关于单片机中步进电机的程序控制问题求解

ti

本帖最后由七月盛夏于 2012-11-20 18:57 编辑

if(pt==2)
{
pt=0;
if(flag==0&&moto==1)
P2=(P2&0x0f)|CONTROL[counts];
if(flag==0&&moto==0)
P2=(P2&0x0f)|codes2[counts];
counts++;
if(counts==8)counts=0;
}
}

这一段不怎么懂，哪位大神懂得求帮忙
全部程序如下
#include
#define DB0_DB7  P0                            //液晶
#define busy 0x80                                  //*128*//
#define SCANPORT P1                         //键盘
***it E=P2^2;                                     //*目标值*//
***it RW=P2^1;
***it RS=P2^0;
unsigned char uca_LineScan[4]={0xEF,0xDF,0xBF,0x7F};       //列线扫描电压分为第1  2

34根列线 //
unsigned char key_ctt[4]={0};
unsigned int time_sq[4]={0};             //连续测得的三点的时间 //
unsigned char speed_bcd[4]={0};
unsigned char speed_sc[2]={0};
unsigned int speed_ck[4]={0};
unsigned int di_xx[2]={0};
unsigned char yy=0,temp;
unsigned int ct=0,ttb=0,xx=0,tt3=0,speedct=0,speed=0,speeded=10,cott=0;
typedef unsigned char uchar;
uchar code lcd3[]={"0123456789abcdef"};
uchar code lcdnow[]={"NOW:000"};
uchar code lcdset[]={"SET:000"};
unsigned char CONTROL[8]={0x38,0x18,0x98,0x88,0xC8,0x48,0x68,0x28};
unsigned char codes1[8]={0xb8,0x98,0xd8,0xc8,0xe8,0x68,0x78,0x38};

///9,18,36,45,54,63,72,81度顺时针*/
unsigned char codes2[8]={0x38,0x78,0x68,0xe8,0xc8,0xd8,0x98,0xb8};

//9,18,36,45,54,63,72,81度逆时针
unsigned char counts,pt; bit flag=1;

  // 度数正/反转速度控制
bit a_ac=0;

         //比较系统标志
unsigned char uc_KeyTemp=0;

   //按键键码暂存。
unsigned char uc_ClickCount=0;

unsigned char ucCount;

      //按键次数
void vKeyProcess(unsigned char ucKeyCode);
void bleep();

      //报警 bit bleept=0;//报警标准
bit moto=0;

   //电机标志位
void ac();

      ///电机速度比较
void akey();

      //功能处理A
bit a_key=0;
bit b_key=0;
void getspeed();

   //速度检测
void stdisplay();

   //显示
void Delay(unsigned int t);

//延时
void delay_50ms(unsigned int t);
void SendCommand(unsigned char ch);

                                          //发送命令
void vWriteData(unsigned char ch);

                                          //发送数据
void InitLcd();

                                                         //初始化
void DisplayOneChar(unsigned char x,unsigned y,unsigned char ddata);

                        //按指定位置显示一个字符
void DisplayListChar(unsigned char x, unsigned char y, unsigned char *DData);

                                             //按指定位置显示一串字符
void Delay(unsigned int t)

void SendCommand(unsigned char ch)

            //发送命令
{
RS=0;

               //RS,RW都为低电平时才能写入指令
RW=0;
DB0_DB7=ch;

         //液晶赋值
E=1;
Delay(1);
E=0;
Delay(5);

            //delay 40us
}
void vWriteData(unsigned char ch)

//发送数据
{
RS=1;       //向lcd写入数据
RW=0;
DB0_DB7=ch;
E=1;
Delay(1);
E=0;
Delay(5);
delay 40us
}
void InitLcd()

         //初始化
{
SendCommand(0x38);
Delay(1);
SendCommand(0x08);

//设置工作方式  Delay(1);
SendCommand(0x01);

//显示状态设置
Delay(1);
SendCommand(0x06);

//清屏
Delay(200);
SendCommand(0x0c);

//输入方式设置 }
void DisplayOneChar(unsigned char x,unsigned y,unsigned char ddata) //按指定位置显示一

个字符
{
y &= 0x1;  x &= 0xF;

                  //限制X不能大于15Y不能大于1
if (y) x |= 0x40;

//当要显示第二行时地址码+0x40;
x |= 0x80;

   // 算出指令码
SendCommand(x);
vWriteData(ddata);
}
void DisplayListChar(unsigned char x, unsigned char y, unsigned char  *DData) //按指定开

始位置显示字符串
{
unsigned char ListLength;
ListLength = 0;
y &= 0x1;
x &= 0xF;

//限制X不能大于15Y不能大于1
while (DData[ListLength]>0x20)                                                    //若到

达字串尾则退出
{
if (x <= 0xF)
{
DisplayOneChar(x, y, DData[ListLength]);                            //显示单个字符

