1066 lines
65 KiB
Plaintext
1066 lines
65 KiB
Plaintext
C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 1
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C51 COMPILER V9.59.0.0, COMPILATION OF MODULE MOTOR
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OBJECT MODULE PLACED IN ..\Output\motor.obj
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COMPILER INVOKED BY: D:\Keil_v5\C51\BIN\C51.EXE ..\Apps\motor.c LARGE OBJECTADVANCED OPTIMIZE(8,SIZE) BROWSE INCDIR(..\F
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-WLib\SC92F_Lib\inc;..\User;..\Apps;..\Apps;..\User) DEFINE(SC92F836xB) DEBUG PRINT(..\List\motor.lst) OBJECT(..\Output\m
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-otor.obj)
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line level source
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1 #include "motor.h"
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2
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3 #define STEP_LIN 16 //直行程步长单位数值（脉冲数）
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4 #define STEP_ROT 20 //角行程步长单位数值（脉冲数）
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5 #define DATA_LEN 10 //角行程步长单位数值（脉冲数）
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6
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7 bit Travle_Flag = 0; //0 直 1 角
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8 char xdata Motor_Run = 0; //0 停止 1 运行 2 运行到起始点 3 运行到结束点
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9 char xdata Run_Mode = 0; //0 点动 1 方案一 2 方案二
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10 unsigned int xdata Run_Step = 0; //电机运行步长
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11 unsigned int xdata Run_Inter = 0; //电机运行间隔时长
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12 unsigned int xdata Run_Stop = 0; //到“结束点”后，停止时间
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13 unsigned int xdata Run_mm = 0; //行进长度（mm）/转动角度（°）
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14 unsigned int xdata Run_num = 0; //角行程电机转动圈数
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15 unsigned int xdata ct_num = 0; //磁条长度
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16
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17 bit mov_flag = 0; //脉冲标志
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18 bit send_flag = 0; //发送标志
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19 bit seat_flag = 0; //位置标志
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20 bit motor_dire = 1; //电机转动方向
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21 bit flag = 0;
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22
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23
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24 //步骤
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25 unsigned char xdata Runmotor_step = 0;
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26
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27 //次数
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28 unsigned int xdata Runmotor_Nums = 0;
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29
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30 //电机启动
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31 void motor_start(void)
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32 {
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33 1 GPIO_Init(GPIO1, GPIO_PIN_7,GPIO_MODE_OUT_PP);//脉冲引脚设置为输出模式，电机可收到脉冲信号
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34 1 GPIO_WriteHigh(GPIO1,GPIO_PIN_7);
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35 1 motor_data[1] = 0x01;//电机启动，对应数据01
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36 1 }
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37
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38 //电机停止
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39 void motor_stop(void)
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40 {
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41 1 GPIO_WriteHigh(GPIO1,GPIO_PIN_7);
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42 1 GPIO_Init(GPIO1, GPIO_PIN_7,GPIO_MODE_IN_HI);//脉冲引脚设置为输入模式，电机无法收到脉冲信号
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43 1 motor_data[1] = 0x00;//电机停止，对应数据00
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44 1 }
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45
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46 //正转
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47 void FWD(void)
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48 {
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49 1 GPIO_WriteLow(GPIO1,GPIO_PIN_6);//引脚电平置低，电机正转
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50 1 }
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51
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52 //反转
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53 void REV(void)
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C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 2
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54 {
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55 1 GPIO_WriteHigh(GPIO1,GPIO_PIN_6);//引脚电平置高，电机反转
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56 1 }
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57
