SerialStepMotor.rar_串口 步进电机

/***************************************************************************************************************** File Name: Motor_Driver.c Author: YangYuan Version: Version 1.0 Start: 10 21,2009 Description: motor drive ******************************************************************************************************************/ #include <reg51.h> #include <intrins.h> #include <string.h> #define uchar unsigned char #define uint unsigned char #define SLAVE 0xF1 #define BN 10 /************************************************************** Description: 限位开关的位定义 ***************************************************************/ sbit Motor1_key1 = P1^0; sbit Motor1_key2 = P1^1; sbit Motor2_key1 = P1^2; sbit Motor2_key2 = P1^3; sbit Motor3_key1 = P1^4; sbit Motor3_key2 = P1^5; /************************************************************** Description: 步进电机控制模块位定义 ***************************************************************/ sbit CP1 = P2^0; sbit CP2 = P2^1; sbit CP3 = P2^2; sbit DIR1 = P2^3; sbit DIR2 = P2^4; sbit DIR3 = P2^5; uchar idata Tdata[10]={"abcdefghij"}; uchar idata Genbuf[10]; ////////////////////////////////// void KeyDetect(void); void delay10ms(count); void DoublestepF(int n); void DoublestepB(int n); void MiddlestepF(int n); void MiddlestepB(int n); void error(void); void Stop(void); void Comoutchar(void); void initialize(void); uchar receive(uchar addrs); uchar send(void); //////////////////////////////// /************************************************************** Description: 延时10ms的延时程序 ***************************************************************/ void delay10ms(count) { int j,k; while(count--!=0) { for (j=0;j<10;j++) for (k=0;k<72;k++) ; } } /************************************************************** Description: 控制限位开关 ***************************************************************/ void KeyDetect(void) { unsigned char temp; temp = P0; switch(temp) { case 0x7F: DIR1 = 1; break; case 0xBF: DIR1 = 0; break; case 0xDF: DIR2 = 1; break; case 0xEF: DIR2 = 0; break; case 0xF7: DIR3 = 1; break; case 0xFB: DIR3 = 0; break; case 0x5F: DIR1 = 1; DIR2 = 1; break; case 0xAF: DIR1 = 0; DIR2 = 0; break; case 0x57: DIR1 = 1; DIR2 = 1; DIR3 = 1; break; case 0x5B: DIR1 = 1; DIR2 = 1; DIR3 = 0; break; case 0xA7: DIR1 = 0; DIR2 = 0; DIR3 = 0; break; case 0xAB: DIR1 = 0; DIR2 = 0; DIR3 = 1; break; case 0x77: DIR1 = 0; DIR3 = 0; break; case 0xBB: DIR1 = 1; DIR3 = 1; break; case 0x7B: DIR1 = 0; DIR3 = 1; break; case 0xB7: DIR1 = 1; DIR3 = 0; break; case 0xD7: DIR2 = 0; DIR3 = 0; break; case 0xEB: DIR2 = 1; DIR3 = 1; break; case 0xDB: DIR2 = 0; DIR3 = 1; break; case 0xE7: DIR2 = 1; DIR3 = 0; break; default: break; } } /*************************** *两侧步进前进程序 ***************************/ void DoublestepF(int n) { int i; DIR1 = 1; DIR2 = 1; for(i=0;i<n;i++) { CP1 = !CP1; CP2 = !CP2; } } /*************************** *两侧步进前进程序 ***************************/ void DoublestepB(int n) { int i; DIR1 = 0; DIR2 = 0; for(i=0;i<n;i++) { CP1 = !CP1; CP2 = !CP2; } } /*************************** *中间步进前进程序 ***************************/ void MiddlestepF(int n) { int i; DIR3 = 1; for(i=0;i<n;i++) { CP3 = !CP3; } } /*************************** *中间步进后退程序 ***************************/ void MiddlestepB(int n) { int i; DIR3 = 0; for(i=0;i<n;i++) { CP3 = !CP3; } } /*************************** *向串口发送一个字符 ***************************/ void Comoutchar(void) { SBUF = 0xaa; while (!TI) TI=0; } /********************************* *定时器0中断控制每分钟的脉冲数 *********************************/ void timer0() interrupt 1 { int count1; int count2; unsigned char temp1; TH0 = (65536-Genbuf[1])/256; TH0 = (65536-Genbuf[1])%256; temp1 = Genbuf[2]; switch(temp1) { case 0xBB: count1++; if (count1==50) { DoublestepF(Genbuf[3]); count1=0; } break; case 0xCC: count1++; if (count1==50) { DoublestepB(Genbuf[3]); count1=0; } break; case 0xDD: count2++; if (count2==100) { MiddlestepF(Genbuf[3]); count2=0; } break; case 0xEE: count2++; if (count2==100) { MiddlestepB(Genbuf[3]); count2=0; } break; default: break; } } /********************************* *串口接收中断函数 *********************************/ void CominINT(void) interrupt 4 { if(RI) { receive(SLAVE); } } /********************************* *串口发送出错标志 *********************************/ void error(void) { SBUF = 0xAA; while(TI!=1); TI=0; } /********************************* *串口发送出错标志 *********************************/ void Stop(void) { SBUF = 0x32; while(TI!=1); TI=0; } /********************************* *串口接收函数 *********************************/ uchar receive(uchar addrs) { uchar i,p; while(1) { while(RI!=1) //等待PC机的联络信号 RI=0; if(SBUF!=addrs) error(); else { TB8=0; //清除标志位准备接收数据 SBUF=0x00; //发约定码0x00，说明地址正确 while(TI!=1);TI=0; while(RI!=1);RI=0; { while(1) { p=0; for(i=0;i<BN;i++) { while(RI!=1);RI=0; Genbuf[i]=SBUF; //单片机接收数据 p+=Genbuf[i]; } while(RI==0);RI=0; if(SBUF==p) { SBUF=0x00; //校检和相同发送0x00给PC机 while(TI!=1);TI=0; } else { SBUF=0xFF; //校检和不同发送0xFF给PC机 while(TI!=1);TI=0; } } TB8=1; //重置地址标志位 return(0); } } } } /********************************* *串口发送函数 *********************************/ uchar send(void) { uchar i,p; EA = 0; do { p=0; //清除校检和 for(i=0;i<BN;i++) { SBUF=Genbuf[i]; //发送数据 p+=Genbuf[i]; //计算校检和 while(TI!=1);TI=0; } SBUF=p; //发送校检和给PC机 while(TI!=1);TI=0; while(RI!=1);RI=0; } while(SBUF!=0); //PC机接收不正确，单片机重新发送 TB8=1; //重置地址标志位 return(0); EA = 1; } /********************************* *系统的初始化函数 *********************************/ void initialize(void) { P1=0xFF; P2=0xFF; P3=0xFF; do { KeyDetect(); } while(P0!=0xFF); } /********************************* *程序的主函数 *********************************/ void main(void) { /*系统初始化*/ initialize(); /*串口232初始化*/ IP = 0x1A; TMOD = 0x11; //定时器1工作在方式1，定时器0工作在方式1 TL1 = 0xfd; TH1 = 0xfd; SCON = 0xD0; //设置串行口控制字，方式3允许接收 PCON = 0x00; ES = 1; //使用串口中断； EA = 1; //开中断; ET1 = 1; TR1 = 1; send(); TH0 = (65536-Genbuf[1])/256; TH0 = (65536-Genbuf[1])%256; ET0 = 1; TR0 = 1; while(1) { KeyDetect(); if(P0!=0xFF) { Stop(); } } }