rainwiper v10.c

用L293步进电机驱动芯片做的步进电机驱动器.

/********************************
名称:雨刷控制器
日期:2007-06-23
作者:Mavinger
版本:
V1.0:2007-07-8 ,创建此版本

V2.0:2006-11-5 ,修改外部晶振为11.0592M


硬件：
1.控制单片机: 12C5052AD
2.步进电机驱动器: L293D




********************************/

#include "../code/STC12C5410AD.h"
//#include "../code/STC89C51RC.h"
#include <INTRINS.h>
#include <math.h>
#include <stdio.h>

//数据类型定义
typedef unsigned char byte;
typedef unsigned int  word;
typedef unsigned long dword;

//24M
//#define  Timer_H    0xFF		//0.1ms
//#define  Timer_L    0x38
#define  Timer_H    0xFF		//0.01ms
#define  Timer_L    0xEC

#define RunDegree   360
#define HighSpeed   35
#define LowSpeed    55
#define FordRun			1
#define BackRun			0


//电机驱动控制

//input
sbit Run_Mode	=P3^5; 
sbit Stop_Mode	=P3^4;
sbit Speed_Mode	=P3^3;

//output
sbit Step_EN1	=P1^7;
sbit Step_EN2	=P1^6;

sbit Out_A0  	=P1^3;
sbit Out_A1     =P1^2; 
sbit Out_B0     =P1^1; 
sbit Out_B1     =P1^0; 

bit MotorDir;
bit Runflag,Stopflag;

word stepsave,Degreesave;
byte np;

const byte forward[]=
{0xB8,0xFA,0x72,0xF6,0xB4,0xF5,0x71,0xF9};

const byte backward[]=
{0xF9,0x71,0xF5,0xB4,0xF6,0x72,0xFA,0xB8};




void Initial(void)
{
	//AUXR=AUXR & 0x7F;  				//T0x12=0; 系统时钟12分频,即 T=12/6=2us
	AUXR=0x00;

	P1M0=0;		//P1M0=0,P1M1=0,P1口为准双向口
	P1M1=0;
	P3M0=0;
	P3M1=0;
	EA=1;
}


//1ms*N 延时
void Delay1MS(word delay1ms)
{
	word cnt;
	byte cnt1; 
	

	for(cnt=0;cnt<delay1ms;cnt++)
	{
		for(cnt1=0;cnt1<200;cnt1++)
		_nop_();
	}
}



void MotorRst(void)
{
	Step_EN1=1;
	Step_EN2=1;
	Out_A0=0;
	Out_A1=0;
	Out_B0=0;
	Out_B1=0;
}

void MotorSet(void)
{
	P1=0xB8;
	Delay1MS(1);
}


void StepRun(byte StepDir,word Speednum)		// One step run
{

	if(StepDir & 0x01)
	{	 
		MotorDir=1;
		if(np==0)
			np=7;
		else 
			np--;
		P1=forward[np];
		Delay1MS(Speednum);	
	}
	else
	{
		MotorDir=0;
		if(np==0)
			np=7;
		else 
			np--;
		P1=backward[np];
		Delay1MS(Speednum);	
	}		
}



void MotorTurn(byte StepDir,word Speednum,word Degree)	//方向，速度，度数
{
	word degreecnt;
	word stepcnt;

	degreecnt=Degree/0.9;
	Degreesave=degreecnt;	
	
	for(stepcnt=0;stepcnt<degreecnt;stepcnt++)
	{
		StepRun(StepDir,Speednum);
	}
}



main()
{
	Initial();

  Run_Mode=1;
	Stop_Mode=1;
	Speed_Mode=1;
  
  stepsave=0;
  Degreesave=0;

	if(Stop_Mode)
	{
		while(Stop_Mode)
		{
			StepRun(BackRun,LowSpeed);	
		}
	}


	while(1)
	{	
		if(!Run_Mode)
		{
			Runflag=1;
			if(!Speed_Mode)
			{
				MotorTurn(FordRun,LowSpeed,RunDegree);		//正转
				Delay1MS(200);
				MotorTurn(BackRun,LowSpeed,RunDegree);		//反转
				MotorRst();
			}
			else
			{
				MotorTurn(FordRun,HighSpeed,RunDegree);		//正转
				Delay1MS(200);
				MotorTurn(BackRun,HighSpeed,RunDegree);		//反转
				MotorRst();
			}
		}
		else
		{
			MotorSet();
		}
	}
}