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58
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59
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60 //清除电机标记
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61 void ClrRunmotorStep(void)
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62 {
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63 1 //步骤
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64 1 Runmotor_step = 0;
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65 1 //次数
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66 1 Runmotor_Nums = 0;
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67 1 //脉冲标记清0
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68 1 mov_flag = 0;
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69 1 //发送标记清0
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70 1 send_flag = 0;
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71 1 //位置标记清0
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72 1 seat_flag = 0;
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73 1 }
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74
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75 //处理马达运行
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76 void Deal_Motor(void)
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77 {
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78 1 //判断直行程还是角行程
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79 1 if(Travle_Flag == 0)//直行程——电机旋转一圈，磁条水平位移5mm
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80 1 {
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81 2 motor_data[0] = 0x00;//00 直行程 01 角行程
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82 2 //判断电机停止还是运行，运行到起始位还是结束位
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83 2 if( Motor_Run == 0)//停止
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84 2 {
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85 3 motor_stop();
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86 3 }
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87 2 else if(Motor_Run == 1)//运行
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88 2 {
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89 3 if(Motor_Run >= 1 && Runmotor_step == 0)
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90 3 {
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91 4 Runmotor_step = 1;
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92 4 }
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93 3
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94 3 //判断电机运行方式是点动还是连续，点动为方案三，方案一和方案二为连续
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95 3 if(Run_Mode == 0)//点动（方案三）
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96 3 {
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97 4 motor_data[2] = 0x00;//发送时反馈的数据
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98 4 mov_step();//点动
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99 4 }
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100 3 else if(Run_Mode == 1)//连续（方案一）“步长过大可能会越过限位开关”
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101 3 {
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102 4 motor_data[2] = 0x01;//发送时反馈的数据
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103 4 mov_loop1();//方案一
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104 4 }
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105 3 else if(Run_Mode == 2)//连续（方案二）“步长过大可能会越过限位开关”
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106 3 {
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107 4 motor_data[2] = 0x02;//发送时反馈的数据
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108 4 //磁条循环“起始点-结束点-起始点”，一定次数后停在起始点
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109 4 mov_loop2();//方案二
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110 4 }
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111 3 else//初始化
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112 3 {
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113 4 motor_stop();
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114 4 }
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115 3 }
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C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 3
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116 2 else if(Motor_Run == 2)//运行到起始位
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117 2 {
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118 3 mov_begin();//回到起始位
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119 3 }
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120 2 else if(Motor_Run == 3)//运行到结束位
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121 2 {
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122 3 mov_end();//移动至结束位
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123 3 }
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124 2 else//数据错误
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125 2 SC_Init();
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126 2 }
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127 1 else //角行程——电机旋转一圈，磁条旋转4°
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128 1 {
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129 2 motor_data[0] = 0x01;//00 直行程 01 角行程
