motor.c

1.A/D转换 2.编码器数据采集 3.电机驱动 利用ADC0809芯片

 #include <REG52.h>


int inportb(unsigned int port);
void acquisition_ball(void);
void outportb(unsigned int port,unsigned char val);
void motor_driver(unsigned char PWM);
void acquisition_encode(void);

//#define ADDRESSH_RECODE 0x0FFF
//#define ADDRESS_CONTROL 0xF73F
//#define ADDRESS_COUNTER0 0xF70F         // 8253  计数器0读写地址
//#define ADDRESS_COUNTER1 0xF71F         //  8253   计数器1读写地址

#define ADDRESS_BALL 0x2FF8
#define ADDRESS_RESET_RECODE 0x0FFF     // endpoint LOAD of 74LS193 connent /Y0

unsigned char idata location_motor,carry;
 unsigned char idata location_ball;
 bit flag_encode;

void init_special_interrupts(void)
{
  //中断0作为Z相的归零信息，中断1为进位或退位来驱动
IT0 = 0;    //下降沿触发
//EX0 = 1;    //外部中断0允许位
PX0 = 1;    //外部中断0设定为高优先级

IT1 = 0;   //下降沿触发
EX1 = 1;    //外部中断1允许位
PX1 = 0;    //外部中断1设定为低优先级

}

//I/O口初始化程序
void init_port()
{
P0 = 0xFF;
P1 = 0xFF;
P2 = 0xFF;
P3 = 0xEF;
flag_encode=0;

}

void main()
{
  unsigned char PWM;


 // unsigned char i=0,j=0;
 carry=0x0A;
  //circle=0x00;
  init_special_interrupts();
  init_port();
  outportb(ADDRESS_RESET_RECODE,0x00);
  EA=1 ;

   acquisition_ball();
   PWM=50;    //21< PWM<95
   motor_driver(PWM);

  while(1)
   {
     acquisition_encode();
     //if((j>200)&&(i<30)) carry++;
     //if((j<30)&&(i>200))  carry--;
     //location_motor=circle*1000+(carry<<8)+ i;
     //j=i;



   }




   while(1);

}

////////////////////////////////////////////////////////////////////////////////////
 /*  电机PWM信号输出，PWM值越大，占空比越大  */
//////////////////////////////////////////////////////////////////////////////


void motor_driver(unsigned char PWM)
{

   //PWM=100-PWM;
   outportb(0x473F,0X34) ;     //选择计数器0，工作模式为2，向计数器中送入0X0064数据，设置方波周期为100个脉冲
   outportb(0x470F,100) ;
   outportb(0x470F,0X00) ;

   outportb(0x473F,0X72) ;     //选择计数器1，工作模式为1，向计数器中送入0X0032数据，设置方波脉冲宽度为50个脉冲
   outportb(0x471F,PWM) ;
   outportb(0x471F,0X00) ;

   P1_6=0;                  //定义正反转
   P1_7=1;                  //定义正反转
}

void acquisition_ball(void)
{ unsigned char i;


 outportb(0x2FF8,0);
  while(!P3_0);
  P1_1=1;   //AD0809读允许端有效
  P1_0=0; //IDT7205读允许端有效进行读数
  P1_0=1;
  P1_1=0;
  i=inportb(0x6FFF);

}


////////////////////////////////////////////////////////
/*  采集光电编码器两路，并送到IDT7205，从P0口读进保存在变量I里  */
////////////////////////////////////////////////////////////////////////

void acquisition_encode(void)
{ unsigned int i;
  P1_4=0;
  P1_5=1;
  P1_5=0;
  P1_0=0;
  P1_0=1;
  P1_4=1;

  i=inportb(0x6FFF);
  i=i|(carry<<8);

  location_motor=i;


}


void carry_isr() interrupt 2
{
   EA=0;
   //P3_5=1;
   if(P3_5==flag_encode) carry++;
   else  carry--;
   P3_4=~P3_4;
   flag_encode=~flag_encode;  
   EA=1 ;
}

 int inportb(unsigned int port)
{
int c;
c = *((unsigned char xdata *) port)  ;
return c;
}

void outportb(unsigned int port,unsigned char val)
{
*((unsigned char xdata *) port)  = val;
}