51单片机 步进电机旋转角度控制

#include

typedefunsignedcharuchar;

typedefunsignedintuint;

typedefunsignedlongulong;

ucharcodebeatCode[8]={

0xE,0xC,0xD,0x9,0xB,0x3,0x7,0x6

};

ulongbeats=0;

ucharT0RH=0,T0RL=0;

voidturnMotor(ulongangle){

EA=0;

beats=angle*4076/360;

EA=1;

}

voidsetTimer0(uintms){

ulongtmp;

tmp=11059326/12;

tmp=tmp*ms/1000;

tmp=65536-tmp;

tmp+=28;

T0RL=tmp;

T0RH=tmp>>8;

}

voidinterruptTimer0()interrupt1{

staticucharindex=0;

TH0=T0RH;

TL0=T0RL;

if(beats){

uchartmp=P1;

tmp&=0xF0;

tmp|=beatCode[index];

P1=tmp;

index=++index&0x07;

beats--;

}

else{

P1|=0x0F;

}

}

voidmain(){

EA=1;

TMOD=0x01;

setTimer0(2);

TH0=T0RH;

TL0=T0RL;

ET0=1;

TR0=1;

turnMotor(2*360+180);

while(1);

}

下面是使用库函数循环左移实现的：

#include

#include

typedefunsignedcharuchar;

typedefunsignedintuint;

typedefunsignedlongulong;

ulongbeats=0;

ucharT0RH=0,T0RL=0;

voidturnMotor(ulongangle){

EA=0;

beats=angle*4076/360;

EA=1;

}

voidsetTimer0(uintms){

ulongtmp;

tmp=11059326/12;

tmp=tmp*ms/1000;

tmp=65536-tmp;

tmp+=28;

T0RL=tmp;

T0RH=tmp>>8;

}

voidinterruptTimer0()interrupt1{

staticucharbeatCode=0x33;

TH0=T0RH;

TL0=T0RL;

if(beats){

uchartmp=P1;

tmp&=0xF0;

beatCode=_crol_(beatCode,1);

tmp|=beatCode;

P1=tmp;

beats--;

}

else{

P1|=0x0F;

}

}

voidmain(){

EA=1;

TMOD=0x01;

setTimer0(2);

TH0=T0RH;

TL0=T0RL;

ET0=1;

TR0=1;

turnMotor(2*360+180);

while(1);

}