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//-----------------------------------------------------------------
// 名稱:步進電機(28BYJ-48)程序
//-----------------------------------------------------------------
//---1~9檔的轉速------------------------------------------------
//DEE4 定時時間 8.476ms , 轉速 1.73r/min
//E1EC 定時時間 7.7ms , 轉速 1.90r/min
//E5D4 定時時間 6.7ms, 轉速 2.19r/min
//E9BC 定時時間 5.7ms, 轉速 2.57r/min
//EDA4 定時時間 4.7ms, 轉速 3.12r/min
//F18C 定時時間 3.7ms, 轉速 3.96r/min
//F574 定時時間 2.7ms, 轉速 5.43r/min
//F95C 定時時間 1.7ms, 轉速 8.62r/min
//FC18 定時時間 1ms , 轉速 14.65r/min
//-----------------------------------------------------------------
//轉一圈需要節拍數：360/(5.625/64) = 4096 個節拍
//轉速r/min = (60*1000) / (4096 * 定時時間)
//-----------------------------------------------------------------
#include "Key.h"
//0~9 的共陽數碼管段碼，最后一個是黑屏
const uchar SEG_CODE[] = {0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90,0xFF};
//輸出勵磁序列的頻率參數{TH1,TL1}
const uchar Timer[9][2]={{0xDE,0xE4},{0xE1,0xEC},{0xE5,0xD4},{0xE9,0xBC}, //8.476 ~ 1ms
{0xEd,0xA4},{0xF1,0x8C},{0xF5,0x74},{0xF9,0x5C},{0xFC,0x18}};
//步進電機正轉的勵磁序列
const uchar FFW[] = {0x1F,0x3F,0x2F,0x6F,0x4F,0xCF,0x8F,0x9F}; //DCBAXXXX
//步進電機反轉的勵磁序列
const uchar REV[] = {0x9F,0x8F,0xCF,0x4F,0x6F,0x2F,0x3F,0x1F}; //DCBAXXXX
//枚舉變量--正反轉標志
typedef enum
{FwdRun, RevRun} RunFlag;
RunFlag flag1 = FwdRun;
uchar speed = 0;
//函數聲明
void T0_Init(); //定時器0初始化函數聲明
void T1_Init(); //定時器1初始化函數聲明
void KeyService(); //按鍵服務函數聲明
void delay_ms(uint t); //毫秒延時函數聲明
//-----------------------------------------------------------------
// 主程序
//-----------------------------------------------------------------
void main()
{
T0_Init(); //定時器0初始化
T1_Init(); //定時器1初始化
FWD_LED = 0; //正轉指示燈亮，默認初始化是正轉
delay_ms(500); //延時500ms，待各個模塊上電穩定
EA = 1; //開啟中斷
while(1)
{
KeyService(); //按鍵服務程序
}
}
//-----------------------------------------------------------------
// Timer0 初始化，模式1，允許中斷，1ms定時
// Timer0 用于按鍵掃描
//-----------------------------------------------------------------
void T0_Init()
{
TMOD &= 0xF0;
TMOD |= 0x01; //T0工作于模式1,16位定時器
TH0 = (65536 - 1000) >> 8; //1ms定時
TL0 = (65536 - 1000) & 0xFF;
ET0 = 1; //允許T0中斷
TR0 = 1; //啟動T0
}
//-----------------------------------------------------------------
// Timer1 初始化，模式1，允許中斷
// Timer1 用于改變步進電機轉速
//-----------------------------------------------------------------
void T1_Init()
{
TMOD &= 0x0F;
TMOD |= 0x10; //定時器1工作于模式1,16位定時器
TH1 = Timer[speed][0];
TL1 = Timer[speed][1]; //定時器1，定時用于步進電機轉速控制
ET1 = 1; //允許T1中斷
PT1 = 1; //定時器1優先級高
TR1 = 0; //關閉定時器1
}
//-----------------------------------------------------------------
// Timer0 中斷服務程序
//-----------------------------------------------------------------
void InterruptTime0() interrupt 1
{
TH0 = (65536 - 1000) >> 8; //1ms
TL0 = (65536 - 1000) & 0xFF;
KeyScan(); //按鍵掃描
}
//-----------------------------------------------------------------
// Timer1 中斷服務程序
//-----------------------------------------------------------------
void InterruptTime1() interrupt 3
{
static step1 = 0;
static step2 = 0;
TH1 = Timer[speed - 1][0]; //根據不同的轉速檔位，給定時器1賦定時器值
TL1 = Timer[speed - 1][1];
//按照定時器1的頻率循環發送正轉勵磁序列的脈沖給步進電機，使其不停地轉動
if(flag1 == FwdRun)//正轉
{
MotorDriver = FFW[step1++];
