czoowl 

 这是1.02版程序,请大家帮我看看,有什么不好的习惯,用法请大家指出来,谢谢!
/************************************************************
SAmain.c
摘要: 新背投六轴控制程序
当前版本: 1.02
Writer: czoowl
完成日期: 2006/09/06
开始编写日期: 2006/08/29
功能简介: 
          V1.01:
          按下按键1，切换方波输出通道；按下按键2，发方波，先发一个脉冲，
          如果检测到按键没有抬起，过毫秒后则连续发方波。

          V1.02:
          增加了按住按键后加速运动的功能，初始速度为10Hz，最高速为337Hz。
          硬件上加了一个CD4024分频器进行32分频。
************************************************************/
#define uchar unsigned char
#define uint unsigned int
//#include "89c55wd.h"

#include   <AT89X55.H>  
uchar bdata g_channel_num = 0x07;  //选择哪个通道输出方波
uchar bdata g_work_flag = 0x00;
sbit g_one_step_flag = g_work_flag^0;  // 1:single step complete
sbit g_run_stop_flag = g_work_flag^1;    // 1:run     0:stop

uchar bdata g_key_flag = 0x00;
sbit g_key_channel_flag = g_key_flag^0;  //一次按键切换通道一次

uchar bdata g_run_flag = 0x00;
sbit g_speed_up_down_flag = g_run_flag^0;  //1: speed up     0: speed down

uint bdata g_pulse_frequency = 0xF000;    //the frequency of pulse

void Delay(uchar h_data)  //延时程序，h_data = 1时为1.12ms。
{
   uchar bdata l_data = 0x00;
   while (h_data--)
   {
      for (l_data=0x00; l_data  <0x80; l_data++);
   }
}

void Initialize(void)   //初始化
{
   EA = 0;
   TR0 = 0;
   TR1 = 0;
   ET0 = 1;
   ET1 = 1;
   TMOD = 0x52;
   T2CON = 0x00;
   T2MOD = T2MOD|0x02;
   RCAP2H = 0xF0;
   RCAP2L = 0x00;
   g_pulse_frequency = 0xF000;
   g_run_stop_flag = 0;
   TH1 = 0xff;
   TL1 = 0xff;
   TH0 = 0x00;
   TL0 = 0x00;
   while (T1)  //等待脉冲为低电平
   {
      TR2 = 1;
   }
   TR2 = 0;
   T2 = 0;
}

uchar Keyscan(void)  //按键扫描程序
{
   uchar bdata p1_bak = 0x00;
   uchar bdata result = 0x00;
   if ((P1 & 0x0c) != 0x0c)
   {
      Delay(0x09);
      if ((P1 & 0x0c) != 0x0c)  //去抖 10ms
      {
          p1_bak = P1 & 0x0c;
          if (0x08 == p1_bak) result = 0x01;
          if (0x04 == p1_bak) result = 0x02;
      }
   }
   return (result);
}

void Frequency_change (uint t2_frequency)  //把设定的频率值给定
{
   RCAP2L = (t2_frequency & 0x00ff);
   RCAP2H = (t2_frequency>  >  8);
}

void Main(void)  //主程序
{
   uchar bdata key_order = 0x00;
   uchar bdata i, j;
   uchar bdata onestep_delay = 0x00;
   Initialize();
   EA = 1;
   while (1)
   {
      key_order = Keyscan();
      if (0x01 == key_order)  //按键1，方波输出通道切换
      {
         if (g_key_channel_flag)
         {
            g_channel_num++;
            if (g_channel_num >   0x07) 
            {
               g_channel_num = 0x00;
            }
              
            switch (g_channel_num)
            {
               case 0:
                  P1_4 = 0;
                  P1_5 = 0;
                  P1_6 = 0;
                  break;
               case 1:
                  P1_4 = 1;
                  P1_5 = 0;
                  P1_6 = 0;
                  break;
               case 2:
                  P1_4 = 0;
                  P1_5 = 1;
                  P1_6 = 0;
                  break;
               case 3:
                  P1_4 = 1;
                  P1_5 = 1;
                  P1_6 = 0;
                  break;
               case 4:
                  P1_4 = 0;
                  P1_5 = 0;
                  P1_6 = 1;
                  break;
               case 5:
                  P1_4 = 1;
                  P1_5 = 0;
                  P1_6 = 1;
                  break;
               case 6:
                  P1_4 = 0;
                  P1_5 = 1;
                  P1_6 = 1;
                  break;
               default:
                  P1_4 = 1;
                  P1_5 = 1;
                  P1_6 = 1;
            }//end of switch (g_channel_num);
            g_key_channel_flag = 0;  //防止一次按键执行两次命令
         }
      }//end of if (0x01 == key_order)
      else if (0x02 == key_order)  //按键2，发方波
      {
         if (!g_run_stop_flag)  //如果原来是停止状态，先发一个脉冲，单步走一下
         {
            RCAP2H = 0xF0;
            RCAP2L = 0x00;
            TH1 = 0xff;
            TL1 = 0xff;
            TR1 = 1;
            TR2 = 1;
            g_one_step_flag = 0;
            g_run_stop_flag = 1;
            i = 0x00;
            j = 0x00;
            while (!g_one_step_flag)  //等待第一个脉冲发完
            {
               i++;
               if (0 == i) 
               {
                  j++;
               }
               if (0xff == j) 
               {
                  break;  //超时退出
               }             
            }                
         }    
         else  //发完一个脉冲后，进入连续发状态
         {    
            onestep_delay++;
            Delay(0x10);
            if (0x05 == onestep_delay)  //判断单步之后的延世到了否
            {
               TR2 = 1;
               TR0 = 1;
            }
            
         }
      }//end of if (0x02 == key_order)
      else  //无按键，电机停转
      {
         while (T1)  //等待脉冲为低电平
         {
            TR2 = 1;
         }
         TR2 = 0;
         T2 = 0;
         TR1 = 0;
         TH1 = 0xff;
         TL1 = 0xff;
         g_run_stop_flag = 0;  //STOP
         g_speed_up_down_flag = 1;  //Speed Up
         g_pulse_frequency = 0xF000;
         g_key_channel_flag = 1;
         onestep_delay = 0x00;
      }
   }//end while (1)
}//end main

/*
void Ext0_int(void) interrupt 0 using  1  //EXT0，用来检测第一个脉冲
{
}

*/
void T0_int (void) interrupt 1 using 2  //T0中断，用来加减速
{
   if (0 == g_speed_up_down_flag)  //减速，暂时未用
   {
      g_pulse_frequency -= 0x02;
      if (g_pulse_frequency   < 0xF000)
      {
         while (T1)  //等待脉冲为低电平
         {
            TR2 = 1;
         }
         TR2 = 0;
         T2 = 0;
         TR0 = 0;
         g_pulse_frequency = 0xF000;
      }
      Frequency_change(g_pulse_frequency);
   }
   else  //加速
   {
      g_pulse_frequency += 0x02;
      if (g_pulse_frequency >   0xFF00)
      {
         TR0 = 0;
         g_pulse_frequency = 0xFF00;
      }
      Frequency_change(g_pulse_frequency);
   }
}

void T1_int (void) interrupt 3 using 3  //T1中断，用来测移动的位移和单步
{
   while (T1)  //等待脉冲为低电平
   {
      TR2 = 1;
   }
   TR2 = 0;
   T2 = 0;
   g_one_step_flag = 1;
}


发表时间:2006年9月7日16:41:25