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直流电机PWM调速的单片机控制系统 直流电机PWM调速的单片机控制系统 直流电机PWM调速的单片机控制系统 直流电机PWM调速的单片机控制系统

;直流电机PWM调速的单片机控制.asm
;************************************************************* 
;CMD_ST indicate the rotate parameters. 
;bit7: 1-motor1 rotate,0-motor1 stop. bit6: 1-CW,0-CCW,bit5~bit4 rotate mode. 
;The same with bit3~bit0 for motor2. 
;CMD_M1 indicate the degrees the motor1 rotate. 
;CMD_M2 indicate the degrees the motor2 rotate. 
;************************************************************* 
RADDR EQU 07H 
QADDR EQU 08H 
CMD_ST EQU 31H 
 
ORG 0000H 
AJMP MAIN				;转主程序 
 
ORG 000BH 
AJMP INT_T0 
 
ORG 0023H 
AJMP INT_RT				;转接收中断 
 
ORG 0030H 
 
;TABLE: DB 00H,00H,0FH,07H,00H,00H,00H,00H,0F0H,00H,0FFH,0F7H,70H,00H,7FH,77H 
TABLE: DB 00H,00H,0FH,07H,00H,00H,00H,00H,0F0H,00H,0FFH,0F7H,70H,00H,7FH,77H 
 
MAIN:	  MOV SP,#60H 
	  MOV SCON,#0D0H		;方式3，允许串口接收数据，接收为地址信号。Enable transmit and receive 
	  MOV TMOD,#21H			;Counter0 in Timmer mode 
	 
	  MOV PCON,#80H			;Double the baud rate 
	  MOV TL1,#0FDH			;Set the baud rate to 19.2Kbps 
	  MOV TH1,#0FDH			;Load TH1 to TL1 automatically when Time is out. 
 
	  SETB EA				;Enable the CPU interrupt 
          SETB ET0 
	  MOV P1,#0H 
	  MOV P3,#0FFH 
          MOV CMD_ST,#0H 
	  MOV DPTR,#TABLE 
 
          MOV R5,#04H  
          MOV R6,#00H 
          MOV R7,#00H 
 
	  SETB ES			;Enable the UART interrupt         
	  SETB TR1			;Laugh Timer 1 
	  SETB SM2 
	  JMP $ 
	 
INT_T0:	 
          ADDC A,#0H 
	  INC R1 
	  MOV A,R1 
	  ANL A,#0FH 
          MOV R1,A 
          SUBB A,R5  
	  JNC INT_T0_CONTIUNE  
 	 
          CLR ES 
          MOV A,CMD_ST 
	  ANL A,#0FH 
          JZ Step_Over 
	  ANL A,#03H 
	  JZ Is_M2_Run 
 
   Is_M1_Run: 
          DJNZ R6,Is_M2_Run	 
	  ANL CMD_ST,#0CH 
 
   Is_M2_Run: 
	MOV A,CMD_ST 
	ANL A,#0CH 
	JZ Count_End 
	DJNZ R7,Count_End 
	ANL CMD_ST,#03H 
    
   Count_End:	 
	MOV A,CMD_ST 
	ANL A,#0FH 
        JZ Step_Over 
     	MOVC A,@A+DPTR 
        MOV P1,A 
	SETB ES 
	MOV TL0,#00H	 
	MOV TH0,#0F0H 
	RETI	 
 
   Step_Over: 
	MOV P1,#0H 
	CLR TR0 
        SETB ES 
	RETI 
	 
   INT_T0_CONTIUNE: 
        ANL P1,#88H 
	MOV TL0,#00H	 
	MOV TH0,#0F0H 
	RETI	 
 
INT_RT:	 
	JBC TI,RETURN			;Check if the Send interrupt 
	CLR RI				;Clear the RI 
 
	JNB SM2,INSDATA			;Check if it is Data 
	MOV A,SBUF			;Is address,identify it. 
	CJNE A,#RADDR,INQUERY 
	CLR SM2				;Clear the Address identifier 
	MOV P1,#0H 
	CLR ET0 
        MOV R0,#0H 
   RETURN: 
	RETI  
	 
    INQUERY: 
	CJNE A,#QADDR,RETURN 
        CLR TB8 
	MOV SBUF,CMD_ST 
        SETB SM2 
	RETI 
	 
    INSDATA: 
        CJNE R0,#0H,Second 
 
    First: 
        MOV A,SBUF 
    Is_M1_Cw: 
        CJNE A,#02H,Is_M1_CCw 
    Is_M1: 
        ANL CMD_ST,#0CH 
        ORL CMD_ST,A 
        MOV R0,#01H 
        RETI 
 
    Is_M1_CCw: 
        CJNE A,#03H,Is_M2_Cw 
        JMP Is_M1 
 
    Is_M2_Cw: 
        CJNE A,#08H,Is_M2_CCw 
    Is_M2: 
        ANL CMD_ST,#03H 
        ORL CMD_ST,A 
        MOV R0,#02H 
        RETI 
 
    Is_M2_CCw: 
        CJNE A,#0CH,Is_Speed 
        JMP Is_M2     
 
    Is_Speed: 
        CJNE A,#00H,RT_Finish 
        MOV R0,#03H 
        RETI 
 
     Second: 
     Is_M1_Angle: 
        CJNE R0,#01H,Is_M2_Angle 
        MOV R6,SBUF 
        CLR TB8 
	MOV SBUF,#RADDR 
        SETB TR0 
        JMP RT_Finish 
 
     Is_M2_Angle: 
        CJNE R0,#02H,Is_SpeedH 
        MOV R7,SBUF 
        CLR TB8 
	MOV SBUF,#RADDR 
	SETB TR0 
        JMP RT_Finish 
 
    Is_SpeedH: 
        CJNE R0,#03H,RT_Finish 
        MOV A,SBUF 
        ANL A,#0FH 
	MOV R5,A 
        CLR TB8 
	MOV SBUF,#RADDR 
	  
    RT_Finish: 
        SETB SM2 
        SETB ET0 	 
	RETI      
END