📄 zoubeifuwei.c
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#include <iom168v.h>
#include <macros.h>
typedef unsigned char uchar;
typedef unsigned int uint;
#define MAXstep1 1600
//勾杯电机最大步数
#define MAXstep2 1800
//推杯1电机最大步数
#define MAXstep3 1800
//推杯2电机最大步数
#define MAXstepTG 480
#define MAXstepDG 1480
//预温电机最大步数
#define START_GO (PIND&0x10)
//零位光耦
#define END_GO (PIND&0x08)
//末端光耦
//电机使能
#define M_ENABLE (PORTB|=0x04)
#define M_UNENABLE (PORTB&=~0x04)
#define M_HIGHMOVE (PORTD&=~0x80)
//高压运行
#define M_LOWMOVE (PORTD|=0x80)
//低压锁定
#define M_CLOCKWISE (PORTB|=0x01)
//顺时针方向
#define M_UNCLOCKWISE (PORTB&=~0x01)
//逆时针方向
#define LED_ON PORTD &= ~0x01;
#define LED_OFF PORTD |=0x01;
#define BUSY_ON PORTC |= 0x08
#define BUSY_OFF PORTC &= ~0x08
#define NORMAL PORTB &= ~0x80
#define UNNORMAL PORTB |=0x80
uint Ystep; //大于2000在通光区，小于2000在挡光区
uchar Eflag=0; //错误码
uchar I2cRbuf[10] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; //IIC总线接收命令
uchar I2cSbuf[10] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; //IIC发送上层命令
void delay1(uint rate) //脉冲延时
{
uint i;
for(i=0;i<=rate;i++);
}
void delay(uint temp1,uint temp2) //延时程序
{
uint i;
uint j;
for(i=0;i<=temp1;i++)
for(j=0;j<=temp2;j++);
}
void port_init()
{
DDRB = 0xD7; //端口初使化程序
PORTB = 0x00;
DDRC = 0x08;
PORTC = 0x37;
DDRD = 0xE1;
PORTD = 0x81;
}
void twi_init()
{
//IIc总线初始化
TWCR = 0x00; //disable twi.
TWBR = 0xC0; //set bit rate 32
TWSR = 0x00; //set prescal TWPS1:0=00
TWAR = (((PINC & 0x07)+1)<<1) | 0x01; //local address is 1 ；识别广播地址
//TWAR = 0X03;//1
TWAMR = 0x00;
}
void timer0_init()
{
TCCR0B = 0x00; //stop
TCCR0A = 0x83; //快速PWM模式，TOP=0xFF，匹配时OC0A为0，TOP时OC0A为1
OCR0A = 0x00;
TCNT0 = 0x00;
// TCCR0B = 0x89; //start timer
}
void init_devices()
{
CLI();
port_init();
twi_init();
timer0_init();
}
void SetCurrent(uchar curr)
{
OCR0A = curr;
TCCR0B = 0x81; //start timer0，不分频
}
void ClrCurrent()
{
TCCR0B = 0x00; //stop timer0
}
void Warn(uchar i) //报警程序
{
PORTD &= ~0x01;
Eflag=i;
}
/***************************************
twi_Sreceive() SR函数
d_begin=0x00,I2cRbuf[10],d_stop=0xff
****************************************/
uchar twi_Sreceive()
{
uint i;
uchar n_sr,flag=1;
i=0;
/*while(!(TWCR & (1<<TWINT)) && i<=10000)i++;
if(i>10000)
{
//TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);////////////////
//twi_init();
TWCR = (1<<TWEA)|(1<<TWEN);
return 0;
}
if((TWSR & 0xF8) == 0x60)
TWCR |= (1<<TWINT);
else
{
//TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);/////////////////////
//twi_init();
TWCR = (1<<TWEA)|(1<<TWEN);
return 0;
}*/
//wait data receive
n_sr = 0;
while(1)
{
while(!(TWCR & (1<<TWINT))&& i<=10000)i++;//
if(i>10000)
{
//TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);////////////////
//twi_init();
TWCR = (1<<TWEA)|(1<<TWEN);
return 0;
}
if((TWSR & 0xF8) == 0x80) //data
{
I2cRbuf[n_sr] = TWDR;
n_sr++;
TWCR |= (1<<TWINT);
}
else if((TWSR & 0xF8) == 0xA0) //stop
{
TWCR |= (1<<TWINT)|(1<<TWEA)|(1<<TWEN);
return n_sr;
}
else if((TWSR & 0xF8) == 0x60) //sla+w
{
TWCR |= (1<<TWINT);
n_sr = 0;
for(i=0; i<10; i++)
I2cRbuf[i] = 0;
}
else if((TWSR & 0xF8) == 0x00) //bus error
{
twi_init();
TWCR = (1<<TWEA)|(1<<TWEN);
return 0;
}
else
{
//TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);////////////
//twi_init();
TWCR = (1<<TWINT)|(1<<TWEA)|(1<<TWEN);
return 0;
}
}
// n_sr=i;//记录接收数据个数
return n_sr;
}
uchar Reset1(uint FX) // 勾推杯电机复位，FX为方向标志，1为顺时针
{
uint rate;
uint high;
uchar j;
uint MAXstep;
uint step;
j=(PINC & 0x07);
if(j==0x01)
MAXstep=MAXstep1;
if(j==0x02)
MAXstep=MAXstep2;
if(j==0x03)
MAXstep=MAXstep3;
high = 45;
SetCurrent(10);
M_ENABLE; //电机使能
M_HIGHMOVE; //高压运行
rate =180;
step=0;
if(START_GO)
{
if(FX)
M_UNCLOCKWISE;
else M_CLOCKWISE;
while(START_GO)
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
if(rate>=high)
rate-=5;
step++;
if(step>MAXstep)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(1); //报警程序
return 0;
}
}
delay(100,1000);
}
step=0;
rate=180;
if(FX)
M_CLOCKWISE;
else M_UNCLOCKWISE;
while(!START_GO)
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
if(rate>=high)
rate-=5;
step++;
if(step>MAXstep)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(1); //报警程序
return 0;
}
}
delay(300, 200);
M_LOWMOVE;
ClrCurrent();
//Eflag=0;
return 1;
}
uchar Reset2() //预温区移动电机复位
{
uint rate;
uint high;
uchar j;
uint i;
uint step;
high = 100;
M_ENABLE;
M_HIGHMOVE;
SetCurrent(10);
if(!START_GO) //在挡光区
{
step=0;
rate=180;
M_UNCLOCKWISE;
while(!START_GO) //走向零点光耦
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
if(rate>=high)
rate-=5;
step++;
if(step>MAXstepDG)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(1); //报警程序
return 0;
}
}
for(i=0;i<=50;i++) //此时已通光
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
}
delay(100,1000);
}
if(START_GO) //在通光区
{
rate=180;
step=0;
M_CLOCKWISE;
while(START_GO) //走向零点光耦
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
if(rate>=high)
rate-=5;
step++;
if(step>MAXstepTG)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(1); //报警程序
return 0;
}
}
for(i=0;i<=50;i++) //此时已挡光
{
PORTB &= ~0x02;
delay1(rate);
PORTB |= 0x02;
delay1(rate);
}
delay(100,1000);
M_UNCLOCKWISE;
rate=180;
step=0;
while(!START_GO) //在挡光区走向零点光耦
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
if(rate>=high)
rate-=5;
step++;
if(step>MAXstepDG)
{
M_LOWMOVE;
M_UNENABLE;
ClrCurrent();
Warn(1); //报警程序
return 0;
}
}
M_LOWMOVE;
}
Ystep=2000;
ClrCurrent();
//Eflag=0;
return 1;
}
void JBmove(uint step) //进杯电机动作,step为电机指定步数
{
uint rate;
uint i;
uint j;
rate=180;
M_ENABLE;
M_HIGHMOVE;
M_CLOCKWISE;
SetCurrent(10);
for(j=0;j<3;j++)
{
for(i=0;i<=step-30;i++)
{
PORTB &=~0x02;
delay1(rate);
PORTB |= 0x02;
delay1(rate);
if(rate>=100)
rate-=3;
}
for(i=0;i<=30;i++)
{
PORTB &=~0x02;
delay1(rate);
PORTB |=0x02;
delay1(rate);
if(rate<=200)
rate+=3;
}
if(!START_GO)
break;
}
M_LOWMOVE;
if(START_GO) //无杯
Warn(0x11);
if(!START_GO&&END_GO) //杯子数不到10
Warn(0x12);
delay(100,100);
ClrCurrent();
}
//勾杯和推杯电机动作，完成一次动作后会复位，FX是方向标志为1时顺时针
uchar GTmove(uint FX)
{
uint i;
uint rate;
uchar j;
uint MAXstep;
uint high;
uint step;
high=45;
rate=180;
j=(PINC & 0x07);
if(j==0x01)
{
MAXstep=MAXstep1;
i=1390;
}
if(j==0x02)
{
MAXstep=MAXstep2;
i=1680;
}
if(j==0x03)
{
MAXstep=MAXstep3;
i=1680;
}
SetCurrent(10);
M_ENABLE;
M_HIGHMOVE;
if(FX)
M_UNCLOCKWISE;
else M_CLOCKWISE;
step=0;
while(!END_GO) //加速阶段
{
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