ListLength++;
x++;
}
  }
}
void vShowOneChar(unsigned char ucChar)
{
switch(ucChar)
{
case '0': vWriteData(0x30);break;
case '1': vWriteData(0x31);break;
case '2': vWriteData(0x32);break;
case '3': vWriteData(0x33);break;
case '4': vWriteData(0x34);break;
case '5': vWriteData(0x35);break;
case '6': vWriteData(0x36);break;
case '7': vWriteData(0x37);break;
case '8': vWriteData(0x38);break;
case '9': vWriteData(0x39);break;
case 'a': vWriteData(0x61);break;
case 'b': vWriteData(0x62);break;
case 'c': vWriteData(0x63);break;
case 'd': vWriteData(0x64);break;
case 'e': vWriteData(0x65);break;
case 'f': vWriteData(0x66);break;
default: break;
}
} unsigned char ucKeyScan()
{
unsigned char ucTemp=0;

//扫描状态暂存。
unsigned char ucRow=0,ucLine=0;

            //行号列号。
for(ucLine=0;ucLine<4;ucLine++)                                     //列扫描
{
SCANPORT=uca_LineScan[ucLine];                                              //输出扫描

电位。
ucTemp=SCANPORT&0x0F;                                                    //输入扫描电

位并屏蔽高4位。
if(ucTemp!=0x0F)
{
switch(ucTemp)
{
case 0x0E: ucRow=10;break;                                                       //如果

有则判断行号。
case 0x0D: ucRow=20;break;
case 0x0B: ucRow=30;break;
case 0x07: ucRow=40;break;
default: ucRow=50;break;    }
break;
}
}
SCANPORT=0x0F;                                                                      //恢

