main.c

该程序是用单片机C51语言编写的关于步进电机控制的程序

#include<Waking_machine.h>         
#include<math.h> 

extern void initial(void);
extern FuncRotate(bit BClockWise,uint step,int *PRegAngle);
extern void send(uchar *temp,uint j);
extern void delay(uint k);

uint  delaycount = 20;
char  XPulse=0, YPulse =0;      //记录上一个100ms中X.Y方向的脉冲值
char  XPulseTemp=0,YPulseTemp=0; //累加计数脉冲值

 uchar  rcvdata=0;
uchar debugtime=0;
uchar workmode=2;

bit EvRcv=FAULT;                //接收中断（串口）标志位   
bit EvTimer=FAULT;                    //定时时间满标志位

void main(void)
{
   int RegAngle=0,RegNewAngle=0,temp=0;
   int Xtmp=0,Ytmp=0;
   int *Angle;
   Angle=&RegAngle;

   initial();             //初始化


   CP=VALID;           //步进脉冲信号输出有效,低电平有效
   LampNormally=FAULT;        //工作状态正常指示灯
   PinRotIndicator=FAULT;   //为1转动操作正在进行 ,转动指示灯
   LampDebug=FAULT;         //调试控制指示灯
   LampError=FAULT;         //致命错误指示灯
   LampFlood=FAULT;          //溢出指示灯
   LampComm=FAULT;          //通信指示灯   

   OPTO=VALID;             //总控制端
   OutFree=VALID;              //脱机电平信号输出端

   delay(2);

   while(1)
   {
     while(InFree==VALID)
	 {
	    TR0=0;             //关定时器0
        OutFree=INVALID;    
    	while(ClockWiseRot==VALID)    //按钮控制顺时针转动
		{
		   OutFree=VALID; 
		   FuncRotate(ConstClockWise,1,Angle);
		   delay(500);
		 }
	    while(AntiClockRot==VALID)
	     {
            OutFree=VALID; 
		   FuncRotate(ConstAntiClock,1,Angle);
		   delay(500);
		 }
          TR0=1; 
		  EvTimer=FAULT;  
	  }

		  OutFree=VALID; 
	 if(EvRcv)
	  {
		 delaycount=rcvdata&0x1f;
	     workmode=(rcvdata&0xe0)/32;
		 EvRcv=FAULT;
	   }

	   if(EvTimer)
	   {
	      ++debugtime;
		  if(debugtime==5)
		  {
		    LampNormally=TRUE;
		  }
		  else if(debugtime==10)
		  {
		     LampNormally=FAULT;
             debugtime=0;
		   }
           
		 RegNewAngle=XPulse*XPulse+ YPulse*YPulse ;
         RegNewAngle=(uint)sqrt((float)RegNewAngle);

		 temp=RegNewAngle-RegAngle;
		 if( temp>HALFMAXSTEPS)
		 {
		   temp=temp-HALFMAXSTEPS;
		 }
		 else if(temp<-HALFMAXSTEPS)
		 {
		   temp=temp+HALFMAXSTEPS;
		 }
		 if(temp>0)
		 {
		   FuncRotate(ConstAntiClock,temp,Angle);
		 }
          if(temp<0)
		 {
		   FuncRotate(ConstAntiClock,-temp,Angle);
		 }
	    
	 if(workmode==1)
	 {
	   send((uchar*)&RegAngle,2);
	   }
	  else if (workmode==2)
	 {
	   send((uchar*)&RegAngle,2);
	   send((uchar*)&XPulse,4);
	   send((uchar*)&YPulse,4);
	   }

   EvTimer=FAULT;
   }
   }
}