#include<reg51.h>
#include<stdio.h>
//--------------------------------变量定义-------------------------------------------
//sbit INT_0=P3^2; //将p3.2外部中断0
unsigned int FLAG=0; //数码管闪烁标志位
unsigned int FLAG1=0; //显示切换标志位 1---速度,0---坐标
unsigned int FLAG2=0; //电机正反转切换标志位 1---正转,0---反转
unsigned int KEY=0; //键值
unsigned int circle=1; //坐标单位1的步进圈数
int Fm=0; //加工点偏差
unsigned int Xe=0; //终点横坐标
unsigned int Ye=0; //终点纵坐标
unsigned int Nxy=0; //总步数
unsigned int Xi=0; //实时横坐标
unsigned int Yi=0; //实时纵坐标
unsigned int SpeedX=0; //X电机速度(步/秒)
unsigned int SpeedY=0; //Y电机速度(步/秒)
unsigned int time0_tmp=0xe880; //2ms定时显示初值
unsigned int time1_tmp=0; //速度控制定时初值
//unsigned int fosc=12; //单片机晶振(MHz)
unsigned int Led1[8]={1,1,1,1,1,1,1,1}; //两个4位数码管数值(速度)
unsigned int Led2[8]={1,1,1,1,1,1,1,1}; //两个4位数码管数值(坐标)
unsigned char StepX1[]={0x01,0x03,0x02,0x06,0x04,0x0c,0x08,0x09};//X步进电机正转节拍
unsigned char StepY1[]={0x10,0x30,0x20,0x60,0x40,0xc0,0x80,0x90};//Y步进电机反转节拍
unsigned char StepX2[]={0x09,0x08,0x0c,0x04,0x06,0x02,0x03,0x01};//X步进电机正转节拍
unsigned char StepY2[]={0x90,0x80,0xc0,0x40,0x60,0x20,0x30,0x10};//Y步进电机反转节拍
unsigned char Led_code[]={0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90,0x89,0x86};//数码管0—9,H,E
//unsigned char Led_code[]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f,0x77,0x79};//数码管0—9,A,E
//--------------------------------函数声明-------------------------------------------
void System_init(void); //设定INT0的工作方式,供主程序调用
void delay(unsigned int); //延时程序
void delay10ms(unsigned int);
//void INT0_int(void); //外部中断0处理程序
void time0_int(void); //定时器0中断
//void time1_int(void); //定时器1定时
void Key_Scaning(void); //扫描键盘
void dispxy(unsigned int,unsigned int,unsigned int);//数码管显示子程序
void display(void); //数码管显示
void Key_Control(void); //键盘控制
void Go_line(void); //直线差补算法---前进
void Back_line(void); //直线差补算法---回零
//-----------------------------------------------------------------------------------
main()
{
System_init(); //中断初始化
while(1)
{
Key_Control(); //键盘控制
}
}
//-----------------------------------------------------------------------------------
// 函数名称:System_init()
// 函数功能:初始化设置
// 设定INT0的工作方式
//-----------------------------------------------------------------------------------
void System_init(void)
{
P3=0xfc; //键盘端口初值 P3.0 P3.1 置零
TMOD=0x11; //T0、T1都为工作方式1
TH0=(time0_tmp/256); //2ms定时显示设置
TL0=(time0_tmp%256);
TH1=(time1_tmp/256);
TL1=(time1_tmp%256);
TR0=1;
//TR1=1; //开启定时器0(定时显示)
//IT0=0; //选择INT0为电平触发方式
IP=0x02; //将T0中断设置为高优先级
IE=0x82; //ET1=1(定时中断1允许),ET0=1(定时中断0允许),EA=1(系统中断允许)
}
//-----------------------------------------------------------------------------------
void delay(unsigned int i)
{
for(;i>0;i--);
}
void delay10ms(unsigned int i) //延时程序????10ms有问题?????
{
unsigned int j;
for(;i>0;i--)
for(j=0;j<1200;j++);
}
//------------------------------------------------------------------------------------
// 函数名称:INT0_int()
// 函数功能:外部中断0处理程序
//------------------------------------------------------------------------------------
/*void INT0_int(void) interrupt 0
{
// EA=0;
Key_Scaning();
// display();
P3=0xfc;
// EA=1;
} */
//------------------------------------------------------------------------------------
// 函数名称:time0_int()
// 函数功能:定时器0中断服务子程序,定时动态扫描显示
//------------------------------------------------------------------------------------
void time0_int(void) interrupt 0
{
EA=0; //关中断
TH0=(time0_tmp/256);
TL0=(time0_tmp%256);
display();
EA=1; //开中断
}
//------------------------------------------------------------------------------------
// 函数名称:time0_int()
// 函数功能:定时器1中断服务子程序,定时扫描键盘
//------------------------------------------------------------------------------------
//void time1_int(void) interrupt 1
//{
//unsigned int j;
// EA=0;
//j=10000;
//time1_tmp=65536-20000;
//TH1=(time1_tmp/256);
// TL1=(time1_tmp%256);
//TR1=1;
// Key_Scaning();
// display();
// EA=1;
//}
//-------------------------------------------------------------------------------------
// 函数名称:Key_Scaning()
// 函数功能:扫描键盘
//-------------------------------------------------------------------------------------
void Key_Scaning(void)
{
unsigned int keytmp,temp;
P3=0x1c; //扫描第一列
temp=P3; //读出数据,看是否在此行上的某列键盘被按下
keytmp=temp&0x03; //P3.0~P3.1
if(keytmp!=0x00)
{
delay(1); //消抖 ==========================1改为100
P3=0x1c;
temp=P3;
keytmp=temp&0x03;
if(keytmp!=0x00) //再次判断是否有键按下
{
switch(keytmp)
{
case 1:
KEY=1; break; //1列1行()
case 2:
KEY=2; break; //1列2行()
default :
break;
}
}
}
P3=0x2c; //扫描第二列
temp=P3; //读出数据,看是否在此行上的某列键盘被按下
keytmp=temp&0x03; //P3.0~P3.1
if(keytmp!=0x00)
{
delay(1);
P3=0x2c; //消抖
temp=P3;
keytmp=temp&0x03;
if(keytmp!=0x00) //再次判断是否有键按下
{
switch(keytmp)
{
case 1:
KEY=3; break; //2列1行()
case 2:
KEY=4; break; //2列2行()
default :
break;
}
}
}
P3=0x4c; //扫描第三列
temp=P3; //读出数据,看是否在此行上的某列键盘被按下
keytmp=temp&0x03; //P3.0~P3.1
if(keytmp!=0x00)
{
delay(1);
P3=0x4c; //消抖
temp=P3;
keytmp=temp&0x03;
if(keytmp!=0x00) //再次判断是否有键按下
{
switch(keytmp)
{
case 1:
KEY=5; break; //3列1行()
case 2:
KEY=6; break; //3列2行()
default :
break;
}
}
}
P3=0x8c; //扫描第四列
temp=P3; //读出数据,看是否在此行上的某列键盘被按下
keytmp=temp&0x03; //P3.0~P3.1
if(keytmp!=0x00)
{
delay(1);
P3=0x8c; //消抖
temp=P3;
keytmp=temp&0x03;
if(keytmp!=0x00) //再次判断是否有键按下
{
switch(k