#include <reg52.h>
#include<absacc.h>
#define Fosc 22118400 //晶振频率
#define Btl 9600 //波特率
//外部晶振为24M STC89 每个周期 0.5us
sbit dj1 = P0^0; //舵机 夹子
sbit dj2 = P0^1; //舵机 臂1
unsigned int choose = 0; //舵机选择
unsigned int ty0 = 0; //T0 溢出次数
unsigned int i,i1=0x58,i2=0x50,pwm; //延时变量 单位时间100us
unsigned char data_i=0; // 串口通讯 临时存放
void init(void) //初始化
{
TMOD = 0x21; //定时器0 方式1（16位） 定时器1 方式2（8位自动重装）
TH0 = (65536-40000)/256;
TL0 = (65536-40000)%256; //定时器0 控制机器臂
TH1 = 256- Fosc/12/16/Btl; //定时器1 串口通讯 初值
SCON = 0x50; //串口通讯 方式1 ，允许接收
PCON = 0x80; //串口通讯波特率加倍
ET0 = 1; //开定时器中断
TR0 = 1; TR1 = 1;//启动定时器
EA=1; //开总中断
dj1 = 0;
dj2 = 0;
}
void delay(void) //软仿 延时10us
{
unsigned char a,c;
unsigned int b;
for(c=1;c>0;c--)
for(b=1;b>0;b--)
for(a=2;a>0;a--);
}
void cktx(void)//串口通讯函数
{
while(!RI); //等待接收到的数据
RI = 0;
data_i = SBUF;
switch(data_i)
{
case 0x10:
choose = 1; i1+=4; i = i1; break;
case 0x11:
choose = 1; i1-=4; i = i1; break;
case 0x00:
choose = 2; i2++; i = i2; break;
case 0x01:
choose = 2; i2--; i = i2; break;
default:
choose = 0; i = 0;
}
TI = 0;
SBUF = choose; //发送
while(!TI);
TI = 0;
SBUF = i; //发送
while(!TI);
}
void main(void)
{
init();
while(1)
{
cktx();//串口通讯函数
}
}
void temp() interrupt 1
{
TH0=(65536-40000)/256;
TL0=(65536-40000)%256;
switch(choose)
{
case 1:
dj1 = 1; pwm = i1; break;
case 2:
dj2 = 1; pwm = i2; break;
default:
dj1 = 0; dj2 = 0; pwm=1;
}
while(pwm--) //调整PWM 占空比
{
delay();
}
dj1=0;
dj2=0;
}