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130 2 //判断电机停止还是运行，运行到起始位还是结束位
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131 2 if( Motor_Run == 0)//停止
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132 2 {
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133 3 motor_stop();
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134 3 }
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135 2 else if(Motor_Run == 1)//运行
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136 2 {
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137 3 if(Motor_Run >= 1 && Runmotor_step == 0)
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138 3 {
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139 4 Runmotor_step = 1;
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140 4 }
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141 3
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142 3 //判断电机运行方式是点动还是连续，点动为方案三，方案一和方案二为连续
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143 3 if(Run_Mode == 0)//点动（方案三）
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144 3 {
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145 4 motor_data[2] = 0x00;//发送时反馈的数据
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146 4 mov_step_ang();//电机点动运行
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147 4 }
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148 3 else if(Run_Mode == 1)//连续（方案一）
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149 3 {
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150 4 motor_data[2] = 0x01;//发送时反馈的数据
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151 4 mov_loop1_ang();//磁条旋转一圈
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152 4 }
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153 3 else if(Run_Mode == 2)//连续（方案二）
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154 3 {
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155 4 motor_data[2] = 0x02;//发送时反馈的数据
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156 4 if(seat_flag == 0)
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157 4 {
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158 5 if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0) //判断是否到达限位处
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159 5 {
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160 6 motor_stop(); //电机停止
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161 6 Run_mm = 0;
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162 6 seat_flag = 1;//位置标记
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163 6 }
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164 5 else
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165 5 {
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166 6 REV(); //反转
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167 6 motor_start(); //运行
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168 6 motor_mov(1); //提供脉冲信号
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169 6 }
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170 5 }
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171 4 else
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172 4 {
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173 5 mov_loop2_ang();//磁条旋转一圈
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174 5 }
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175 4 }
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176 3 else//初始化
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177 3 {
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C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 4
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178 4 motor_stop();
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179 4 }
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180 3 }
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181 2 else if(Motor_Run == 2 || Motor_Run == 3)//运行到起始位
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182 2 {
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183 3 mov_begin();//回到起始位
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184 3 }
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185 2 else//数据错误
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186 2 SC_Init();
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187 2 }
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188 1 }
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189
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190
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191 /*****************************************************
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192 *函数名称: motor_mov
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193 *函数功能: 电机速度控制
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194 *参数说明：speed 电机速度设定值，1为最快，5为最慢
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195 *****************************************************/
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196 void motor_mov(unsigned int speed)
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197 {
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198 1 switch(speed)//控制电机速度，设定有五档速度
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199 1 {
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200 2 //脉冲周期2ms
