#include

#define uint unsigned int

#define uchar unsigned char

#define ZKB 6 //占空比初始值設(shè)定

#define max_time 100 //設(shè)置超出時(shí)間

sbit gd1=P1^0; //光電開(kāi)關(guān)被擋住是高電平，沒(méi)有被擋住是低電平

sbit gd2=P1^1; //光電開(kāi)關(guān)被擋住是高電平，沒(méi)有被擋住是低電平

sbit en=P1^2; //步進(jìn)電機(jī)使能端，高電平工作，低電平不工作

sbit zx=P1^3; //高電平步進(jìn)電機(jī)正轉(zhuǎn)，低電平步進(jìn)電機(jī)反轉(zhuǎn)

sbit clock=P1^4; //步進(jìn)電機(jī)頻率端口

sbit lcdrs=P2^3; //LCD1602端口定義

sbit lcdrw=P2^4; //LCD1602端口定義

sbit lcden=P2^5; //LCD1602端口定義

uchar k=0;

uchar j=0;

uchar flag=0; //標(biāo)志位

uint avr_time; //定義平均時(shí)間

uchar num; //定義液晶顯示循環(huán)變量

uint zheng=0,fan=0; //正反轉(zhuǎn)次數(shù)置零

uint shijian[51]; //定義時(shí)間數(shù)組

uchar code table2[]="forward: "; //LCD1602顯示數(shù)組

uchar code table3[]="backward: "; //LCD1602顯示數(shù)組

uchar code table4[]=" error! "; //LCD1602顯示數(shù)組

void timer_init()

{

TMOD=0x11; //定時(shí)器模式設(shè)置

TH0=0xFF; //寫(xiě)入定時(shí)器0初始值

TL0=0x9C;

TH1=(65536-50000)/256; //寫(xiě)入定時(shí)器1初始值

TL1=(65536-50000)%6;

ET0=1; //允許定時(shí)器0中斷

TR0=1; //啟動(dòng)定時(shí)器0

ET1=1; //允許定時(shí)器1中斷

TR1=1; //啟動(dòng)定時(shí)器1

EA=1; //允許總中斷

}

uint data_pro(void)

{

uchar i;

uint avr=0;

for(i=1;i<51;i++)

{

avr+=shijian[i];

}

avr=avr/50;

return avr;

}

void delay_50us(uint t)

{

uint y;

for(;t>0;t--)

for(y=19;y>0;y--);

}

void write_com(uchar com)

{

lcdrs=0;

lcdrw=0;

lcden=0;

P0=com;

delay_50us(10);

lcden=1;

delay_50us(20);

lcden=0;

}

void write_data(uchar date)

{

lcden=0;

lcdrs=1;

lcdrw=0;

P0=date;

delay_50us(10);

lcden=1;

delay_50us(20);

lcden=0;

}

void init()

{

write_com(0x38);

delay_50us(100);

write_com(0x01);

delay_50us(100);

write_com(0x06);

delay_50us(100);

write_com(0x0f);

delay_50us(100);

}

void write_zheng(uchar add,uchar date)

{

uchar qian,bai,shi,ge;

qian=date/1000;

bai=date00/100;

shi=date0/10;

ge=date;

write_com(0x80+add);

write_data(0x30+qian);

write_data(0x30+bai);

write_data(0x30+shi);

write_data(0x30+ge);

}

void write_fan(uchar add,uchar date)

{

uchar qian,bai,shi,ge;

qian=date/1000;

bai=date00/100;

shi=date0/10;

ge=date;

write_com(0x80+0x40+add);

write_data(0x30+qian);

write_data(0x30+bai);

write_data(0x30+shi);

write_data(0x30+ge);

}

void main()

{

timer_init(); //定時(shí)器初始化

delay_50us(300); //液晶初始化前延時(shí)一段時(shí)間

init(); //液晶初始化

write_com(0x80); //寫(xiě)地址

for(num=0;num<16;num++) //顯示

{

write_data(table2[num]);

delay_50us(100);

}

write_com(0x80+0x40);

for(num=0;num<16;num++)

{

write_data(table3[num]);

delay_50us(100);

}

write_zheng(12,zheng); //初始顯示零

write_fan(12,fan); //初始顯示零

en=1; //上電后，電機(jī)馬上啟動(dòng)

zx=1; //正轉(zhuǎn)

zheng++; //正轉(zhuǎn)次數(shù)加1

write_zheng(12,zheng); //顯示修改后，正轉(zhuǎn)次數(shù)

while(1)

{

if(gd2==1) //碰到光電開(kāi)關(guān)2

{

zx=0; //反轉(zhuǎn)

fan++; //反轉(zhuǎn)次數(shù)加1

write_fan(12,fan); //顯示修改后，反轉(zhuǎn)次數(shù)

}

if(gd1==1) //碰到光電開(kāi)關(guān)1

{

TR1=0; //關(guān)定時(shí)器1

en=0; //停止電機(jī)轉(zhuǎn)動(dòng)

shijian[j++]=k; //記錄一次時(shí)間

if(j==51) //記錄完50次，求平均值

{

avr_time=data_pro();

}

if(flag==0) //標(biāo)志位

{

k=0; //中斷數(shù)據(jù)清0

TH1=(65536-50000)/256; //重裝定時(shí)器初值

TL1=(65536-50000)%6;

TR1=1; //再次啟動(dòng)定時(shí)器1

zx=1; //正轉(zhuǎn)

en=1; //電機(jī)啟動(dòng)

zheng++; //正轉(zhuǎn)次數(shù)加1

write_zheng(12,zheng); //顯示修改后，正轉(zhuǎn)次數(shù)

}

}

if(j>51) //記錄完50次后，每次都要比較是否超出規(guī)定的時(shí)間

{

if((k-avr_time)>max_time) //如果大于額定時(shí)間

{

en=0; //電機(jī)停止轉(zhuǎn)動(dòng)

write_com(0x80+0x40);//液晶顯示錯(cuò)誤

for(num=0;num<16;num++)

{

write_data(table4[num]);

delay_50us(100);

}

}

}

}

}

void timer0() interrupt 1

{

static uchar i=0;

TH0=0xFF;

TL0=0x9C;

++i;

if (i>10) i=0;

if (i<=ZKB)

clock=0;

else

clock=1;

}

void timer1() interrupt 3

{

TH1=(65536-50000)/256;

TL1=(65536-50000)%6;

k++;

}