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#include "reg52.h" #include "INTRINS.H" #include <absacc.h> #include <math.h> #define uint unsigned int #define uchar unsigned char void check_addr(void); /*地址核對(duì)*/ uchar code slave_addr[4]={00, 01, 02, 255}; /*從機(jī)地址*/ uchar idata T0low, T0high,common_count,input_order,cmd_in_permit,interval; uchar sent_ok,speed_change,start_up,start_end,address_true,i; uint y1; uint code add[100]={60006,62771,63693,64154,64430,64614,64746,64845,64922,64983,65033,65075,65111,65141,65167,65190,65211,65229,65245,65260,65273,65285,65296,65306,65315,65323,65331,65339,65345,65352,65358,65363,65368,65373,65378,65382,65387,65390,65394,65398,65401,65404,65407,65410,65413,65416,65418,65421,65423,65425,65428,65430,65432,65434,65435,65437,65439,65441,65442,65444,65445,65447,65448,65450,65451,65452,65453,65455,65456,65457,65458,65459,65460,65461,65462,65463,65464,65465,65466,65467,65468,65469,65469,65470,65471,65472,65472,65473,65474,65475,65475,65476,65477,65477,65478,65478,65479,65480,65480,65481}; sbit P2_0=P2^0; /*作輸入步進(jìn)電機(jī)的脈沖信號(hào)發(fā)送口*/ sbit P2_2=P2^2; /*作輸入步進(jìn)電機(jī)的旋轉(zhuǎn)方向信號(hào)發(fā)送口*/ sbit P1_0=P1^0; /*作串口輸出信號(hào)的使能口, P1_0=0時(shí)接通串口,輸出信號(hào)*/ sbit WD=P1^7; /*看門狗*/ main() { P2_0=0; P2_2=0; /*步進(jìn)電機(jī)的旋轉(zhuǎn)方向待試驗(yàn)后確定*/ P1_0=1; /*開機(jī)時(shí)需要關(guān)斷,串口發(fā)送功能,需要時(shí)再接通*/ WD=1; /*看門狗先為1，電平翻轉(zhuǎn)為喂狗*/ i=0; common_count=0; cmd_in_permit=0; input_order=0; interval=0; address_true=1; speed_change=0; start_up=0; start_end=0; sent_ok=0; //允許發(fā)送 EA=1; /*開放總中斷*/ TMOD=0x21; TH1 = 0xFD; // 波特率9600 TL1 = 0xFD; SCON = 0xd0; // 設(shè)定串行口工作方式 PCON &= 0x00; // 波特率不倍增 SM2=1; TR1 = 1; ES=1; // 啟動(dòng)定時(shí)器1 T2MOD=00; T2CON=0x00; RCAP2H =0xEE; //賦T2的預(yù)置值0xA600,25MS，0xB800，20MS,0xCA00，15MS,0xDC00，10MS，0xEE00，5MS RCAP2L =0x00; TR2=1; //啟動(dòng)定時(shí)器 ET2=1; //打開定時(shí)器2中斷 do { if(address_true==1) { address_true=0; check_addr(); } if(start_up==1&&start_end==0) //第一次啟動(dòng) { y1=add[common_count]; T0high = (uchar)(y1>>8) ; /*取y1的高8位*/ T0low = (uchar)(y1&0x00ff); /*取y1的低8位*/ TR0 = 1; ET0=1; /*允許T/C0中斷*/ start_end=1; } if(speed_change==1) { if(interval>=0&&interval<=0x63) { if(interval>common_count) { common_count=common_count+1; } if(interval<common_count) { common_count=common_count-1; } } speed_change=0; } if(sent_ok==1) { sent_ok=0; P1_0=0; for(i=0;i<=20;i++) {_nop_();} TI=0; SBUF=T0high; while(TI==0);TI=0; TI=0; SBUF=T0low; while(TI==0);TI=0; P1_0=1; for(i=0;i<=20;i++) {_nop_();} SM2=1; } } while(1); } void timer0(void) interrupt 1 using 3 { P2_0=~P2_0; y1=add[common_count]; T0high = (uchar)(y1>>8); /*取y1的高8位*/ T0low = (uchar)(y1&0x00ff); /*取y1的低8位*/ TH0=T0high; /*高8位T0high送定時(shí)器0的TH0*/ TL0=T0low; /*低8位T0low送定時(shí)器0的TL0*/ } void timer2(void) interrupt 5 using 2 { TF2=0; /*T2溢出中斷需軟件清0*/ speed_change=1; //速度可以改變標(biāo)示，以便主程序處理 WD=!WD; /*MAX813喂狗*/ } void inte_SERIAL() interrupt 4 using 1 /*串口0中斷服務(wù)子程序*/ { uchar key_in key_in=0; if(RI) { key_in=SBUF; RI=0; if (SM2==1) { if(key_in==slave_addr[2]) { SM2=0; address_true=1; } } if ((SM2==0)&& (RB8==0)) { if(key_in==0xff){SM2=1; } if(key_in==0xfe) { /*接收主機(jī)命令引導(dǎo)字節(jié)，準(zhǔn)備接收主機(jī)命令*/ cmd_in_permit=1; } if(cmd_in_permit==1) { input_order=input_order+1; } if (input_order==2) { /*接收主機(jī)命令，使從機(jī)開始調(diào)節(jié)電機(jī)*/ cmd_in_permit=0; input_order=0; /*interval代表控制器發(fā)給電機(jī)的轉(zhuǎn)速期望值*/ interval= key_in; sent_ok=1; if(start_up==0){start_up=1; } } } } } void check_addr(void) { /*地址核對(duì)成功，發(fā)送從機(jī)地址給主機(jī)*/ TB8=1; RB8=0; P1_0=0; for(i=0;i<=25;i++) {_nop_();} SBUF=slave_addr[2]; /*發(fā)送地址核對(duì)成功，發(fā)送從機(jī)地址給主機(jī)*/ do{} while(TI==0); TI=0; P1_0=1; for(i=0;i<=25;i++) {_nop_();} TB8=0; }
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