tongshi.c

mcu51程序串口输入控制2相4线步进电机的程序

/*-----------单片机串口接收程序-----------
-----------------------------------------*/


#include <reg52.h>
#include <string.h>
#include <INTRINS.h>

#define 	INBUF_LEN 7   //帧结构 同步字 地址  数据
#define         uchar unsigned char
#define         uint  unsigned int
#define         ulong unsigned long


uchar           inbuf1[INBUF_LEN];
uchar 		MCU_ADD;
uchar		recv_state=0;
uchar           q;                 //距离
uchar           a,b;
sbit            p17 = P1^7;
sbit		p11 = P1^1;
int		cn;
int             m;
uchar          	count3;
int             time;
uchar		DIR;
bit             read_flag;
bit             start_flag;
void Init();
void Delay(int i);
void fr(int m);
void bk(int m);


void init_serialcomm(void)
{
    SCON  = 0x50;       //SCON: serail mode 1, 8-bit UART, enable ucvr
    IE    = 0x90;        //EA=1,ES=1
    T2CON = 0x34;         //RCLK=1,TCLK=1,TR2=1
    RCAP2H= 0xff;
    RCAP2L= 0xd9;         //12M,9600bps
}


 void sendchar(unsigned char c)
{  SBUF=c;
  while(TI==0);
    TI=0;
 }


//串口接收中断函数
void serial() interrupt 4 using 3
{
 uchar data c;
     if(RI)
     {
      RI = 0;
      c=SBUF;
      switch(recv_state)
	 {
	  case 0:
		 if(c==0x33)
		 {recv_state=1;
		 }

		 break;
          case 1:
		 if(c==0x34)
		 {recv_state=2;
		 }

		 break;

	  case 2:
		 if(c==MCU_ADD)
		 { count3=3;
                   recv_state=3;
		 }

                 else if(c==0xff)
                 { start_flag=1;
                  }

		 else {recv_state=0;}
                 break;
	  case 3:
		 { inbuf1[count3++]=c;
                   if(count3==INBUF_LEN)
                   read_flag=1;

		 }

                 break;


	  default:
		 recv_state=0;
                 break;
         }
       }
 }


void bk(m)//电机反转
{
 int i;
 for(i=0;i<m;i++){
  P2=0x10;
  Delay(time);
  P2=0x80;
  Delay(time);
  P2=0x20;
  Delay(time);
  P2=0x40;
  Delay(time);
 }
}


void fr(m)//电机正转
{
 int i;
 for(i=0;i<m;i++){
  P2=0x10;
  Delay(time);
  P2=0x40;
  Delay(time);
  P2=0x20;
  Delay(time);
  P2=0x80;
  Delay(time);
 }
}

void Init()
{
 P2=0;
 Delay(100);
}

void Delay(int i)
{
 int k,j;
 for(k=0;k<i;k++){
  for(j=0;j<50;j++);
  }
}


main()

{

  init_serialcomm();  //初始化串口
  Init();
  p17  =   0;    //max485为收
  MCU_ADD  = 0x00;   //设置地址


 while(1)
 {

          if(read_flag)
          {
           read_flag=0;
           a = inbuf1[3];
           b = inbuf1[4];
           DIR = inbuf1[5];
           time = inbuf1[6];

         cn = 5*(a*100+b);       //5*mm的10倍
           recv_state=0;

           p17 = 1;
           sendchar(0xfe);
           p17 = 0;

              }

          else if(start_flag)
            {
               if(DIR==1)
               { //recv_state=0;
                 fr(cn);
                 P2=0;

                 start_flag=0;
                 recv_state=0;
                 Delay(1000);
                }
              else
                {  // recv_state=0;
                    bk(cn);
                    P2=0;

                    start_flag=0;
                    recv_state=0;
                     Delay(1000);
                 }

              }

       }

}