#include <stc8a8k.h> #include <intrins.h>//晶振選擇22.1184Mhz; //初始化定時器0，定時2ms進入中斷；作為步進電機的驅動脈沖來源 //初始化定時器2，作為波特率發生器；sbit XPUL=P1^0; sbit XDIR=P1^1; sbit XENA=P1^2; sbit XlimitPos=P3^2;//靠近電機，正方向的限位開關 sbit XlimitNeg=P3^3;//遠離電機，反方向的限位開關 sbit KEY=P1^7;//0.5us*2499=1.249ms // code unsigned int ACB_C[]={2499,2421,2350,2284,2224,2168,2117,2068,2023,1981,1942,1904,1869,//13 1835,1804,1774,1745,1718,1692,1667,1643,1620,1598,1577,1557,1537,1519,1501,1483,//16 1466,1450,1434,1419,1404,1390,1376,1362,1349,1337,1324,1312,1300,1289,1278,1267,//16 1256,1246,1236,1226,1217,1207,1198,1189,1180,1172,1163,1155,1147,1139,1132,1124, 1117,1109,1102,1095,1088,1082,1075,1069,1062,1056,1050,1044,1038,1032,1026,1021, 1015,1010,1004,999,994,989,984,979,974,969,964,959,955,950,946,941,937,933,928, 924,920,916,912,908,904,900,896,893,889,885,882,878,875,871,868,864,861,857,854, 851,848,844,841,838,835,832,829,826,823,820,817,814,812,809,806,803,801,798,795, 793,790,787,785,782,780,777,775,772,770,768,765,763,760,758,756,754,751,749,747, 745,743,740,738,736,734,732,730,728,726,724,722,720,718,716,714,712,710,708,707, 705,703,701,699,697,696,694,692,690,689,687,685,684,682,680,679,677,675,674,672, 670,669,667,666,664,663,661,660,658,657,655,654,652,651,649,648,646,645,644,642, 641,639,638,637,635,634,633,631,630,629,627,626,625,623,622,621,620,618,617,616, 615,613,612,611,610,609,607,606,605,604,603,602,600,599,598,597,596,595,594,593, 592,590,589,588,587,586,585,584,583,582,581,580,579,578,577,576,575,574,573,572, 571,570,569,568,567,566,565,564,563,562,561,560,559,558,558,557,556,555,554,553, 552,551,550,550,549,548,547,546,545,544,543,543,542,541,540,539,538,538,537,536, 535,534,534,533,532,531,530,530,529,528,527,527,526,525,524,523,523,522,521,520, 520,519,518,518,517,516,515,515,514,513,512,512,511,510,510,509,508,508,507,506, 505,505,504,503,503,502,501,501,500,499,499,498,498,497,496,496,495,494,494,493, 492,492,491,491,490,489,489,488,487,487,486,486,485,484,484,483,483,482,481,481, 480,480,479,478,478,477,477,476,476,475,474,474,473,473,472,472,471,471,470,469, 469,468,468,467,467,466,466,465,465,464,464,463,463,462,461,461,460,460,459,459, 458,458,457,457,456,456,455,455,454,454,453,453,452,452,451,451,450,450,450,449, 449,448,448,447,447,446,446,445,445,444,444,443,443,442,442,442,441,441,440,440, 439,439,438,438,438,437,437,436,436,435,435,434,434,434,433,433,432,432,431,431, 431,430,430,429,429,429,428,428,427,427,426,426,426,425,425,424,424,424,423,423, 422,422,422,421,421,420,420,420,419,419,418,418,418,417,417,417,416,416,415,415, 415,414,414,414,413,413,412,412,412,411,411,411,410,410,409,409,409,408,408,408, 407,407,407,406,406,406,405,405,404,404,404,403,403,403,402,402,402,401,401,401, 400,400,400,399,399,399,398,398,398,397,397,397,396,396,396,395,395,395,394,394, 394,393,393,393,392,392,392,391,391,391,391,390,390,390,389,389,389,388,388,388, 387,387,387,387,386,386,386,385,385,385,384,384,384,383,383,383,383,382,382,382, 381,381,381,381,380,380,380,379,379,379,379,378,378,378,377,377,377,377,376,376, 376,375,375,375,375,374,374,374,373,373,373,373,372,372,372,372,371,371,371,370, 370,370,370,369,369,369,369,368,368,368,368,367,367,367,366,366,366,366,365,365, 365,365,364,364,364,364,363,363,363,363,362,362,362,362,361,361,361,361,360,360, 