motor_advanced.c

基于aduc845的步进电机控制程序

																							 										   //====================================================================
//
// Author        : ADI - Apps
//
// Date          : 17 October 2003
//
// File          : Tim2_AR.c
//
// Hardware      : ADuC845
//
// Description   : Flashes LED on P3.4 every approx 20Hz
//____________________________________________________________________

#include <stdio.h>
#include <ADuC845.h>
#define  USE_KEY  1
unsigned char  ch451_key;		                // 存放键盘中断中读取的键值
unsigned char   th0_L;
unsigned char    th0_H;
//bit  cw_ccw	;
//bit  enable;
#include "ch451.h"
//须主程序定义的参数

sbit L297_reset = P0^0;
sbit half_or_full = P0^1;
sbit L297_clock = P0^2;
sbit direction = P0^3;
sbit L297_enable = P0^4;

void interrupt_0 () interrupt 	1

{	    
		TL0 = 0xf0;
	    TH0 = th0_H;
        TF0 = 0;
		L297_clock=L297_clock^1;
}


void main (void)
{
    unsigned char   a;

    ET0 = 1;
	TMOD = 0x01;
   	TL0 = 0xf0;
	th0_H=0xfa;
	TH0 = th0_H;
	


   ch451_init();                                  //调用初始化
   ch451_write(0x403);
   ch451_write(0x580);                           //测试送入命令
   ch451_write(CH451_DIG1|0x03);

   
	L297_reset=1;
	half_or_full=0;
	direction=0;
	L297_enable=1;
	ch451_key=0xff;

	ET0=1;
	EX1=1;
    EA = 1;
    TR0 = 1;
	while(1)
	{
		while(ch451_key==0xff) ;
		a=ch451_key;
		ch451_key=0xff;
		switch(a)
		{
		case 0x5c:	   direction=direction^1;ch451_write(CH451_DIG1|0x04);break;
		case 0x54:	   th0_H=th0_H+0x01;ch451_write(CH451_DIG1|0x05);break;
		case 0x4c:	   th0_H=th0_H-0x01;ch451_write(CH451_DIG1|0x06);break;
		case 0x44:	   L297_enable=L297_enable^1;ch451_write(CH451_DIG1|0x07);break;
		default:	  ch451_write(CH451_DIG1|0x02);break ;
		}
	}	 
}