单片机控制的遥控步进电机
#include <AT89X51.h>
#include<stdio.h>
#include<intrins.h>
#define uchar unsigned char
#define uint unsigned int
static unsigned int count; //计数
unsigned int hour,minute,second,count;
sbit RS = P2^3;//Pin4
sbit RW = P2^2; //Pin5
sbit E = P2^4;//Pin6
#define Data P0 //数据端口
static int step_index; //步进索引数，值为0－7
bit k=0; //红外解码判断标志位，为0则为有效信号，为1则为无效
uchar n=0; //用来控制外部中断
static bit turn; //步进电机转动方向
static bit stop_flag; //步进电机停止标志
static int speedlevel; //步进电机转速参数，数值越大速度越慢，最小值为1，速度最快
static int spcount; //步进电机转速参数计数
void delay(unsigned int endcount); //延时函数，延时为endcount*0.5毫秒
void gorun(); //步进电机控制步进函数
uchar data date[4]; //date数组为存放地址原码，反码，数据原码，反码
char data Test1[]=" ";
#define IR_RE P3_2
void DelayUs(unsigned char us)//delay us
{
unsigned char uscnt;
uscnt=us>>1;/* Crystal frequency in 12MHz*/
while(--uscnt);
}
/******************************************************************/
void DelayMs(unsigned char ms)//delay Ms
{
while(--ms)
{
DelayUs(250);
DelayUs(250);
DelayUs(250);
DelayUs(250);
}
}
void WriteCommand(unsigned char c)
{
DelayMs(5);//short delay before operation
E=0;
RS=0;
RW=0;
_nop_();
E=1;
Data=c;
E=0;
}
/****************************************************************/
void WriteData(unsigned char c)
{
DelayMs(5); //short delay before operation
E=0;
RS=1;
RW=0;
_nop_();
E=1;
Data=c;
E=0;
RS=0;
}
/*********************************************************************/
void ShowChar(unsigned char pos,unsigned char c)
{
unsigned char p;
if (pos>=0x10)
p=pos+0xb0; //是第二行则命令代码高4位为0xc
else
p=pos+0x80; //是第二行则命令代码高4位为0x8
WriteCommand (p);//write command
WriteData (c); //write data
}
/*************************************************************************/
void ShowString (unsigned char line,char *ptr)
{
unsigned char l,i;
l=line<<4;
for (i=0;i<16;i++)
ShowChar (l++,*(ptr+i));//循环显示16个字符
}
/*********************************************************************/
void InitLcd()
{
DelayMs(15);
WriteCommand(0x38); //display mode
WriteCommand(0x38); //display mode
WriteCommand(0x38); //display mode
WriteCommand(0x06); //显示光标移动位置
WriteCommand(0x0c); //显示开及光标设置
WriteCommand(0x01); //显示清屏
}
/*--------------------------延时1ms程子程序-----------------------*/
delay1000()
{
uint i,j;
for(i=0;i<1;i++)
for(j=0;j<124;j++)
;
}
/*---------------------------延时882us子程序-----------------------*/
delay882()
{
uint i,j;
for(i=0;i<1;i++)
for(j=0;j<109;j++)
;
}
/*--------------------------延时2400ms程子程序-----------------------*/
delay2400()
{
uint i,j;
for(i=0;i<3;i++)
for(j=0;j<99;j++)
;
}
void IR_decode()
{
uchar i,j;
while(IR_RE==0);
delay2400();
if(IR_RE==1) //延时2.4ms后如果是高电平则是新码
{
delay2400(); //延时4.8ms避开4.5ms的高电平
for(i=0;i<4;i++)
{
for(j=0;j<8;j++)
{
while(IR_RE==0); //等待地址码第1位高电平到来
delay882(); //延时882ms判断此时引脚电平