360,360,359,359,359,359,358,358,358,358,357,357,357,357,356,356,356,356,356,355, 355,355,355,354,354,354,354,353,353,353,353,352,352,352,352,352,351,351,351,351, 350,350,350,350,349,349,349,349,349,348,348,348,348,347,347,347,347,347,346,346, 346,346,346,345,345,345,345,344,344,344,344,344,343,343,343,343,342,342,342,342, 342,341,341,341,341,341,340,340,340,340,340,339,339,339,339,339,338,338,338,338, 337,337,337,337,337,336,336,336,336,336,335,335,335,335,335,334,334,334,334,334, 333,333,333,333,333,333,332,332,332,332,332,331,331,331,331,331,330,330,330,330, 330,329,329,329,329,329,328,328,328,328,328,328,327,327,327,327,327,326,326,326, 326,326,326,325,325,325,325,325,324,324,324,324,324,324,323,323,323,323,323,322, 322,322,322,322,322,321,321,321,321,321,321,320,320,320,320,320,319,319,319,319, 319,319,318,318,318,318,318,318,317,317,317,317,317,317,316,316,316,316,316,316, 315,315,315,315,315,315,314,314,314,314,314,314,313,313,313,313,313,313,312,312, 312,312,312,312,312,311,311,311,311,311,311,310,310,310,310,310,310,309,309,309, 309,309,309,308,308,308,308,308,308,308,307,307,307,307,307,307,306,306,306,306, 306,306,306,305,305,305,305,305,305,305,304,304,304,304,304,304,303,303,303,303, 303,303,303,302,302,302,302,302,302,302,301,301,301,301,301,301,301,300,300,300, 300,300,300,300,299,299,299,299,299,299,299,298,298,298,298,298,298,298,297,297, 297,297,297,297,297,296,296,296,296,296,296,296,296,295,295,295,295,295,295,295, 294,294,294,294,294,294,294,293,293,293,293,293,293,293,293,292,292,292,292,292, 292,292,291,291,291,291,291,291,291,291,290,290,290,290,290,290,290,290,289,289, 289,289,289,289,289,289,288,288,288,288,288,288,288,288,287,287,287,287,287,287, 287,286,286,286,286,286,286,286,286,286,285,285,285,285,285,285,285,285,284,284, 284,284,284,284,284,284,283,283,283,283,283,283,283,283,282,282,282,282,282,282, 282,282,282,281,281,281,281,281,281,281,281,280,280,280,280,280,280,280,280,280, 279,279,279,279,279,279,279,279,278,278,278,278,278,278,278,278,278,277,277,277, 277,277,277,277,277,277,276,276,276,276,276,276,276,276,276,275,275,275,275,275, 275,275,275,275,274,274,274,274,274,274,274,274,274,273,273,273,273,273,273,273, 273,273,272,272,272,272,272,272,272,272,272,272,271,271,271,271,271,271,271,271, 271,270,270,270,270,270,270,270,270,270,270,269,269,269,269,269,269,269,269,269, 269,268,268,268,268,268,268,268,268,268,267,267,267,267,267,267,267,267,267,267, 266,266,266,266,266,266,266,266,266,266,265,265,265,265,265,265,265,265,265,265, 264,264,264,264,264,264,264,264,264,264,264,263,263,263,263,263,263,263,263,263, 263,262,262,262,262,262,262,262,262,262,262,261,261,261,261,261,261,261,261,261, 261,261,260,260,260,260,260,260,260,260,260,260,260,259,259,259,259,259,259,259, 259,259,259,259,258,258,258,258,258,258,258,258,258,258,258,257,257,257,257,257, 257,257,257,257,257,257,256,256,256,256,256,256,256,256,256,256,256,255,255,255, 255,255,255,255,255,255,255,255,254,254,254,254,254,254,254,254,254,254,254,254, 253,253,253,253,253,253,253,253,253,253,253,252,252,252,252,252,252,252,252,252, 252,252,252,251,251,251,251,251,251,251,251,251,251,251,251,250,250,250,250,250, 250,250,250,250,250}; unsigned int xpul_Global=0; unsigned int xpulhalf_Global=0; unsigned int StepperLineVelMax=10500;//最大700,線段長700個脈沖，速度是上面數組的第700個元素，作為最大值 unsigned char StepperTimNum=0; //360/1.8=200,8細分，則1600個脈沖走360度，等價于1600個脈沖一個絲杠的導程10mm(絲杠不一樣，導程不一樣) //那么0.05mm，多少個脈沖呢？