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201 2 case 1:
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202 2 {
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203 3 if(it_1ms_flag) //检查1ms定时标志
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204 3 {
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205 4 it_1ms_flag = 0;//定时标志清零
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206 4 if(mov_flag)
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207 4 {
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208 5 mov_flag = 0;
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209 5 GPIO_WriteHigh(GPIO1,GPIO_PIN_7);//P1.7引脚拉高
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210 5 }
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211 4 else
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212 4 {
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213 5 mov_flag = 1;
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214 5 GPIO_WriteLow(GPIO1,GPIO_PIN_7);//P1.7引脚拉低
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215 5 }
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216 4 Runmotor_Nums++; //运行次数
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217 4 }
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218 3 }
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219 2 break;
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220 2 //脉冲周期4ms
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221 2 case 2:
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222 2 {
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223 3 if(it_2ms_flag)//检查2ms定时标志
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224 3 {
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225 4 it_2ms_flag = 0;//定时标志清零
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226 4 if(mov_flag)
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227 4 {
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228 5 mov_flag = 0;
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229 5 GPIO_WriteHigh(GPIO1,GPIO_PIN_7);//P1.7引脚拉高
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230 5 }
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231 4 else
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232 4 {
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233 5 mov_flag = 1;
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234 5 GPIO_WriteLow(GPIO1,GPIO_PIN_7);//P1.7引脚拉低
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235 5 }
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236 4 Runmotor_Nums++; //运行次数
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237 4 }
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238 3 }
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239 2 break;
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C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 5
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240 2 //脉冲周期6ms
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241 2 case 3:
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242 2 {
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243 3 if(it_3ms_flag)//检查3ms定时标志
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244 3 {
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245 4 it_3ms_flag = 0;//定时标志清零
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246 4 if(mov_flag)
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247 4 {
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248 5 mov_flag = 0;
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249 5 GPIO_WriteHigh(GPIO1,GPIO_PIN_7);//P1.7引脚拉高
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250 5 }
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251 4 else
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252 4 {
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253 5 mov_flag = 1;
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254 5 GPIO_WriteLow(GPIO1,GPIO_PIN_7);//P1.7引脚拉低
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255 5 }
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256 4 Runmotor_Nums++; //运行次数
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257 4 }
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258 3 }
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259 2 break;
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260 2 //脉冲周期8ms
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261 2 case 4:
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262 2 {
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263 3 if(it_4ms_flag)//检查4ms定时标志
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264 3 {
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265 4 it_4ms_flag = 0;//定时标志清零
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266 4 if(mov_flag)
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267 4 {
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268 5 mov_flag = 0;
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269 5 GPIO_WriteHigh(GPIO1,GPIO_PIN_7);//P1.7引脚拉高
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270 5 }
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271 4 else
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272 4 {
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273 5 mov_flag = 1;
