servo1.c

主要用C8051F02X单片机的开发与应用

/////////舵机调试程序//////////////
/////////servo1.c/////////
#include <C8051F040.h>
#define CEX0PORT p07//舵机控制信号管脚,为P0.7管脚
//系统时钟为24500KHZ/8=3062.5KHZ
//周期为20ms，则频率为50HZ，则tmph+tmpl=61250可以保证产生50HZ PWM
#define CONST_W 61250
#define FORMAT_ANG temp=6125L*angval;temp/=180;tmph=(uint)temp+1531;tmpl=(uint)CONST_W-tmph
typedef unsigned int uint;
typedef unsigned char uchar;
typedef unsigned long ulong;
sfr16 RCAP2=0xca;
sfr16 RCAP3=0xca;
sfr16 RCAP4=0xca;
sfr16 TMR4=0xcc;
sfr16 TMR3=0xcc;
sfr16 TMR2=0xcc;
sfr16 PCA0CP0=0xfb;
sfr16 PCA0CP1=0xfd;
sfr16 PCA0CP2=0xe9;
sfr16 PCA0CP3=0xeb;
sfr16 PCA0CP4=0xed;
sfr16 PCA0CP5=0xe1;
sbit p07=P0^7;
sbit p00=P0^0;
bit iscex0H;
uchar temppage;
xdata uint cex0L,cex0H;
xdata uint tmph,tmpl;
ulong temp;
int xdata angval;//1800表示180度，使得精度为0.1度
	//转化计算:tmph=6125*angval/180+1531,但是由于计算时超过65535就会溢出
	//，所以不能直接这样计算,可定义ulong型变量temp，
	//temp=6125L*angval;temp/=180;tmph=(uint)temp+1531实现
void delay1ms(uint time){//延迟1ms
	uint i;
	uint j;
	for (i=0;i<time;i++){
		for(j=0;j<300;j++);
	}
}	
void pca0ini(){//CEX0为高速输出模式
	SFRPAGE = 0x00;
	PCA0CPM0=0X4d;
}
void CEX0_out(uint h,uint l){//设置高电平值和低电平值
	cex0L=l;
	cex0H=h;
	CEX0PORT=1;
	iscex0H=1;
}
void CEX0_set(uint pram){//设置高速模式下一次中断的间隔为pram个PCA时钟
	SFRPAGE = 0x00;
	PCA0CP0+=pram;
	PCA0CPM0|=0x40;//注意编译的时候sfr16先写高地址，再写低地址
	//所以编译结果使得最后写PCA0CPL0,将使得ECOM0清零，故加此句置1
}
void pcaini(){
	SFRPAGE=0x00;
	PCA0MD=0x09;//PCA时钟为系统时钟
	PCA0CN=0x40;//开PCA时钟
	EIE1|=0x08;//开PCA中断
}
void config(){//PCA管脚不配置输出到crossbar
	WDTCN = 0x07;	// 看门狗禁止
  	WDTCN = 0xDE;   // Disable WDT    
   	WDTCN = 0xAD;
	SFRPAGE = 0x0F;
	XBR0 = 0x00;	// XBAR0: Initial Reset Value
	XBR1 = 0x00;	// XBAR1: Initial Reset Value
	XBR2 = 0x40;	// XBAR2: Initial Reset Value
 	XBR3 = 0x00;    // XBAR3: Initial Reset Value
 	SFRPAGE = 0x0F;
 	P0MDOUT = 0x00; // Output configuration for P0 
 	P1MDOUT = 0x00; // Output configuration for P1 
	P2MDOUT = 0x00; // Output configuration for P2 
	P3MDOUT = 0x00; // Output configuration for P3 
	P4MDOUT = 0x00; // Output configuration for P4
	P5MDOUT = 0x00; // Output configuration for P5
	P6MDOUT = 0x00; // Output configuration for P6
	P7MDOUT = 0x00; // Output configuration for P7
 	P1MDIN = 0xFF;  // Input configuration for P1
	P2MDIN = 0xFF;  // Input configuration for P2
	P3MDIN = 0xFF;  // Input configuration for P3
	SFRPAGE = 0x0F;
 	CLKSEL = 0x00;  // Oscillator Clock Selector
	OSCXCN = 0x00;	// EXTERNAL Oscillator Control Register	
	OSCICN = 0x84;	// Internal Oscillator Control Register
}
void main(void){
	
	config();
	pca0ini();
	pcaini();
	CEX0PORT=0;//将控制信号输出置0
	//0度对应:tmph=1531,tmpl=CONST_W-tmph
	//180度对应:tmph=7656,tmpl=CONST_W-tmph,
	angval=0;
	FORMAT_ANG;//计算出tmph和tmpl的值
	EA=1;
	CEX0_out(tmph,tmpl);
	delay1ms(1000);
	while(1){
		for(angval=0;angval<=180;angval+=30){//每隔2秒正转30度
			FORMAT_ANG;
			CEX0_out(tmph,tmpl);
			delay1ms(2000);
		}
		for(angval=180;angval>=0;angval-=30){//每隔2秒反转30度
		/*注意angval不能定义成uint型，否则angval>=0条件恒真*/
			FORMAT_ANG;
			CEX0_out(tmph,tmpl);
			delay1ms(2000);
		}
				
	}
	
}
void PCA_ISR(void) interrupt 9  {
	temppage=SFRPAGE;
	SFRPAGE = 0x00;
	if(CF){
		CF=0;
	}
	if(CCF0){
		if(iscex0H){
			CEX0_set(cex0L);//隔cex0L个PCA时钟后发生中断，则低电平持续时间为
			//cex0L个PCA时钟
			iscex0H=0;
			}
		else{
			CEX0_set(cex0H);//隔cex0H个PCA时钟后发生中断，则高电平持续时间为
			//cex0H个PCA时钟
			iscex0H=1;
		}
		CEX0PORT=iscex0H;
		CCF0=0;
	}
	SFRPAGE=temppage;
  }