zrad.c

motor_control.zip

/////////////////////////////////////
//  COPYRIGHT RESERVED BY DU //
/////////////////////////////////////

#include "c8051F020.h"
#include "intrins.h"
#include "CH452CMD.H"	// 定义常用命令码及外部子程序
#include "pin.h"
#include "math.h"
#include "key_display.h"		  


//定义端口
sbit LEDG	=	P3^4;
sbit BACK	=	P3^0;
sbit START	=	P3^2;
ulong xdata data0[15];
ulong avge=0,avge0=0;
uchar keykey=0,timein;
uchar times_of_overflow1=0;
// Peripheral specific initialization functions,
// Called from the Init_Device() function 系统设置，020初始化  DA_OUT  AD_IN

 
void Port_IO_Init()
{
    // P0.0  -  CEX0 (PCA),  Open-Drain, Digital
   // P0.1  -  CEX1 (PCA),  Open-Drain, Digital
       XBR0      = 0x10;	/*CEX0-->P0.0,CEX1-->P0.1*/
       XBR2      = 0x40;	
}

void Interrupts_Init()
{   
	IE        = 0x08; //使能定时器1中断
    IP        = 0x08;  //使定时器1优先级高
    EIE1      = 0x08; //使能PCA0中断
    EIE2      = 0x20;  //使能外部键盘中断
    EIP2      = 0x20;  //使外部键盘优先级高

}

// Initialization function for device,
// Call Init_Device() from your main program
void Init_Device(void)
{
    Reset_Sources_Init();
    ADC_Init();
	PCA_Init();
	//Timer_Init();
	Oscillator_Init();
    Voltage_Reference_Init();
    Port_IO_Init();
    Interrupts_Init();
}



ulong pingjun (void)
{	  uchar i;
      ulong avgad1=0,avgad=0,state=0;
	  state=AD_IN();
      for(i=0;i<15;i++)
	      {
		
	   	    data0[i]=state;
		    avgad+=data0[i];		
		    //delayms(10);
	      }
	   avgad=avgad/15;
	   for(i=0;i<15;i++)
	      {
	   
	   	     data0[i]=state;
		     avgad1+=data0[i];
		     //delayms(10);
	      }
	   avgad1=avgad1/15;
	   avge=(avgad+avgad1)/4;
		
	   //CH452_Write(CH452_DIG1|b);
	   //CH452_Write(CH452_DIG0|c);
	   return(avge);
}

//定时n秒。不要放在循环语句中调用
//void timecontrol(float n)
//{
	//timein=(uchar)(n*10);
	//TR1=1;
	//TR0=1;
//}
//主函数main

void main(void)
{	
	//unsigned char key;
	//ulong avgad1=0,avgad=0,state=0; 
	 uchar chazhi=12,chazhi1;//,i,t;
	Init_Device();
	CH452_Init();	  /* CH452初始化 */
	LEDG=0; 
//	EA=1;
	START=0;
	BACK=0;         	
	while(1)
	{	 
       LEDG=~LEDG;
	   EA=1;
	   avge=pingjun();
	   BCDdisplay_l(avge-200); 	   
	   
  if(keykey==1) 
  {
	chazhi1=abs((int)(avge-avge0));
	if(chazhi1>=20)    
	{
	  	START=1;
		if(avge>(avge0+chazhi-2)) 
		 { 
		   
		   BACK=0;
		 
		 }
	   	if(avge<(avge0-chazhi)) 
		  {
		  
		   BACK=1;
		  
		  }	
	 }		
	else if((chazhi1<20)&&(chazhi1>10))
	 {
	 
	
	  	if(avge>(avge0+chazhi)) 
		 { 
		   START=1;
		   BACK=0;
		   
		  
		 }
	   	if(avge<(avge0-chazhi)) 
		  {
		   START=1;
		   BACK=1;
		  
		   
		  }	
	 }		
	 else if(chazhi1<=10)
     {
		   
		   START=0;	
		   
		   
	 }
	 else;
    }
	   //AMX0SL    =  0x03;
	   //state=(AD_IN(1,1));
	   //result=(int)state;
	   //BCDdisplay(result);
	   //delayms(20);
	}
}


/*PCA中断子程序*/
void PCA_ISR (void) interrupt 9
{
	
	CCF0 = 0;			/*清匹配中断标志*/

} 


 /*键盘中断子程序*/
void led(void)  interrupt 19
{ 
   uchar key;
   EA=0;
   
   key=CH452_Read();
   
   if(0x62==key)
   {
   	delayms(2);
	avge0=avge;
	keykey=1;
	BCDdisplay_h(avge0-200); 
    }
   EA=1;
  //if(0x63==key)
	  // {
	  // delayms(2);
	   //avga=pingjun();
	   //CH452_Write(CH452_DIG1|b);
	   //CH452_Write(CH452_DIG0|c);
	  // BCDdisplay(avga);

	  // }

}

/*void TIMER1_ISR (void) interrupt 3 using 1
{
	TR1=0;
	TF1=0;
	TH1=0x7D	;
	TL1=0xFB	;
	if(times_of_overflow1 < timein)
	 {	
	   times_of_overflow1 ++ ;	
	   TR1=1;
	   }
	else
	{	TR1=0;
	    //TR0=0;
		//Frequence=TH0*0x100+TL0;
		times_of_overflow1=0;
		TH1=0x7D	;
	    TL1=0xFB	;
		//JIA+=(float)timein/10 ;
		//BCDdisplay_l(JIA);
		//TH0=0;
		//TL0=0;
		//TR0=1;
		
		
	}  

		


} */