1600/10=x/0.05,x=1600*0.05/10=8個脈沖 unsigned int StepperKx=160;//8個脈沖，0.05mm unsigned char XmoveDirFlag=0;//=0,正方向，=1，反方向； unsigned char XlimitFlag=0;//限位開關標記 unsigned char StepTimFlag=0;//定時器是否計數的標記 #define XCCWPOS 0 //CCW靠近電機方向 #define XCWNEG 1 //CW離開電機方向 #define XENATrue 1 //電機使能 #define XENAFalse 0 //電機不使能unsigned int char_ct=0; //8--0.05 //x--100 x=100*8/0.05=100*8*20 //65535/160=409mm maxunsigned int Tnum=0; void Delay2us() //@22.1184MHz {unsigned char i;_nop_();_nop_();i = 12;while (--i); }void Delay500ms() //@22.1184MHz {unsigned char i, j, k;i = 57;j = 27;k = 112;do{do{while (--k);} while (--j);} while (--i); }void Timer0Init(void) //1微秒@22.1184MHz {AUXR |= 0x80; //定時器時鐘1T模式TMOD &= 0xF0; //設置定時器模式TH0=(65535-2500)/256;//22.1184Mhz,1T模式的話，=2就是3.208us 500--22.625usTL0=(65535-2500)%256;//100--4.2us//2500 113us//2-0.625us 4-TF0 = 0; //清除TF0標志TR0 = 0; //定時器0開始計時ET0 = 1; //使能定時器中斷}void Xposmove(float xmmtemp); void Xnegmove(float xmmtemp);void main() {float xmm=1.0f;Timer0Init();xmm=50;EA = 1;//TR0 = 1; //定時器0開始計時Delay500ms();//Tnum=ACB_C[0]*10; // Delay500ms() ; // Delay500ms() ;while(1){//100--12k?Xnegmove(100);//走Xposmove(2),2*8=16，準確，如果 Xposmove(200) 500*8=4000Delay500ms(); Delay500ms();//100--12k?Xposmove(100);//走Xposmove(2),2*8=16，準確，如果 Xposmove(200) 500*8=4000Delay500ms(); Delay500ms();}}void Xposmove(float xmmtemp) {unsigned int i=0;unsigned int xpul=0;// XmoveDirFlag=XCCWPOS; 100*160=16000xpul_Global = (unsigned int)(xmmtemp * StepperKx);//計算需要多少個脈沖xpulhalf_Global= (unsigned int)(xpul_Global*0.5);//除以2XDIR=XCCWPOS;//方向打開XENA=XENATrue;//使能打開//xpul_Global=xpul_Global*15;//xpulhalf_Global=xpulhalf_Global*15;xpul=xpul_Global;for(i=0;i<xpul;i++){// if(XlimitFlag==1)break;//如果中途碰到限位開關退出循環，在限位開關的中斷中XlimitFlag=1StepTimFlag=1;//打開定時器0TR0=1;while(StepTimFlag==1);//走完一步，在定時器中斷里面讓那個StepTimFlag=0.退出死循環//關閉定時器TR0=0;xpul_Global=xpul_Global-1;}char_ct=0; }void Xnegmove(float xmmtemp) {unsigned int i=0;unsigned int xpul=0;// XmoveDirFlag=XCCWPOS; 100*160=16000xpul_Global = (unsigned int)(xmmtemp * StepperKx);//計算需要多少個脈沖xpulhalf_Global= (unsigned int)(xpul_Global*0.5);//除以2XDIR=XCWNEG;//方向打開XENA=XENATrue;//使能打開//xpul_Global=xpul_Global*15;//xpulhalf_Global=xpulhalf_Global*15;xpul=xpul_Global;for(i=0;i<xpul;i++){// if(XlimitFlag==1)break;//如果中途碰到限位開關退出循環，在限位開關的中斷中XlimitFlag=1StepTimFlag=1;//打開定時器0TR0=1;while(StepTimFlag==1);//走完一步，在定時器中斷里面讓那個StepTimFlag=0.退出死循環//關閉定時器TR0=0;xpul_Global=xpul_Global-1;}XENA=XENAFalse;//使能打開char_ct=0;} //100----4us //2500---4*25==100us // 1500/100=15 //1.5ms 1500*100=15 void TM0_Isr() interrupt 1 using 1 {P00=!P00;TR0=0;ET0=0;XPUL = 1;//高電平，產生脈沖Delay2us();XPUL = 0; //判斷線段長度是否符合速度條件800if (xpulhalf_Global>2000)//L2=L的一半，如果L2大于v(700){if(xpul_Global>2000)//如果L大于700，加速{char_ct++;//char_ct加1，每次進來中斷，加1Tnum=ACB_C[char_ct];// Tnum=ACB_C[1];數據大，if(char_ct>=600)//若cnt加的數據大于700，那么cart=700,保持700===StepperLineVelMax{char_ct=600;Tnum=ACB_C[char_ct];}}else //如果L小于700，定時器開始減速{char_ct--;Tnum=ACB_C[char_ct];}}else //如果線段長度小于700,固定的速度運行{Tnum=ACB_C[0];}//更新定時器0值，保持低電平這么多時間，下次再進來，重變為高電平。形成脈沖TH0=(65535-Tnum*15)/256;//22.1184Mhz,1T模式的話，=2就是3.208us 500--22.625usTL0=(65535-Tnum*15)%256;ET0=1;TR0=1; StepTimFlag = 0; }

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