///CY=IR_RE;
if(IR_RE==0)
{
date[i]>>=1;
date[i]=date[i]&0x7f;
}
else if(IR_RE==1)
{
delay1000();
date[i]>>=1;
date[i]=date[i]|0x80;
}
} //1位数据接收结束
} //32位二进制码接收结束
}
if (date[2]==0x16)
TR0 = 0;
else if(date[2]==0x14)
{TR0 = 1;
}
else if(date[2]==0x10)
{if (speedlevel>1)
speedlevel--;
else
speedlevel=1;
}
else if(date[2]==0x1A)
{if(speedlevel<5)
speedlevel++;
else
speedlevel=5;
}
else if(date[2]==0x11)
turn=~turn;
}
void int0() interrupt 0 using 1
{
uint i;
for(i=0;i<4;i++)
{
delay1000();
if(IR_RE==1){k=~k;} //刚开始为4.5ms的引导码，如果4ms内出现高电平则退出解码程序
}
if(k==0)
{
EX0=0; //检测到有效信号关中断，防止干扰
IR_decode(); //如果接收到的是有效信号，则调用解码程序
//解码成功，调用显示程序，显示该键值
}
EX0=1; //开外部中断，允许新的遥控按键
}
void main(void)
{
InitLcd();//
DelayMs(15);
sprintf(Test1,"STEP MOTOR SPEED");//the first line
ShowString(0,Test1);
ShowChar(0x19,’r’);
ShowChar(0x1a,’p’);
ShowChar(0x1b,’m’);
count = 0;
step_index = 0;
spcount = 0;
stop_flag = 0;
P1_0 = 0;
P1_1 = 0;
P1_2 = 0;
P1_3 = 0;
SP=0x60;
EA = 1; //允许CPU中断
TMOD = 0x11; //设定时器0和1为16位模式1
ET0 = 1; //定时器0中断允许
EX0=1;
TH0 = 0xFE;
TL0 = 0x0C; //设定时每隔0.5ms中断一次
TR0 = 1; //开始计数
turn=0;
speedlevel=1;
while(1)
{
if(turn==0)
ShowChar(0x14,’+’);
else
ShowChar(0x14,’-’);
if(TR0 ==0)
{
ShowChar(0x15,’0’);
ShowChar(0x16,’0’);
ShowChar(0x17,’0’);
ShowChar(0x18,’0’);
}
else
{
if(speedlevel==1)
{
ShowChar(0x15,’3’);
ShowChar(0x16,’0’);
ShowChar(0x17,’0’);
ShowChar(0x18,’0’);
}
else if(speedlevel==2)
{
ShowChar(0x15,’1’);
ShowChar(0x16,’5’);
ShowChar(0x17,’0’);
ShowChar(0x18,’0’);
}
else if(speedlevel==3)
{
ShowChar(0x15,’1’);
ShowChar(0x16,’0’);
ShowChar(0x17,’0’);
ShowChar(0x18,’0’);
}
else if(speedlevel==4)
{
ShowChar(0x15,’0’);
ShowChar(0x16,’7’);
ShowChar(0x17,’5’);
ShowChar(0x18,’0’);
}
else if(speedlevel==5)
{
ShowChar(0x15,’0’);
ShowChar(0x16,’6’);
ShowChar(0x17,’0’);
ShowChar(0x18,’0’);
}
}
}
}
//定时器0中断处理
void timeint(void) interrupt 1 using 0
{
TH0=0xFE;
TL0=0x0C; //设定时每隔0.5ms中断一次
count++;
spcount--;
if(spcount<=0)
{
spcount = speedlevel;
gorun();
}
}
void delay(unsigned int endcount)
{
count=0;
do{}while(count<endcount);
}
void gorun()
{
if (stop_flag==1)
{
P1_0 = 0;
P1_1 = 0;
P1_2 = 0;
P1_3 = 0;
return;
}
switch(step_index)
{
case 0: //0
P1_0 = 1;
P1_1 = 0;
P1_2 = 0;
P1_3 = 0;
break;
case 1: //0、1
P1_0 = 1;
P1_1 = 1;
P1_2 = 0;
P1_3 = 0;
break;
case 2: //1
P1_0 = 0;
P1_1 = 1;
P1_2 = 0;
P1_3 = 0;
break;
case 3: //1、2
P1_0 = 0;
P1_1 = 1;
P1_2 = 1;
P1_3 = 0;
break;
case 4: //2
P1_0 = 0;
P1_1 = 0;
P1_2 = 1;
P1_3 = 0;
break;
case 5: //2、3
P1_0 = 0;
P1_1 = 0;
P1_2 = 1;
P1_3 = 1;
break;
case 6: //3
P1_0 = 0;
P1_1 = 0;
P1_2 = 0;
P1_3 = 1;
break;
case 7: //3、0
P1_0 = 1;
P1_1 = 0;
P1_2 = 0;
P1_3 = 1;
}
if (turn==0)
{
step_index++;
if (step_index>7)
step_index=0;
}
else
{
step_index--;
if (step_index<0)
step_index=7;
}
}