www.pudn.com > stepper_motor_controller.rar > contol.c
/
//***************************************************
// Created by sheriflee
// Edited by Jihengzhang
// Created time: Jun 24th,2004
// 计算时将数值都乘以10，即假定每一步走9度而非0.9度
//**************************************************
#include
#include
//*** 主程序 **
main()
{
for (tmr=0;tmr<0x2000;tmr++); //上电延时
send_byte(CMD_RESET); //复位HD7279A
//******************************************
// initialize cpu
//******************************************
// SCON = 0x52; //SCON 串行口设置
// TMOD = 0x20; //* TMOD 时钟模式设置
IE = 0x81; //允许外部中断int0
TCON = 0x01; //* TCON 定时器控制 int0边沿触发
//******************************************
// initialize L279
//******************************************
l297_en=0; // 禁止电机动作
l297_rst=0; // 复位
l297_ref=1; // 参考电压为5V
l297_half=1; // 半步
l297_ctrl=1; // 相位调脉宽
l297_clk=1; // 准备发脉冲
//******************************************
// 测试
//******************************************
send_byte(CMD_TEST); //发送测试指令
delay5p5ms(50);
send_byte(CMD_RESET); //清除显示
//**********************************************
// 闪烁等待键盘输入
//**********************************************
// wait_cnter=0;
key_number=0xff;
keyin_data[0]=0x0f;
keyin_data[1]=0x0f;
keyin_data[2]=0x0f;
angle =0;
write7279(BLINKCTL,0xf8); //第1、2、3 位设置为闪烁显示
write7279(UNDECODE,0X08); //在第1位显示下划线'_'
write7279(UNDECODE+1,0x08); //在第2位显示下划线'_'
write7279(UNDECODE+2,0x08); //在第3位显示下划线'_'
//**********************************************
// 电机控制相关的初始化
//**********************************************
angle =0;
keyin_angle =0;
do{
if (flag_run) //允许运转
{
if(real_angle >9) //还够转一步
{
real_angle =real_angle-9; // 转过一步
angle =angle + 9;
if (real_angle < keyin_angle/8)
delay =delay -2;
if (real_angle >(keyin_angle/8)*7)
delay =delay +2;
l297_cw =flag_sign; // clockwise/counterclockwise
stepping(delay);
}
else
flag_run=0;
}
led0_show( &angle);
led1_show( &real_angle);
} while (1);
}
//*********** The end of main function ************
//**********************************************
// interrupt0 service function
//**********************************************
void int0_serv( void ) interrupt 0
{
IE =0; // 禁止中断
flag_run=0; // 停止转动
write7279(BLINKCTL,0xff); //第1、2、3 位设置为闪烁显示
key_number=read7279(CMD_READ); //读出按键
switch(key_number){
case KEY_1:
data_shift(keyin_data,3);
keyin_data[0]=0x01;
break;
case KEY_2:
data_shift(keyin_data,3);
keyin_data[0]=0x02;
break;
case KEY_3:
data_shift(keyin_data,3);
keyin_data[0]=0x03;
break;
case KEY_4:
data_shift(keyin_data,3);
keyin_data[0]=0x04;
break;
case KEY_5:
data_shift(keyin_data,3);
keyin_data[0]=0x05;
break;
case KEY_6:
data_shift(keyin_data,3);
keyin_data[0]=0x06;
break;
case KEY_7:
data_shift(keyin_data,3);
keyin_data[0]=0x07;
break;
case KEY_8:
data_shift(keyin_data,3);
keyin_data[0]=0x08;
break;
case KEY_9:
data_shift(keyin_data,3);
keyin_data[0]=0x09;
break;
case KEY_0:
data_shift(keyin_data,3);
keyin_data[0]=0x00; //输入零
break;
case KEY_C: //输入值正负切换
flag_sign=!flag_sign;
break;
case KEY_D: //急停
write7279(BLINKCTL,0xff); //闪烁显示
break;
case KEY_E: //清除输入值
{
keyin_data[0]=0x0f;
keyin_data[1]=0x0f;
keyin_data[2]=0x0f;
}
break;
case KEY_F:
write7279(BLINKCTL,0xf8); //闪烁显示
if (keyin_data[0]>9)
keyin_angle=0;
else if (keyin_data[1]>9)
keyin_angle = keyin_data[0];
else if (keyin_data[2]>9)
keyin_angle = keyin_data[1]*10+keyin_data[0];
else
keyin_angle = keyin_data[2]*100+keyin_data[1]*10+keyin_data[0];
keyin_angle =keyin_angle*10; // 输入角度值×1便于计算
real_angle =keyin_angle; // 转动过程中数值随着变化
delay =DELAY; // 装入延时的初始值
keyin_data[0]=0x0f; // 保存输入值缓冲区清零
keyin_data[1]=0x0f;
keyin_data[2]=0x0f;
flag_run=1; // 开始转动
break;}
led1_show( &real_angle ); //调用显示函数
IE =0x81; // 开启中断
}
void write7279(unsigned char cmd, unsigned char dta){
send_byte (cmd);
send_byte (dta);
}
unsigned char read7279(unsigned char command){
send_byte(command);
return(receive_byte());
}
//******************************************
// send_byte function
//******************************************
void send_byte( unsigned char out_byte){
unsigned char i;
cs=0;
long_delay();
for (i=0;i<8;i++){
if (out_byte&0x80)
dat=1;
else
dat=0;
clk=1;
short_delay();
clk=0;
short_delay();
out_byte=out_byte*2;
}
dat=0;
}
//******************************************
// receiv_byte function
//******************************************
unsigned char receive_byte(void){
unsigned char i, in_byte;
dat=1; //
long_delay();
for (i=0;i<8;i++){
clk=1;
short_delay();
in_byte=in_byte*2;
if (dat)
in_byte=in_byte|0x01;
clk=0;
short_delay();
}
dat=0;
return (in_byte);
}
//******************************************
// led0_show function
//******************************************
void led0_show(unsigned int *p ){
unsigned char i,j,k;
i= *p /1000;
j= (*p - i*100)/100;
k=*p - (i*1000)-(j*100);
write7279(DECODE0+6,i);
write7279(DECODE0+5,j);
write7279(DECODE0+4,k);
}
//******************************************
// led1_show function
//******************************************
void led1_show(unsigned int *p){
unsigned char i,j,k;
if (flag_sign)
write7279(UNDECODE+3,0x01);
else
write7279(UNDECODE+3,0x00);
if (flag_run)
{
i= *p /1000;
j= (*p - i*100)/100;
k=*p - (i*1000)-(j*100);
write7279(DECODE0+6,i);
write7279(DECODE0+5,j);
write7279(DECODE0+4,k);
}
else
{
for(i=0;i<3;i++)
write7279(DECODE0+i,keyin_data[i]);
}
}
//******************************************
// long_delay function
//******************************************
void long_delay(void){
unsigned char i;
for (i=0;i<0x30;i++);
}
void short_delay(void){
unsigned char i;
for (i=0;i<8;i++);
}
//******************************************
// delay5p5ms function
//******************************************
void delay5p5ms(unsigned char time){
unsigned char i;
unsigned int j;
for (i=0;i