from the Init_Device() function
#define uint unsigned int
#define uchar unsigned char
uchar code single_pos[4]={0xee,0xdd,0xbb,0x77};//单四拍驱动方式正转表A-B-C-D
uchar code single_rev[4]={0x77,0xbb,0xdd,0xee};//单四拍驱动方式反转表D-C-B-A
uchar code double_pos[4]={0x99,0x33,0x66,0xcc};//双四拍驱动方式正转表AB-BC-CD-DA
uchar code double_rev[4]={0xcc,0x66,0x33,0x99};//双四拍驱动方式反转表AD-DC-CB-BA
uchar code eight_pos[8]={0xee,0xcc,0xdd,0x99,0xbb,0x33,0x77,0x66}; //八拍驱动方式正转表A-AB-B-BC-C-CD-D-DA
uchar code eight_rev[8]={0x66,0x77,0x33,0xbb,0x99,0xdd,0xcc,0xee}; //八拍驱动方式反转表AD-D-DC-C-CB-B-BA-A
uchar code eight_right_pos[8]={0x0e,0x0c,0x0d,0x09,0x0b,0x03,0x07,0x06}; //八拍驱动方式右轮正转表A-AB-B-BC-C-CD-D-DA
uchar code eight_right_rev[8]={0x06,0x07,0x03,0x0b,0x09,0x0d,0x0c,0x0e}; //八拍驱动方式右反轮转表AD-D-DC-C-CB-B-BA-A
uchar code eight_left_pos[8]={0xe0,0xc0,0xd0,0x90,0xb0,0x30,0x70,0x60}; //八拍驱动方式左轮正转表A-AB-B-BC-C-CD-D-DA
uchar code eight_left_rev[8]={0x60,0x70,0x30,0xb0,0x90,0xd0,0xc0,0xe0}; //八拍驱动方式右轮反转表AD-D-DC-C-CB-B-BA-A
uint times;//时间次数记录
unsigned int step; //记录脉冲数，即要走的步数
uint beat; //步进电机每种驱动方式下的拍数
char *p1,*p2;//存储运行方式表
void PCA_Init()
{
PCA0MD &= ~0x40;
PCA0MD = 0x00;
}
void Timer_Init()
{
TCON = 0x10;
TMOD = 0x02;
TL0 = 0x38;
TH0 = 0x38;
}
void Port_IO_Init()
{
P0MDOUT = 0xFF;
XBR1 = 0x40;
}
void Oscillator_Init()
{
OSCICN = 0x87;
}
void Interrupts_Init()
{
IE = 0x82;
}
// Initialization function for device,
// Call Init_Device() from your main program
void Init_Device(void)
{
PCA_Init();
Timer_Init();
Port_IO_Init();
Oscillator_Init();
Interrupts_Init();
}
//单四拍驱动正转(N*360/200)度
void m_single_pos(unsigned int N)
{
beat=4; //拍数
p1=single_pos;
p2=single_pos+beat;
step=N;
TR0=1;//开定时器0，电机运行
while(1)
{
P0=*p1;
if(step==0)
{
P0=0x00;
TR0=0;//关定时器0
break;
}
}
}
//单四拍驱动反转(N*360/200)度
void m_single_rev(unsigned int N)
{
beat=4;
p1=single_rev;
p2=single_rev+beat;
step=N;
TR0=1;// 开定时器0，电机运行
while(1)
{
P0=*p1;
if(step==0)
{
P0=0x00;
TR0=0;//关定时器0
break;
}
}
}
//双四拍驱动正转(N*360/200)度
void m_double_pos(unsigned int N)
{
beat=4;
p1=double_pos;
p2=double_pos+beat;
step=N;
TR0=1;// 开定时器0，电机运行
while(1)
{
P0=*p1;
if(step==0)
{
P0=0x00;
TR0=0;//关定时器0
break;
}
}
}
//双四拍驱动反转(N*360/200)度
void m_double_rev(unsigned int N)
{
beat=4;
p1=double_rev;
p2=double_rev+beat;
step=N;
TR0=1;// 开定时器0，电机运行
while(1)
{
P0=*p1;
if(step==0)
{
P0=0x00;
TR0=0;//关定时器0
break;
}
}
}
//八拍驱动正转(N*360/400)度
void m_eight_pos(unsigned int N)
{
beat=8;
p1=eight_pos;
p2=eight_pos+beat;
step=N;
TR0=1;// 开定时器0，电机运行
while(1)
{
P0=*p1;
if(step==0)
{
P0=0x00;
TR0=0;//关定时器0
break;
}
}
}
//八拍驱动反转(N*360/400)度
void m_eight_rev(unsigned int N)
{
beat=8;
p1=eight_rev;
p2=eight_rev+beat;
step=N;
TR0=1;// 开定时器0，电机运行
while(1)
{
P0=*p1;
if(step==0)
{
P0=0x00;
TR0=0;//关定时器0
break;
}
}
}
//八拍驱动右轮正转(N*360/400)度
void m_eight_right_pos(unsigned int N)
{
beat=8;
p1=eight_right_pos;
p2=eight_right_pos+beat;
step=N;
TR0=1;// 开定时器0，电机运行
while(1)
{
P0=*p1;
if(step==0)
{
P0=0x00;
TR0=0;//关定时器0
break;
}
}
}
//八拍驱动右轮反转(N*360/400)度
void m_eight_right_rev(unsigned int N)
{
beat=8;
p1=eight_right_rev;
p2=eight_right_rev+beat;
step=N;
TR0=1;// 开定时器0，电机运行
while(1)
{
P0=*p1;
if(step==0)
{
P0=0x00;
TR0=0;//关定时器0
break;
}
}
}
//八拍驱动左轮正转(N*360/400)度
void m_eight_left_pos(unsigned int N)
{
beat=8;
p1=eight_left_pos;
p2=eight_left_pos+beat;
step=N;
TR0=1;// 开定时器0，电机运行
while(1)
{
P0=*p1;
if(step==0)
{
P0=0x00;
TR0=0;//关定时器0
break;
}
}
}
//八拍驱动左轮反转(N*360/400)度
void m_eight_left_rev(unsigned int N)
{
beat=8;
p1=eight_left_rev;
p2=eight_left_rev+beat;
step=N;
TR0=1;// 开定时器0，电机运行
while(1)
{
P0=*p1;
if(step==0)
{
P0=0x00;
TR0=0;//关定时器0
break;
}
}
}
void motor_timer0() interrupt 1 //定时器0中断，产生电机驱动脉冲的延时
{
times++;
if(times==102) //TH0=0x38时，times最小为5 tinmes=102延时10ms
{
times=0;
p1++;
if(p1==p2)
p1=p1-beat;
step--;
}
}

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