if(step1 == 8) step1 = 0;
}
//按照定時器1的頻率循環發送反轉勵磁序列的脈沖給步進電機，使其不停地轉動
else if(flag1 == RevRun)
{
MotorDriver = REV[step2++];
if(step2 == 8) step2 = 0;
}
}
//-----------------------------------------------------------------
// 按鍵服務程序
//-----------------------------------------------------------------
void KeyService()
{
switch (KeyCode)
{
case 1: flag1 = FwdRun; //正轉
FWD_LED = 0; REV_LED = 1; //正轉指示燈亮
KeyCode = 0;
break;
case 2: flag1 = RevRun; //反轉
FWD_LED = 1; REV_LED = 0; //反轉指示燈亮
KeyCode = 0;
break;
case 3: speed++; //速度加
if(speed == 10) speed = 1;
SpeedShow = SEG_CODE[speed];
if(TR1 == 0) TR1 = 1;
KeyCode = 0;
break;
case 4: speed--; //速度減
if(speed == 0 || speed == -1 ) speed = 9;
SpeedShow = SEG_CODE[speed];
if(TR1 == 0) TR1 = 1;
KeyCode = 0;
break;
case 5: TR1 = 0; //停止
SpeedShow = 0xFF;
MotorDriver = 0x00;
KeyCode = 0;
break;
default: ;
}
}
//-----------------------------------------------------------------
//函數名稱： void delay_ms(uint t)
//函數功能: 延時ms程序(粗略)
//調用子函數: 無
//輸入參數: t
//返回值: 無
//-----------------------------------------------------------------
void delay_ms(uint t)
{
uchar i; while(t--) for(i = 0; i < 125; i++);
}

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//-----------------------------------------------------------------
// 名稱:按鍵處理程序(獨立鍵盤)
//-----------------------------------------------------------------
#include "Key.h"
uchar KeyCode = 0; //按鍵編碼值
//共5個獨立機械按鍵,通過短按實現5種按鍵編碼值
uint KeyTimeCnt[5] = {0,0,0,0,0}; //按鍵去抖動延時計數器,分別對應KEY1/2/3/4/5
uchar KeyLock[5] = {0,0,0,0,0}; //按鍵觸發后自鎖的變量標志,分別對應KEY1/2/3/4/5
//-----------------------------------------------------------------
//函數名稱： void KeyScan()
//函數功能: 按鍵掃描程序,放在定時中斷里，可較快實現按鍵響應
//調用子函數: 無
//輸入參數: 無
//返回值: 無，說明:返回的按鍵編碼值保存在KeyCode變量里
//-----------------------------------------------------------------
void KeyScan()
{
//------KEY1實現-------------------------------------------------
if(KEY1 == 1) //IO是高電平，說明按鍵沒有被按下，這時要及時清零一些標志位
{ KeyLock[0] = 0; //按鍵自鎖變量標志清零
KeyTimeCnt[0] = 0; //按鍵去抖動延時計數器清零
}
else if(KeyLock[0] == 0)
{
KeyTimeCnt[0]++;
if(KeyTimeCnt[0] > KEY_TIME_SHORT)
{
KeyTimeCnt[0] = 0;
KeyLock[0] = 1; //自鎖按鍵置位,避免一直觸發
KeyCode = 1;
}
}
//------KEY2實現-----------------------------------
if(KEY2 == 1)
{ KeyLock[1] = 0;
KeyTimeCnt[1] = 0;
}
else if(KeyLock[1] == 0)
{
KeyTimeCnt[1]++;
if(KeyTimeCnt[1] > KEY_TIME_SHORT) //消抖
{
KeyTimeCnt[1] = 0; //按鍵去抖動延時計數器清零
KeyLock[1] = 1; //自鎖按鍵置位,避免一直觸發
KeyCode = 2;
}
}
//------KEY3實現-----------------------------------
if(KEY3 == 1)
{ KeyLock[2] = 0;
KeyTimeCnt[2] = 0;
}
else if(KeyLock[2] == 0)
{
KeyTimeCnt[2]++;
if(KeyTimeCnt[2] > KEY_TIME_SHORT)
{
KeyTimeCnt[2] = 0;
KeyLock[2] = 1;
KeyCode = 3;
}
}
//------KEY4實現-----------------------------------
if(KEY4 == 1)
{ KeyLock[3] = 0;
KeyTimeCnt[3] = 0;
}
else if(KeyLock[3] == 0)
{
KeyTimeCnt[3]++;
if(KeyTimeCnt[3] > KEY_TIME_SHORT)
{
KeyTimeCnt[3] = 0;
KeyLock[3] = 1;
KeyCode = 4;
}
}
//------KEY5實現-----------------------------------
if(KEY5 == 1)
{ KeyLock[4] = 0;
KeyTimeCnt[4] = 0;
}
else if(KeyLock[4] == 0)
{
KeyTimeCnt[4]++;
if(KeyTimeCnt[4] > KEY_TIME_SHORT)
{
KeyTimeCnt[4] = 0;
KeyLock[4] = 1;
KeyCode = 5;
}
}
}

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