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274 5 GPIO_WriteLow(GPIO1,GPIO_PIN_7);//P1.7引脚拉低
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275 5 }
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276 4 Runmotor_Nums++; //运行次数
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277 4 }
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278 3 }
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279 2 break;
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280 2 //脉冲周期10ms
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281 2 case 5:
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282 2 {
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283 3 if(it_5ms_flag)//检查5ms定时标志
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284 3 {
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285 4 it_5ms_flag = 0;//定时标志清零
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286 4 if(mov_flag)
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287 4 {
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288 5 mov_flag = 0;
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289 5 GPIO_WriteHigh(GPIO1,GPIO_PIN_7);//P1.7引脚拉高
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290 5 }
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291 4 else
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292 4 {
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293 5 mov_flag = 1;
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294 5 GPIO_WriteLow(GPIO1,GPIO_PIN_7);//P1.7引脚拉低
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295 5 }
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296 4 Runmotor_Nums++; //运行次数
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297 4 }
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298 3 }
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299 2 break;
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300 2 default :
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301 2 break;
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C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 6
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302 2 }
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303 1 }
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304
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305
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306
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307 //电机连续运行，方案一（直行程）
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308 void mov_loop1(void)
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309 {
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310 1 if(Run_Step == 0) return;//步长不能为0
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311 1
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312 1 switch(Runmotor_step)
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313 1 {
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314 2 case 1 : //电机运行准备
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315 2 {
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316 3
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317 3 FWD(); //正转
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318 3 motor_dire = 1;
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319 3 Run_mm = 0;
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320 3 Run_num = 0;
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321 3 motor_data[2] = 0x00; //发送时反馈的数据
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322 3 Runmotor_Nums = 0; //运行次数
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323 3 mov_flag = 0;
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324 3 Runmotor_step++;
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325 3 }
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326 2 break;
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327 2 case 2 : //电机运行过程
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328 2 {
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329 3 if(GPIO_ReadPin(GPIO0,GPIO_PIN_5) == 0) //光栅信号判断
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330 3 {
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331 4 if(it_1s_flag) //检查1ms定时标志
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332 4 {
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333 5 it_1s_flag = 0;//定时标志清零
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334 5 Runmotor_Nums++;
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335 5 }
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336 4 if(Runmotor_Nums >= Run_Stop)//时间
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337 4 {
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338 5 Runmotor_step++;
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339 5 motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
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340 5 motor_data[9] = (Run_mm * Run_Step) & 0x00ff; //磁条长度低8位
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341 5 motor_seat(); //读取电机当前位置
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342 5 send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
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343 5 }
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344 4 }
