gg.rar_马达驱动

/************************************************************************************* * 标题: 五轴控制步进电机试验 * * * * 通过本例程了解步进马达使用及驱动程序编写 * *; 单双八拍工作方式： * *; A-AB-B-BC-C-CD-D-DA-A (即一个脉冲,转 3.75 度) * * J14短路冒需断开 ,通过排线连接步进马达数据接口 * * 请学员一定要消化掉本例程，领会指针的经典应用， * * 现象：5个步进马达以不同加速度运行，运行到不同圈数后停止 * * **************************************************************************************/ #include "reg52.h" unsigned char TickOut(unsigned int * tick, unsigned int tickCnt); unsigned char Acceleration( unsigned int *Base_Tim, unsigned int Delay_Tim,unsigned int * Flag , unsigned char* Speed) ; unsigned int Tick_10ms=0; //时间片计数器 unsigned char code FFW_L[8]={~0xfe,~0xfc,~0xfd,~0xf9,~0xfb,~0xf3,~0xf7,~0xf6}; //低四位 马达相序变化表 unsigned char code FFW_H[8]={~0xef,~0xcf,~0xdf,~0x9f,~0xbf,~0x3f,~0x7f,~0x6f}; //高四位 马达相序变化表 unsigned int MotorTimer1 = 0 , MotorTimer2 = 0, MotorTimer3 = 0, MotorTimer4 = 0, MotorTimer5 = 0; //马达转速基时 unsigned int MotorDelay1 = 0 , MotorDelay2 = 0, MotorDelay3 = 0, MotorDelay4 = 0, MotorDelay5 = 0; TIM,CT; //马达转速 unsigned int xdata Delay_Tim1 =0, Delay_Tim2 =0, Delay_Tim3 =0, Delay_Tim4 =0, Delay_Tim5 =0; //马达加速度 unsigned int Base_T1 = 0, Base_T2 = 0, Base_T3 = 0, Base_T4 = 0, Base_T5 = 0; //马达加速度基时 unsigned char speed1 = 8, speed2 = 8, speed3 = 8, speed4 = 8, speed5 = 8; //马达转速 unsigned int Acc_Flg1 =0, Acc_Flg2 =0, Acc_Flg3 =0, Acc_Flg4 =0, Acc_Flg5 =0; //加减速标志 /*********************************************************** purpose: 系统初始化 /**********************************************************/ void system_Ini() { TMOD|= 0x11; //TH0=0xC4; //18.432M //TL0=0x00; TH0=0xDC; //11.0592M TL0=0x00; IE = 0x8A; TR0 = 1; // TH1 = 0xfe; //11.0592 // TL1 = 0x33; // TR1 = 1; } /***************************************************** * 步进马达1 * ******************************************************/ unsigned char SetMotor1(unsigned int step,unsigned int Speed ) //step 马达的步数 Speed马达速度 { static unsigned int Circle; //马达步数 static unsigned char ret ; MotorDelay1 = 70-Speed; if (Circle <= step) { if (TickOut(&MotorTimer1 , MotorDelay1)) { static char i; ret = (FFW_L[i]&0x0f); //查表取马达相序 if (i++ == 7) i = 0; ++Circle; } } return ret; } /***************************************************** * 步进马达2 * ******************************************************/ unsigned char SetMotor2(unsigned int step,unsigned int Speed ) //step 马达的步数 Speed马达速度 { static unsigned int Circle ; //马达步数 static unsigned char ret ; MotorDelay2 = 70-Speed; if (Circle <= step) { if(TickOut(&MotorTimer2 , MotorDelay2)) { static char i; ret = (FFW_H[i]&0xF0); //查表取马达相序 if (i++ == 7) i = 0; ++Circle; } } return ret; } /***************************************************** * 步进马达3 * ******************************************************/ unsigned char SetMotor3(unsigned int step,unsigned int Speed) //step 马达的步数 Speed马达速度 { static unsigned int Circle ; //马达步数 static unsigned char ret ; MotorDelay3 = 70-Speed; if(Circle <= step) { if (TickOut(&MotorTimer3 , MotorDelay3)) { static char i; ret = FFW_L[i]&0x1f; //查表取马达相序 if (i++ == 7) i = 0; ++Circle; } } return