基于Mega128编码器控制步进电机的平衡系统

这里是delay.h
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//根据CPU时钟频率选择
#ifndef F_CPU
//#define F_CPU 7372800
//#define F_CPU 8000000
//#define F_CPU 11059200
//#define F_CPU 12000000
#define F_CPU 16000000
#endif



//------------------------------------------------------------------------------
//1、2、3、5和10us的精确延时，用于需要精确时间的场合，比如DS18B20
//------------------------------------------------------------------------------
#if   F_CPU == 7372800
#define DELAY_1US NOP();NOP();NOP();NOP();NOP();NOP();NOP()
#define DELAY_2US DELAY_1US;DELAY_1US
#define DELAY_3US DELAY_1US;DELAY_1US;DELAY_1US
#define DELAY_5US DELAY_2US;DELAY_3US
#define DELAY_10US DELAY_5US;DELAY_5US

#elif F_CPU == 8000000
#define DELAY_1US NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP()
#define DELAY_2US DELAY_1US;DELAY_1US
#define DELAY_3US DELAY_1US;DELAY_1US;DELAY_1US
#define DELAY_5US DELAY_2US;DELAY_3US
#define DELAY_10US DELAY_5US;DELAY_5US

#elif F_CPU == 11059200
#define DELAY_1US NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP()
#define DELAY_2US DELAY_1US;DELAY_1US
#define DELAY_3US DELAY_1US;DELAY_1US;DELAY_1US
#define DELAY_5US DELAY_2US;DELAY_3US
#define DELAY_10US DELAY_5US;DELAY_5US

#elif F_CPU == 12000000
#define DELAY_1US NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP()
#define DELAY_2US DELAY_1US;DELAY_1US
#define DELAY_3US DELAY_1US;DELAY_1US;DELAY_1US
#define DELAY_5US DELAY_2US;DELAY_3US
#define DELAY_10US DELAY_5US;DELAY_5US

#elif F_CPU == 16000000
#define DELAY_1US NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP()
#define DELAY_2US DELAY_1US;DELAY_1US
#define DELAY_3US DELAY_1US;DELAY_1US;DELAY_1US
#define DELAY_5US DELAY_2US;DELAY_3US
#define DELAY_10US DELAY_5US;DELAY_5US
#endif


//------------------------------------------------------------------------------
//函数声明
//------------------------------------------------------------------------------

void delay_nus(unsigned int);//<10us时误差较大，用于无须精确延时的场合

void delay_nms(unsigned int);


#endif//__DELAY_H


====================================================================
 这里是delay.c
====================================================================
//|文件名称|delay.c
//|--------|--------------------------------------------------------------------
//|描    述|延时文件
//|--------|--------------------------------------------------------------------
//|说    明|delay_us(unsigned int time)用于不需精确定时的场合,<10us时误差较大
//|        |若要精确定时用delay.h里的宏
//|--------|--------------------------------------------------------------------
//|调用文件|delay.h
//|--------|--------------------------------------------------------------------
//|作    者|
//|--------|--------------------------------------------------------------------
//|版    本|
//|--------|--------------------------------------------------------------------
//|时    间|
//|--------|--------------------------------------------------------------------
//|E-mail  |
//|--------|--------------------------------------------------------------------
//|开发环境|ICCAVR6.31
//==============================================================================

#include "delay.h"

#if F_CPU == 7372800
void delay_nus(unsigned int time)
{
  unsigned int i;
  for(i=0;i


/*步进电机旋转一周子函数*/
void one_circle(void)
{
  unsigned int i;
for(i=0;i<3200;i++)
{
EN_1;
delay_us(100);
EN_0;
delay_us(100);
}
}
/*步进电机根据编码器计算的数值旋转任意角度子函数*/
void circle(unsigned int xcircle)
{
  unsigned int i,j;
for(j=0;j
#include
#include

//一些变量的定义
int k=0;
unsigned int x=1,d=0,c=0,cir=0;
unsigned int a,aa,q,angle=0,p=0;
//595（数码管）显示数组
unsigned char led[]=
{
0x3F, // 0
0x06, // 1
0x5B, // 2
0x4F, // 3
0x66, // 4
0x6D, // 5
0x7D, // 6
0x07, // 7
0x7F, // 8
0x6F, // 9
};
//外部中断0~3向量号码
#pragma interrupt_handler Zhongduan_0:2
#pragma interrupt_handler Zhongduan_1:3
#pragma interrupt_handler Zhongduan_2:4

//端口输入输出初始化
void init_xianshi(void)
{
DDRA=0XFF;
DDRB=0XFF;//595控制口
DDRC=0XFF;//正反转提示LED
PORTC=0XFF;//LED初始化（暗）
}


//595串入一字节并处发送一字节子函数
void send_595(unsigned char dat)
{
   unsigned char i;
   LCK_0;
   SDI_1;
   SCK_0;
   //上面的三条语句为了初始化端口状态
   for(i=0;i<8;i++)
   {
    LCK_0;//时钟线拉低
 
    if(dat&0x80)
        SDI_1;
     else SDI_0;
     dat=dat<<1;
   delay_us(100);  
    LCK_1;          //时钟线拉高将数据读入595的移位寄存器    
    delay_us(100); 
   }
   SCK_1; //发送数据到并行端口
   SCK_0;   
}

void jiaoduzhuanhuan(void)
{
  init_xianshi();
  EIMSK=0X0F;
  EICRA=0XAA; 
 while(1)
  { 
 if(a!=aa) /*如果有角度变化就执行下面的程序*/
 {
angle++;
 
if(!(PING&0X04))
cir++; 
while(cir)
{
if(!k)
  {
   delay_ms(800);
 if(d<=3)
     one_circle();
 d++;
  }
 }  
 
 if(!(PING&0X02))
 {
 while(PING&0X01)
 {
   DIR_0;
  circle(1);
   p++;
   while(p==angle);
 }
  while(PING&0X01);
 if(q=-1)//正转
 DIR_1;
 circle(1);

 if(q==1)  //反转
 DIR_1;
 }
 
  aa=a;
 

  if(!x)
  {
PORTC=0X00;
  }
  }
  /*下面为数码管显示编码器当前计数的数值*/
  PORTA=0X08; 
  send_595(0x00);
  send_595(led[abs(k)%10]);
  PORTA=0X01; 
  send_595(0x00);
  send_595(led[(abs(k)%100)/10]);
  PORTA=0X02; 
  send_595(0x00);
  send_595(led[(abs(k)%1000)/100]);
  PORTA=0X04; 
  send_595(0x00);
  send_595(led[abs(k)/1000]);
SEI(); /*使能中断*/
  } 
}

 void Zhongduan_0(void)
 {
  CLI();
  x=0;
 ////////////////// 
  if(PIND&0X02)
  q=-1;
  if(!(PIND&0X02))
  q=1;
  ////////////////
  k=k+q;
  SEI();
 }

 void Zhongduan_1(void)
 {
 CLI();

 if(PIND&0X01)
 q=1;
 k=k+q;
 if(abs(k)==10000)
 {
   k=0;
 }
 a=k;
 //EIMSK=0X0E;
 SEI();
 }
 void Zhongduan_2(void)
 {
  CLI();
  k=0;
  SEI();
  }
====================================================================
 这里是main.c
====================================================================
#include
#include
#include"delay.h"
#include"caiji.h"
#include"dianji.h"

void init(void)
{
  DDRC=0X03;
PORTC=0X00;
}

void main(void)
{
  init();     //初始化子函数
  jiaoduzhuanhuan(); //主程序的实现
}
====================================================================