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//請(qǐng)根據(jù)自己馬達(dá)的控制 來(lái)改變程序
#include<reg52.h>
#include<math.h>
#include<intrins.h>
#define uchar unsigned char
#define uint unsigned int
uchar Buffer =0; //從串口接收的數(shù)據(jù)
uint URTAReceivedCount=0,n=1;
uchar data Tempdatatable[5],CommandDatatable[5];//數(shù)據(jù)包
uchar serVal[2];
//uint pwm[]={1120,1190,1382,1382,1382,1382,1382,1382}; //初始90度,（實(shí)際是1382.4，取整得1382）
//uchar pwm_flag=0;
uint code ms0_5Con=461; //0.5ms計(jì)數(shù) （實(shí)際是460.8，取整得461）
uint code ms2_5Con=2304; //2.5ms計(jì)數(shù)
bit key_stime_ok;
void Delay_1ms(uint i)//1ms延時(shí)
{
uchar x,j;
for(j=0;j
for(x=0;x<=148;x++);
}
void Send_Data(uchar type,uchar cmd,uchar dat)
{
uchar data Buffer[5];//構(gòu)建數(shù)據(jù)包
uchar *p;
uint Send_Count=0;
p = Buffer;
Buffer[0]=0XFF;
Buffer[1]=type;
Buffer[2]=cmd;
Buffer[3]=dat;
Buffer[4]=0XFF;
while(1)
{
if(*p==0XFF)
{
Send_Count++; //0XFF標(biāo)志統(tǒng)計(jì)位
}
SBUF = *p; //發(fā)送
while(!TI) //如果發(fā)送完畢，硬件會(huì)置位TI，等待發(fā)送完畢
{
_nop_();
}
p++;
TI = 0;
if(Send_Count == 2) //當(dāng)統(tǒng)計(jì)到兩次出現(xiàn)0XFF，則認(rèn)為一個(gè)數(shù)據(jù)包發(fā)送完畢，跳出循環(huán)
{
TI = 0;
break;
}
}
}
void Com_Int(void) interrupt 4
{
uchar temp;
ES=0; //關(guān)串口中斷
RI=0; //軟件清除接收中斷
temp=SBUF;
if(temp==0XFF && URTAReceivedCount<3)
{
Tempdatatable[0]==0XFF; //包頭
URTAReceivedCount++;
}
else
{
Tempdatatable[n]=temp;
n++;
if(URTAReceivedCount==0&&n==2)
n=1;
}
if(URTAReceivedCount==2)//包尾
{
Tempdatatable[0]=0XFF;
Tempdatatable[4]=0XFF;
n=1;
URTAReceivedCount=0; //組包完畢
temp=" ";
// Send_Data(Tempdatatable[1],Tempdatatable[2],Tempdatatable[3]); //發(fā)送組成的數(shù)據(jù)包回去
}
CommandDatatable[0]=Tempdatatable[0];
CommandDatatable[1]=Tempdatatable[1];
CommandDatatable[2]=Tempdatatable[2];
CommandDatatable[3]=Tempdatatable[3];
CommandDatatable[4]=Tempdatatable[4];
ES=1;//開串口中斷
}
void Com_Init(void)
{
TMOD = 0x21;
PCON = 0x00;
SCON = 0x50;
TH1 = 0xFd; //設(shè)置波特率 9600
TL1 = 0xFd;
TR1 = 1; //啟動(dòng)定時(shí)器1
ES = 1; //開串口中斷
EA = 1; //開總中斷
IT0=0;
EX0=1;
}
void main()
{
Delay_1ms(200);
Com_Init();//串口初始化
Timer0Init();//舵機(jī)PWM中斷初始化
while(1)
{
if(CommandDatatable[0]==0XFF && CommandDatatable[4]==0XFF)
{
switch (CommandDatatable[1]) //根據(jù)鍵值不同，執(zhí)行不同的內(nèi)容
{
case 0X00: //類型位0X00，表明是控制數(shù)據(jù)包，進(jìn)入控制數(shù)據(jù)case
switch(CommandDatatable[2]) //根據(jù)數(shù)據(jù)位的值來(lái)進(jìn)行選擇執(zhí)行不同的動(dòng)作
{
case 0X00:Moto_Stop();break;
case 0X01:Moto_Forward();break;
case 0X02:Moto_Backward();break;
case 0X03:Moto_TurnLeft();break;
case 0X04:Moto_TurnRight();break;
case 0X05:Moto_ForLeft();break;
case 0X06:Moto_ForRight();break;
case 0X07:Moto_BackLeft();break;
case 0X08:Moto_BackRight();break;
default : break;
}
break;
default : break;
}
}
}
}
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