ret; } /***************************************************** * 步进马达4 * ******************************************************/ unsigned char SetMotor4(unsigned int step,unsigned int Speed) //step 马达的步数 Speed马达速度 { static unsigned int Circle ; //马达步数 static unsigned char ret ; MotorDelay4 = 70-Speed; if(Circle <= step) { if (TickOut(&MotorTimer4 , MotorDelay4)) { static char i; ret = FFW_H[i]&0xf0; //查表取马达相序 if (i++ == 7) i = 0; ++Circle; } } return ret; } /***************************************************** * 步进马达5 * ******************************************************/ unsigned char SetMotor5(unsigned int step,unsigned int Speed) //step 马达的步数 Speed马达速度 { static unsigned int Circle ; //马达步数 static unsigned char ret ; MotorDelay5 = 70-Speed; if(Circle <= step) { if (TickOut(&MotorTimer5 , MotorDelay5)) { static char i; ret = FFW_L[i]&0x0f; //查表取马达相序 if (i++ == 7) i = 0; ++Circle; } } return ret; } main() { system_Ini(); while (1) { unsigned char ret1 , ret2 , ret3 , ret4 , ret5; //**************************步进马达1处理************************** Delay_Tim1 = 50; if(speed1 == 61) Acc_Flg1 = 2; if(speed1 == 8) Acc_Flg1 = 1 ; Acc_Flg1 = 1; Acceleration(&Base_T1 , Delay_Tim1, &Acc_Flg1 , &speed1); ret1 = SetMotor1(8*5000 , speed1 ) ; //参数设置步数 8个脉冲30度*100=3000度 //**************************步进马达2处理************************** Delay_Tim2 = 250; Acc_Flg2 = 1; Acceleration(&Base_T2 , Delay_Tim2, &Acc_Flg2 , &speed2); ret2 = SetMotor2(8*1000 , speed2) ; //马达2 P1 = ret1 | ret2 ; //**************************步进马达3处理************************** Delay_Tim3 = 500; Acc_Flg3 = 1; ret3 = SetMotor3(8*1500 , Acceleration(&Base_T3 , Delay_Tim3, &Acc_Flg3 , &speed3)) ; //马达3 //**************************步进马达4处理************************** Delay_Tim4 = 750; Acc_Flg4 = 1; ret4 = SetMotor4(8*2000 , Acceleration(&Base_T4 , Delay_Tim4 ,&Acc_Flg4 , &speed4)) ; //马达4 P0 = ret3 | ret4 ; //**************************步进马达5处理************************** Delay_Tim5 = 1000; Acc_Flg5 = 1; ret5 = SetMotor5(8*2500 , Acceleration(&Base_T5 , Delay_Tim5, &Acc_Flg5 , &speed5)); //马达5 P2 = ret5; } } /************************************************************************** * * * 各个马达的基时（相当于多个定时器） * * 注意：体会指针的用法 ，多工定义任务同时工作，相不干扰 * **************************************************************************/ unsigned char TickOut(unsigned int * tick, unsigned int tickCnt) { if(Tick_10ms - *tick >= tickCnt) { *tick = Tick_10ms; return 1; } return 0; } /************************************************************************* * * * 调整加速度 * * 注意：体会指针的用法 * **************************************************************************/ unsigned char Acceleration(unsigned int *Base_Tim, unsigned int Delay_Tim, unsigned int * Flag , unsigned char* Speed) { if (TickOut(*&Base_Tim , Delay_Tim)) { if((*Flag == 1) && (*Speed <= 61)) (*Speed)++ ; if((*Flag == 2) && (*Speed >= 8)) (*Speed)--; } return *Speed; } /************************************************ * * * 定时中断延时 * ************************************************/ void Tzd(void) interrupt 1 { TH0 = 0xfe; //11.0592 TL0 = 0x33; Tick_10ms++; //10MS时钟 }