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345 3 else
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346 3 {
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347 4 if(send_flag == 0)
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348 4 {
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349 5 send_flag = 1;
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350 5 motor_seat();//读取电机当前位置
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351 5 send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
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352 5 }
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353 4 motor_start(); //运行
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354 4 motor_mov(1); //运行1个脉冲
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355 4 Run_mm = 1; //磁条移动距离清0
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356 4 Runmotor_Nums = 0; //计数清零
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357 4 Runmotor_step = 6;
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358 4 }
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359 3 }
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360 2 break;
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361 2 case 3 : //延时
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362 2 {
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363 3 if(motor_dire == 1)
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C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 7
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364 3 {
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365 4 motor_start(); //运行
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366 4 motor_mov(1); //运行1个脉冲
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367 4 if(Runmotor_Nums >= (Run_Step * STEP_LIN))//运行一个步长，脉冲数由驱动器的细分数决定
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368 4 {
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369 5 Runmotor_Nums = 0; //计数清零
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370 5 motor_stop(); //马达停止
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371 5 motor_data[1] = 0x01; //电机启动，对应数据01
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372 5 motor_data[3] = 0x03; //电机方向——始终
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373 5 Run_mm++; //磁条移动距离加1
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374 5 ct_num = Run_mm; //磁条长度
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375 5 motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
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376 5 motor_data[9] = (Run_mm * Run_Step) & 0x00ff; //磁条长度低8位
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377 5 Runmotor_step++;
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378 5 }
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379 4 }
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380 3 else
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381 3 {
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382 4 motor_start(); //运行
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383 4 motor_mov(1); //运行1个脉冲
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384 4 if(Runmotor_Nums >= (Run_Step * STEP_LIN))//运行一个步长，脉冲数由驱动器的细分数决定
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385 4 {
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386 5 Runmotor_Nums = 0; //计数清零
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387 5 motor_stop(); //马达停止
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388 5 motor_data[1] = 0x01; //电机启动，对应数据01
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389 5 motor_data[3] = 0x04; //电机方向——终始
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390 5 ct_num = ct_num - 1; //磁条长度
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391 5 Run_mm = ct_num; //磁条移动距离减1
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392 5 motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
|
||
393 5 motor_data[9] = (Run_mm * Run_Step) & 0x00ff; //磁条长度低8位
|
||
394 5 Runmotor_step++;
|
||
395 5 }
|
||
396 4 }
|
||
397 3 }
|
||
398 2 break;
|
||
399 2 case 4 : //延时
|
||
400 2 {
|
||
401 3 if(it_1ms_flag) //检查1ms定时标志
|
||
402 3 {
|
||
403 4 it_1ms_flag = 0;//定时标志清零
|
||
404 4 Runmotor_Nums++;
|
||
405 4 }
|
||
406 3 if(Runmotor_Nums >= Run_Inter)//时间
|
||
407 3 {
|
||
408 4
|
||
409 4 Runmotor_Nums = 0;
|
||
410 4 Runmotor_step++;
|
||
411 4 send_flag = 0;
|
||
412 4 //motor_seat(); //读取电机当前位置
|
||
413 4 send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
414 4 }
|
||
415 3
|
||
416 3 }
|
||
417 2 break;
|
||
418 2 case 5 :
|
||
419 2 {
|
||
420 3 if(GPIO_ReadPin(GPIO0,GPIO_PIN_5) == 1 )//光栅信号判断
|
||
421 3 {
|
||
422 4 if(flag == 0)
|
||
423 4 {
|
||
424 5 Runmotor_Nums = 0;
|
||
425 5 Runmotor_step = 3;
|
||
C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 8
|
||
|
||
426 5 if(motor_dire == 1)
|
||
427 5 {
|
||
428 6 REV();
|
||
429 6 flag = 1;
|
||
430 6 motor_dire = 0;
|
||
431 6 }
|
||
432 5 else
|
||
433 5 {
|
||
434 6 Motor_Run = 2; //运行标记改变，电机回到初始位
|
||
435 6 }
|
||
436 5 }
|
||
437 4 else
|
||
438 4 {
|
||
439 5 Runmotor_step = 3;
|
||
440 5 }
|
||
441 4 }
|
||
442 3 else
|
||
443 3 {
|
||
444 4 Runmotor_step = 3;
|
||
445 4 flag = 0 ;
|
||
446 4 }
|
||
447 3 }
|
||
448 2 break;
|
||
449 2 case 6 :
|
||