复P2口
return ucRow+ucLine+1;                //返回哪个按键按下。如返回12，则意思是2行1列的按

键按下
}
void vKeyProcess(unsigned char ucKeyCode)
{
SendCommand(0xC4+uc_ClickCount);
if(a_key==1)
{
switch(ucKeyCode)
{
case 41:vShowOneChar('7');temp=7;break;          //'7'
case 42:vShowOneChar('8');temp=8;break;       //'8'
case 43:vShowOneChar('9');temp=9;break;       //'9'
case 31:vShowOneChar('4');temp=4;break;       //'4'
case 32:vShowOneChar('5');temp=5;break;       //'5'
case 33:vShowOneChar('6');temp=6;break;       //'6'
case 21:vShowOneChar('1');temp=1;break;       //'1'
case 22:vShowOneChar('2');temp=2;break;       //'2'
case 23:vShowOneChar('3');temp=3;break;       //'3'
case 12:vShowOneChar('0');temp=0;break;       //'0'
}
SendCommand(0xc4+uc_ClickCount);
SendCommand(0x0f);
}
switch(ucKeyCode)
{
case 44:/*vShowOneChar('c');*/temp=12;break;       //'/'
case 34:/*vShowOneChar('d')*/temp=13;break;       //'*'
case 24:/*vShowOneChar('e')*/temp=14;break;       //'-'
case 14:/*vShowOneChar('f')*/temp=15;break;       //'+'
case 13:/*vShowOneChar('b');*/temp=11;break;       //'='
case 11:/*vShowOneChar('a');*/temp=10;break;       //'ON/C'
default:break;
}
if(temp==11)                               //判断按键与上一次所按的键是否相同。
{
delay_50ms(10);
if(uc_ClickCount<255)                //同一个按连续按下的次数:1~255。
{
uc_ClickCount++;
SendCommand(0xc3+uc_ClickCount);
SendCommand(0x0f);
}
if(uc_ClickCount==3)
uc_ClickCount=0;
SendCommand(0xc4+uc_ClickCount);
SendCommand(0x0f);
}
if(temp<=9)
{switch(uc_ClickCount)
{
case 0:key_ctt[0]=temp;break;
case 1:key_ctt[1]=temp;break;
case 2:key_ctt[2]=temp;break;
default:break;
}
}
}
void int_timer0(void)
{
TMOD=0X10;
TMOD=0X01;
TH0=0X3C;
TL0=0XB0;
TH1=0X3C;
TL1=0XB0;
ET1=1;
TR1=1;
ET0=1;
TR0=1;
EA=1;
IT1=1;
EX1=1;
}
void Timer1() interrupt 3    //定时器1中断
{
TH1=0X3c;
TL1=0Xb0;
pt++;                               //控制速度
if(pt==2)
{
pt=0;
if(flag==0&&moto==1)
P2=(P2&0x0f)|CONTROL[counts];
if(flag==0&&moto==0)
P2=(P2&0x0f)|codes2[counts];
counts++;
if(counts==8)counts=0;                                  //角度重置
}
}
void Timer0()
interrupt 1
{
TH0=0X3c;
TL0=0Xb0;
yy++;
if(yy==2)
{  ct++; tt3+
yy=0;
if(ct==600)                                  //60秒定时
{
ct=0;
xx=0;
}
if(tt3==20)
{
tt3=0;
di_xx[1]=di_xx[0];
di_xx[0]=xx;
if((di_xx[0]==di_xx[1])&&a_ac==1)
{bleept=1;flag=1;
}
}
}
}
void Int1() interrupt 2
{
static cott=0;
cott++;
if(cott==2)
{ xx++;
time_sq[2]=time_sq[1]; //把当前检测到液滴的时间保存起来
time_sq[1]=time_sq[0];
time_sq[0]=ct;
if(a_key==0)
{
DisplayOneChar(10,0,lcd3[speed/100]);
DisplayOneChar(11,0,lcd3[speed%100/10]);
DisplayOneChar(12,0,lcd3[speed%10]);
DisplayOneChar(10,1,lcd3[xx/100]);
DisplayOneChar(11,1,lcd3[xx%100/10]);
DisplayOneChar(12,1,lcd3[xx%10]);
SendCommand(0xC4+uc_ClickCount);
}
getspeed();
cott=0;
}
}
void stdisplay()
{
DisplayListChar(0,0,lcdnow);
DisplayListChar(0,1,lcdset);
DisplayOneChar(14,0,0x4f);
DisplayOneChar(15,0,0x46);
DisplayListChar(8,0,"S:");
DisplayListChar(8,1,"T:");
}
void main(void)
{
delay_50ms(1);
int_timer0();
InitLcd();
P2_3=1;
SCANPORT=0x0F;
stdisplay();
while(1)
{
bleep();
if(SCANPORT!=0x0F)
{
for(ucCount=0;ucCount<200;ucCount++);
if(SCANPORT!=0x0F)
vKeyProcess(ucKeyScan());
};
switch(temp)
{
case 13:bleept=0;break;//D
case 14:a_ac=1;b_key=1;
if(b_key==1)
{
DisplayOneChar(15,1,0x4f);
b_key=0;
};
SendCommand(0xC4+uc_ClickCount);
break;
case 15:if(a_key==1)
{
speedcd=key_ctt[0]*100+key_ctt[1]*10+key_ctt[2];
uc_ClickCount=0;};break;
case 10:a_key=1;akey();break;
case 12:a_key=0;akey();break;
default:break;
  }
}
}
void ac()
{
if(speedct>=(speedcd+5))
{moto=0;flag=0;}
else if(speedct<=(speedcd-5))
{moto=1;flag=0;} else  flag=1; }
void bleep()
{
if(a_ac==1)
{
if(bleept==1)
P2_3=0;
if(bleept==0) P2_3=1;
}
}
void akey()
{
if(a_key==1)
{
SendCommand(0x0c);
DisplayOneChar(14,0,0x4f);
DisplayOneChar(15,0,0x4e);
On SendCommand(0xc4);
SendCommand(0x0f);
}
if(a_key==0)
{
SendCommand(0x0c);
DisplayOneChar(14,0,0x4f);
DisplayOneChar(15,0,0x46);
}
}
void getspeed()
{
if(a_ac==1)
{
ac();
};
speed=1200/(time_sq[0]-time_sq[2]);
speed_ck[3]=speed_ck[2];
speed_ck[2]=speed_ck[1]; //把当前检测到液滴的速度保存起来
speed_ck[1]=speed_ck[0];
speed_ck[0]=speed;
if((speed_ck[0]!=speed_ck[1]))
{
speed_sc[1]=speed_sc[0];
speed_sc[0]=speed_ck[0];
speedct=(speed_sc[0]+speed_sc[1])/2;
}
else
{
if((speed_ck[0]==speed_ck[2])&&(speed_ck[1]==speed_ck[3])) speedct=(speed_ck[0]+speed_ck

[1])/2;
if((speed_ck[0]==speed_ck[1])||(speed_ck[0]==speed_ck[2]))
speedct=(speed_ck[1]+speed_ck[2])/2;
if((speed_ck[0]!=speed_ck[1])&&(speed_ck[0]!=speed_ck[2])&&(speed_ck[1]==speed_ck[2]))
speedct=(speed_ck[0]+speed_ck[1])/2;
if((speed_ck[0]!=speed_ck[1])&&(speed_ck[0]!=speed_ck[2])&&(speed_ck[1]!=speed_ck[2]))
speedct=(speed_ck[0]+speed_ck[1]+speed_ck[2]+speed_ck[4])/4;}
speed_bcd[2]=speed/100;                                        //将speed值分为三位数

保存在数组中用来显示
speed_bcd[1]=speed%100/10;
speed_bcd[0]=speed%10;
if(a_key==0)
{
DisplayOneChar(4,0,lcd3[speedct/100]);
DisplayOneChar(5,0,lcd3[speedct%100/10]);
DisplayOneChar(6,0,lcd3[speedct%10]);
DisplayOneChar(4,1,lcd3[speedcd/100]);
DisplayOneChar(5,1,lcd3[speedcd%100/10]);
DisplayOneChar(6,1,lcd3[speedcd%10]);
SendCommand(0xC4+uc_ClickCount);
}
}