光电编码器-单片机程序(ATmega16).rar

//头文件 #include<iom16v.h> #include<macros.h>//SEI()函数_NOP()BIT(); #define uint unsigned int #define uchar unsigned char //延时函数 void delay_1ms(void) { unsigned int i; for(i=1;i<(unsigned int)(11.0592*143-2);i++);//定义晶振频率 } void delay(unsigned int n)//延时毫妙级 { unsigned int i; for(i=0;i<n;i++) delay_1ms(); } //4位数码管驱动函数 #define SCLK0 (PORTB &=~BIT(0))//定义接线口，需要添加#include<macros.h>才能使用 #define SCLK1 (PORTB |=BIT(0)) #define RCLK0 (PORTB &=~BIT(1)) #define RCLK1 (PORTB |=BIT(1)) #define DAT0 (PORTB &=~BIT(2)) #define DAT1 (PORTB |=BIT(2)) unsigned char number[]={0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90,0x40,0x79,0x24,0x30,0x19,0x12,0x02,0x78,0x00,0x10};//0~9不带小数点，10~19带小数点 unsigned char location[]={0x00,0x01,0x02,0x04,0x08};//0~4 void shumaguan(unsigned char weizhi,unsigned char shuzi) { unsigned char i,num; //定义一个无字符串变量 num=number[shuzi]; for(i=0;i<8;i++) //for 循环，循环8次，把一个数变成二进制发送出去 { SCLK0; if((num&0x80)==0) DAT0; else DAT1; num=num<<1; SCLK1; // 把595频率置高 } num=location[weizhi]; for(i=0;i<8;i++) //for 循环，循环8次，把一个数变成二进制发送出去 { SCLK0;// 把595 SCLK频率置低电平 if((num&0x80)==0) DAT0; else DAT1; num=num<<1; SCLK1; } RCLK0; _NOP();_NOP();_NOP();_NOP();_NOP(); //延时函数，系统自带 RCLK1; } unsigned char encoder_A;//encoder_A需要初始化 encoder_A=(PIND&0x0c)/4; unsigned angle;//编码器角度变量 void encoder(unsigned int X)//X为编码器线数 { unsigned char B; CLI(); B=encoder_A; encoder_A=(PIND&0x0c)/4;//使用外部中断0，外部中断1 if((B==0 && encoder_A==1)||(B==1 && encoder_A==3)||(B==3 && encoder_A==2)||(B==2 && encoder_A==0)) { angle=angle+9000/X; if(angle==36000)angle=0; } else if ((B==0 && encoder_A==2)||(B==2 && encoder_A==3)||(B==3 && encoder_A==1)||(B==1 && encoder_A==0)) { if(angle==0)angle=36000; angle=angle-9000/X; } else ; SEI(); } //定义MEGA16接口输入输出 void port_init(void) { PORTA = 0xFF; DDRA = 0x00; PORTB = 0xFF; DDRB = 0xFF; PORTC = 0xFF; DDRC = 0x00; PORTD = 0xFF; DDRD = 0x00; } void init_devices(void) { //stop errant interrupts until set up CLI(); //disable all interrupts port_init(); MCUCR = 0x05; GICR = 0xC0; TIMSK = 0x00; //timer interrupt sources SEI(); //re-enable interrupts //all peripherals are now initialized } void main(void) { init_devices(); encoder_A=(PIND&0x0c)/4; while(1) { shumaguan(1,angle%100/10); shumaguan(2,angle%1000/100+10); shumaguan(3,angle%10000/1000); shumaguan(4,angle/10000); } } #pragma interrupt_handler int0_isr:iv_INT0 void int0_isr(void) { encoder(360); } #pragma interrupt_handler int1_isr:iv_INT1 void int1_isr(void) { encoder(360); }