450 2 {
|
||
451 3 if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0)//起始点限位
|
||
452 3 {
|
||
453 4 FWD();//正转
|
||
454 4 motor_dire = 1;//电机转动方向
|
||
455 4 }
|
||
456 3 if(GPIO_ReadPin(GPIO1,GPIO_PIN_5) == 0)//结束点限位
|
||
457 3 {
|
||
458 4 REV();//反转
|
||
459 4 motor_dire = 0;//电机转动方向
|
||
460 4 }
|
||
461 3 Runmotor_step = 2;
|
||
462 3 }
|
||
463 2 break;
|
||
464 2 default :
|
||
465 2 {
|
||
466 3
|
||
467 3 }
|
||
468 2 break;
|
||
469 2 }
|
||
470 1 }
|
||
471
|
||
472 //电机连续运行，方案一（角行程）
|
||
473 void mov_loop1_ang(void)
|
||
474 {
|
||
475 1 if(Run_Step == 0) return;//步长不能为0
|
||
476 1
|
||
477 1 switch(Runmotor_step)
|
||
478 1 {
|
||
479 2 case 1 : //电机运行准备
|
||
480 2 {
|
||
481 3 FWD();//正转
|
||
482 3 motor_dire = 1;
|
||
483 3 motor_data[2] = 0x00;//发送时反馈的数据
|
||
484 3 Runmotor_Nums = 0; //运行次数
|
||
485 3 mov_flag = 0;
|
||
486 3 Run_mm = 0;
|
||
487 3 Run_num = 0;
|
||
C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 9
|
||
|
||
488 3 Runmotor_step++;
|
||
489 3 }
|
||
490 2 break;
|
||
491 2 case 2 : //电机运行过程
|
||
492 2 {
|
||
493 3 if(motor_dire == 1)
|
||
494 3 {
|
||
495 4 FWD();//正转
|
||
496 4 motor_start(); //运行
|
||
497 4 motor_mov(1); //运行1个脉冲
|
||
498 4 if(Runmotor_Nums >= (Run_Step * STEP_ROT))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
499 4 {
|
||
500 5 Runmotor_Nums = 0; //计数清零
|
||
501 5 motor_stop(); //马达停止
|
||
502 5 motor_data[1] = 0x01; //电机启动，对应数据01
|
||
503 5 motor_data[3] = 0x03; //电机方向——始终
|
||
504 5 Run_mm++; //磁条移动距离加1
|
||
505 5 Run_num = Run_mm * Run_Step;
|
||
506 5 motor_data[8] = (Run_num & 0xff00) >> 8;//磁条长度高8位
|
||
507 5 motor_data[9] = Run_num & 0x00ff; //磁条长度低8位
|
||
508 5 Runmotor_step++;
|
||
509 5 }
|
||
510 4 }
|
||
511 3 else
|
||
512 3 {
|
||
513 4 REV();//反转
|
||
514 4 motor_start(); //运行
|
||
515 4 motor_mov(1); //运行1个脉冲
|
||
516 4 if(Runmotor_Nums >= (Run_Step * STEP_ROT))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
517 4 {
|
||
518 5 Runmotor_Nums = 0; //计数清零
|
||
519 5 motor_stop(); //马达停止
|
||
520 5 motor_data[1] = 0x01; //电机启动，对应数据01
|
||
521 5 motor_data[3] = 0x04; //电机方向——终始
|
||
522 5 Run_mm--; //磁条移动距离减1
|
||
523 5 Run_num = Run_mm * Run_Step;
|
||
524 5 motor_data[8] = (Run_num & 0xff00) >> 8;//磁条长度高8位
|
||
525 5 motor_data[9] = Run_num & 0x00ff; //磁条长度低8位
|
||
526 5 Runmotor_step++;
|
||
527 5 }
|
||
528 4 }
|
||
529 3 }
|
||
530 2 break;
|
||
531 2 case 3 : //延时
|
||
532 2 {
|
||
533 3 if(it_1ms_flag) //检查1ms定时标志
|
||
534 3 {
|
||
535 4 it_1ms_flag = 0;//定时标志清零
|
||
536 4 Runmotor_Nums++;
|
||
537 4 }
|
||
538 3 if(Runmotor_Nums >= Run_Inter)//时间
|
||
539 3 {
|
||
540 4 Runmotor_Nums = 0;
|
||
541 4 Runmotor_step++;
|
||
542 4 //motor_seat(); //读取电机当前位置
|
||
543 4 send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
544 4 }
|
||
545 3 }
|
||
546 2 break;
|
||
547 2 case 4 :
|
||
548 2 {
|
||
549 3 if(Run_num >= Run_Stop * 10&& motor_dire == 1)//判断磁条是否转动设定的角度
|
||
C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 10
|
||
|
||
550 3 {
|
||
551 4 motor_dire = 0;
|
||
552 4 Runmotor_step = 2;
|
||
553 4 }
|
||
554 3 else if(Run_num <= 0 && motor_dire == 0)
|
||
555 3 {
|
||
556 4 //motor_dire = 1;
|
||
557 4 Motor_Run = 1;
|
||
558 4 }
|
||
559 3 else
|
||
560 3 {
|
||
561 4 Runmotor_step = 2;
|
||
562 4 }
|
||
563 3 }
|
||
564 2 break;
|
||
565 2 default :
|
||
566 2 {
|
||
567 3
|
||
568 3 }
|
||
569 2 break;
|
||
570 2 }
|
||
571 1 }
|
||
572
|
||
573
|
||
574 //电机连续运行，方案二（直行程）
|
||
575 void mov_loop2(void)
|
||
576 {
|
||
577 1 if(Run_Step == 0) return;//步长不能为0
|
||
578 1
|
||
579 1 switch(Runmotor_step)
|
||
580 1 {
|
||
581 2 case 1 : //电机运行准备
|
||
582 2 {
|
||
583 3
|
||
584 3 FWD();//正转
|
||
585 3 motor_dire = 1;
|
||
586 3 motor_data[2] = 0x00;//发送时反馈的数据
|
||
587 3 Runmotor_Nums = 0; //运行次数
|
||
588 3 mov_flag = 0; //
|
||
589 3 Runmotor_step++;
|
||
590 3 }
|
||
591 2 break;
|
||
592 2 case 2 : //电机运行过程
|
||
593 2 {
|
||
594 3 if(GPIO_ReadPin(GPIO0,GPIO_PIN_5) == 0)//光栅信号判断
|
||
595 3 {
|
||
596 4
|
||
597 4 if(it_1s_flag) //检查1ms定时标志
|
||
598 4 {
|
||
599 5 it_1s_flag = 0;//定时标志清零
|
||
600 5 Runmotor_Nums++;
|
||
601 5 }
|
||
602 4 if(Runmotor_Nums >= Run_Stop)//时间
|
||
603 4 {
|
||
604 5 Runmotor_step++;
|
||
605 5 motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
|
||
606 5 motor_data[9] = (Run_mm * Run_Step) & 0x00ff; //磁条长度低8位
|
||
607 5 motor_seat(); //读取电机当前位置
|
||
608 5 send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
609 5 }//Run_mm = 1; //磁条移动距离置1
|
||
610 4
|
||
611 4 }
|
||
C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 11
|
||
|
||
612 3 else
|
||
613 3 {
|
||
614 4 if(send_flag == 0)
|
||
615 4 {
|
||
616 5 send_flag = 1;
|
||
617 5 motor_seat();//读取电机当前位置
|
||
618 5 send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
619 5 }
|
||
620 4 motor_start(); //运行
|
||
621 4 motor_mov(1); //运行1个脉冲
|
||
622 4 Run_mm = 1; //磁条移动距离清0
|
||
623 4 Runmotor_Nums = 0; //计数清零
|
||
624 4 Runmotor_step = 6;
|
||
625 4 }
|
||
626 3 }
|
||
627 2 break;
|
||
628 2 case 3 : //延时
|
||
629 2 {
|
||
630 3 if(motor_dire == 1)
|
||
631 3 {
|
||
632 4 motor_start(); //运行
|
||
633 4 motor_mov(1); //运行1个脉冲
|
||
634 4 if(Runmotor_Nums >= (Run_Step * STEP_LIN))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
635 4 {
|
||
636 5 Runmotor_Nums = 0; //计数清零
|
||
637 5 motor_stop(); //马达停止
|
||
