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標題: stc8a8k單片機+編碼器控制PWM輸出測試程序 [打印本頁]

作者: stlong 時間: 2021-7-7 12:01
標題: stc8a8k單片機+編碼器控制PWM輸出測試程序

stc8a8k單片機+AB相編碼器控制PWM輸出測試程序，

#include "stc8.h"
#include "intrins.h"

//測試工作頻率為11.0592MHz

//sfr       INTCLKO  = 0x8f;
#define    EX2       0x10
#define    EX3       0x20
#define    EX4       0x40

#define CYCLE    30000

int val = 0;
int val1 = 200;
int val2 = 5;
bit dir = 0;
bit ccw = 0;
bit cw  = 0;

void PWM_init(void);
void exint_init(void);
/*****************************************************************/
void Delay100us() //@11.0592MHz
{
unsigned char i, j;

_nop_();
_nop_();
i = 2;
j = 15;
do
{
while (--j);
} while (--i);
}

void Delay500us() //@11.0592MHz
{
unsigned char i, j;

_nop_();
_nop_();
i = 6;
j = 93;
do
{
while (--j);
} while (--i);
}
/**********************************************************************/
void exint_init()    //外部中斷初始化
{
      // IT0 = 0; //使能INT0上升沿和下降沿中斷

      IT0 = 1;  //使能INT0下降沿中斷

      EX0 = 1; //使能INT0中斷

   //  IT1 = 0; //使能INT1上升沿和下降沿中斷

   // IT1 = 1;  //使能INT1下降沿中斷

   // EX1 = 1; //使能INT1中斷

      INTCLKO  = EX2; //使能INT2下降沿中斷

      //INTCLKO |= EX3; //使能INT3下降沿中斷

      //INTCLKO |= EX4; //使能INT4下降沿中斷

      // EA = 1;
}

void PWM_init()    //PWM初始化設置
{
   P_SW2  = 0x80;
PWMCKS = 0x00; // PWM時鐘為系統時鐘

PWMC = CYCLE; //設置PWM周期為

PWM0T1 = 0x0000;
PWM0T2 = 0x0001;
//PWM0CR = 0x88; //使能PWM0-P1.0輸出
//PWM0CR = 0x80; //使能PWM0-P2.0輸出
PWM0CR = 0x90; //使能PWM0-P6.0輸出

   PWM1T1= 0x0000;
PWM1T2= 0x0001;
//PWM1CR = 0x88; //使能PWM1-P1.1輸出
//PWM1CR = 0x80; //使能PWM1-P2.1輸出
PWM1CR = 0x90; //使能PWM1-P6.1輸出

   PWM2T1 = 0x0000;
PWM2T2 = 0x0001;
//PWM2CR = 0x88; //使能PWM2-P1.2輸出
//PWM2CR = 0x80; //使能PWM2-P2.2輸出
PWM2CR = 0x90; //使能PWM2-P6.2輸出

   PWM3T1 = 0x0000;
PWM3T2 = 0x0001;
//PWM3CR = 0x88; //使能PWM2-P1.3輸出
//PWM3CR = 0x80; //使能PWM2-P2.3輸出
PWM3CR = 0x90; //使能PWM2-P6.3輸出

   PWM4T1 = 0x0000;
PWM4T2 = 0x0001;
//PWM4CR = 0x88; //使能PWM4-P1.4輸出
//PWM4CR = 0x80; //使能PWM4-P2.4輸出
PWM4CR = 0x90; //使能PWM4-P6.4輸出

   PWM5T1 = 0x0000;
PWM5T2 = 0x0001;
//PWM5CR = 0x88; //使能PWM5-P1.5輸出
//PWM5CR = 0x80; //使能PWM5-P2.5輸出
PWM5CR = 0x90; //使能PWM5-P6.5輸出

   PWM6T1 = 0x0000;
PWM6T2 = 0x0001;
//PWM6CR = 0x88; //使能PWM5-P1.6輸出
//PWM6CR = 0x80; //使能PWM6-P2.6輸出
PWM6CR= 0x90; //使能PWM6-P6.6輸出

   PWM7T1 = 0x0000;
PWM7T2 = 0x0001;
//PWM7CR = 0x88; //使能PWM7-P1.7輸出
//PWM7CR = 0x80; //使能PWM7-P2.7輸出
PWM7CR = 0x90; //使能PWM7-P6.7輸出

P_SW2 = 0x00;

PWMCR = 0xc0; //啟動PWM模塊

//EA = 1;
}
/*************************************************************/
void main()
{


//    P0M0 = 0x00; P0M1 = 0x00;                            //設置P0.0~P0.7為雙向口模式
//    P1M0 = 0xff; P1M1 = 0x00;                            //設置P1.0~P1.7為推挽輸出模式
//    P2M0 = 0x00; P2M1 = 0xff;                            //設置P2.0~P2.7為高阻輸入模式
//    P3M0 = 0xff; P3M1 = 0xff;                            //設置P3.0~P3.7為開漏模式
//    P4M0 = 0xff; P4M1 = 0xff;                            //設置P4.0~P4.7為開漏模式
//    P5M0 = 0xff; P5M1 = 0xff;                            //設置P5.0~P5.7為開漏模式
//    P6M0 = 0xff; P6M1 = 0xff;                            //設置P6.0~P6.7為開漏模式
//    P7M0 = 0xff; P7M1 = 0xff;                            //設置P7.0~P7.7為開漏模式

exint_init();
      PWM_init();

EA = 1;

   PCON = 0x02;  //MCU進入掉電模式

   _nop_(); //掉電喚醒后立即進入中斷服務程序

   _nop_();

   while (1)

  {
if(P36==0)

      {
         val+=val2;
Delay500us();
         if (val >=30000) val=0 ;
   }
}
}

/***********************************************************************/

void PWM_Isr() interrupt 22
{
   //static bit dir = 1;
   //static int val = 0;

if (PWMCFG & 0x80)

{
      PWMCFG &= ~0x80; //清中斷標志

   _push_(P_SW2);

   P_SW2 |= 0x80;

   PWM0T2 = val;
   PWM1T2 = val;
   PWM2T2 = val;
   PWM3T2 = val;
   PWM4T2 = val;
   PWM5T2 = val;
   PWM6T2 = val;
   PWM7T2 = val;

   _pop_(P_SW2);
}
}


/***********************************************************************/
void INT0_Isr() interrupt 0
{
   if((P32==0)&&(P33==1)) ccw=1,cw=0;
   else ccw=0;

   if((P32==0)&&(P33==0)) cw=1,ccw=0;
   else  cw=0;

if(ccw==1)
      {
         val+=val1;
         if (val >=30000) val=0 ;
      }

      if(cw==1)
      {
   val-=val1;
      if (val <=0) val=30000;
      }
}

/*
void INT1_Isr() interrupt 2
{

}
*/

void INT2_Isr() interrupt 10

{
   P50=!P50;
   P51=!P51;
}

/*

void INT3_Isr() interrupt 11
  {
   P60 = !P60; //測試端口
  }

void INT4_Isr() interrupt 16
{
   P60 = !P60; //測試端口
}
*/

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