638 5 motor_data[1] = 0x01; //电机启动，对应数据01
|
||
639 5 motor_data[3] = 0x03; //电机方向——始终
|
||
640 5 Run_mm++; //磁条移动距离加1
|
||
641 5 ct_num = Run_mm; //磁条长度
|
||
642 5 motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
|
||
643 5 motor_data[9] = (Run_mm * Run_Step) & 0x00ff; //磁条长度低8位
|
||
644 5 Runmotor_step++;
|
||
645 5 }
|
||
646 4 }
|
||
647 3 else
|
||
648 3 {
|
||
649 4 motor_start(); //运行
|
||
650 4 motor_mov(1); //运行1个脉冲
|
||
651 4 if(Runmotor_Nums >= (Run_Step * STEP_LIN))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
652 4 {
|
||
653 5 Runmotor_Nums = 0; //计数清零
|
||
654 5 motor_stop(); //马达停止
|
||
655 5 motor_data[1] = 0x01; //电机启动，对应数据01
|
||
656 5 motor_data[3] = 0x04; //电机方向——终始
|
||
657 5 ct_num = ct_num - 1; //磁条长度
|
||
658 5 Run_mm = ct_num; //磁条移动距离减1
|
||
659 5 motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
|
||
660 5 motor_data[9] = (Run_mm * Run_Step) & 0x00ff; //磁条长度低8位
|
||
661 5 Runmotor_step++;
|
||
662 5 }
|
||
663 4 }
|
||
664 3 }
|
||
665 2 break;
|
||
666 2 case 4 : //延时
|
||
667 2 {
|
||
668 3 if(it_1ms_flag) //检查1ms定时标志
|
||
669 3 {
|
||
670 4 it_1ms_flag = 0;//定时标志清零
|
||
671 4 Runmotor_Nums++;
|
||
672 4 }
|
||
673 3 if(Runmotor_Nums >= Run_Inter)//时间
|
||
C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 12
|
||
|
||
674 3 {
|
||
675 4
|
||
676 4 Runmotor_Nums = 0;
|
||
677 4 Runmotor_step++;
|
||
678 4 send_flag = 0;
|
||
679 4 //motor_seat(); //读取电机当前位置
|
||
680 4 send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
681 4 }
|
||
682 3
|
||
683 3 }
|
||
684 2 break;
|
||
685 2 case 5 :
|
||
686 2 {
|
||
687 3 if(GPIO_ReadPin(GPIO0,GPIO_PIN_5) == 1 )//光栅信号判断
|
||
688 3 {
|
||
689 4 if(flag == 0)
|
||
690 4 {
|
||
691 5 Runmotor_Nums = 0;
|
||
692 5 Runmotor_step = 3;
|
||
693 5 if(motor_dire == 1)
|
||
694 5 {
|
||
695 6 REV();
|
||
696 6 flag = 1;
|
||
697 6 motor_dire = 0;
|
||
698 6 }
|
||
699 5 else
|
||
700 5 {
|
||
701 6 FWD();
|
||
702 6 flag = 1;
|
||
703 6 motor_dire = 1;
|
||
704 6 }
|
||
705 5 }
|
||
706 4 else
|
||
707 4 {
|
||
708 5 Runmotor_step = 3;
|
||
709 5 }
|
||
710 4 }
|
||
711 3 else
|
||
712 3 {
|
||
713 4 Runmotor_step = 3;
|
||
714 4 flag = 0 ;
|
||
715 4 }
|
||
716 3 }
|
||
717 2 break;
|
||
718 2 case 6 :
|
||
719 2 {
|
||
720 3 if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0)//起始点限位
|
||
721 3 {
|
||
722 4 FWD();//正转
|
||
723 4 motor_dire = 1;//电机转动方向
|
||
724 4 }
|
||
725 3 if(GPIO_ReadPin(GPIO1,GPIO_PIN_5) == 0)//结束点限位
|
||
726 3 {
|
||
727 4 REV();//反转
|
||
728 4 motor_dire = 0;//电机转动方向
|
||
729 4 }
|
||
730 3 Runmotor_step = 2;
|
||
731 3 }
|
||
732 2 break;
|
||
733 2
|
||
734 2 default :
|
||
735 2 {
|
||
C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 13
|
||
|
||
736 3
|
||
737 3 }
|
||
738 2 break;
|
||
739 2 }
|
||
740 1 }
|
||
741
|
||
742 //电机连续运行，方案二（角行程）
|
||
743 void mov_loop2_ang(void)
|
||
744 {
|
||
745 1 if(Run_Step == 0) return;//步长不能为0
|
||
746 1
|
||
747 1 switch(Runmotor_step)
|
||
748 1 {
|
||
749 2 case 1 : //电机运行准备
|
||
750 2 {
|
||
751 3 FWD();//正转
|
||
752 3 motor_dire = 1;
|
||
753 3 motor_data[2] = 0x00;//发送时反馈的数据
|
||
754 3 Runmotor_Nums = 0; //运行次数
|
||
755 3 mov_flag = 0;
|
||
756 3 Runmotor_step++;
|
||
757 3 }
|
||
758 2 break;
|
||
759 2 case 2 : //电机运行过程
|
||
760 2 {
|
||
761 3 if(motor_dire == 1)
|
||
762 3 {
|
||
763 4 FWD();//正转
|
||
764 4 motor_start(); //运行
|
||
765 4 motor_mov(1); //运行1个脉冲
|
||
766 4 if(Runmotor_Nums >= (Run_Step * STEP_ROT))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
767 4 {
|
||
768 5 Runmotor_Nums = 0; //计数清零
|
||
769 5 motor_stop(); //马达停止
|
||
770 5 motor_data[1] = 0x01; //电机启动，对应数据01
|
||
771 5 motor_data[3] = 0x03; //电机方向——始终
|
||
772 5 Run_mm++; //磁条移动距离加1
|
||
773 5 Run_num = Run_mm * Run_Step;
|
||
774 5 motor_data[8] = (Run_num & 0xff00) >> 8;//磁条长度高8位
|
||
775 5 motor_data[9] = Run_num & 0x00ff; //磁条长度低8位
|
||
776 5 Runmotor_step++;
|
||
777 5 }
|
||
778 4 }
|
||
779 3 else
|
||
780 3 {
|
||
781 4 REV();//反转
|
||
782 4 motor_start(); //运行
|
||
783 4 motor_mov(1); //运行1个脉冲
|
||
784 4 if(Runmotor_Nums >= (Run_Step * STEP_ROT))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
785 4 {
|
||
786 5 Runmotor_Nums = 0; //计数清零
|
||
787 5 motor_stop(); //马达停止
|
||
788 5 motor_data[1] = 0x01; //电机启动，对应数据01
|
||
789 5 motor_data[3] = 0x04; //电机方向——终始
|
||
790 5 Run_mm--; //磁条移动距离减1
|
||
791 5 Run_num = Run_mm * Run_Step;
|
||
792 5 motor_data[8] = (Run_num & 0xff00) >> 8;//磁条长度高8位
|
||
793 5 motor_data[9] = Run_num & 0x00ff; //磁条长度低8位
|
||
794 5 Runmotor_step++;
|
||
795 5 }
|
||
796 4 }
|
||
797 3 }
|
||
C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 14
|
||
|
||
798 2 break;
|
||
799 2 case 3 : //延时
|
||
800 2 {
|
||
801 3 if(it_1ms_flag) //检查1ms定时标志
|
||
802 3 {
|
||
803 4 it_1ms_flag = 0;//定时标志清零
|
||
804 4 Runmotor_Nums++;
|
||
805 4 }
|
||
806 3 if(Runmotor_Nums >= Run_Inter)//时间
|
||
807 3 {
|
||
808 4 Runmotor_Nums = 0;
|
||
809 4 Runmotor_step++;
|
||
810 4 //motor_seat(); //读取电机当前位置
|
||
811 4 send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
812 4 }
|
||
813 3 }
|
||
814 2 break;
|
||
815 2 case 4 :
|
||
816 2 {
|
||
817 3 if(Run_num >= Run_Stop * 10)//判断磁条是否转动设定的角度
|
||
818 3 {
|
||
819 4 motor_dire = 0;
|
||
820 4 Runmotor_step = 2;
|
||
821 4 }
|
||
822 3 else if(Run_num <= 0)
|
||
823 3 {
|
||
824 4 motor_dire = 1;
|
||
825 4 Runmotor_step = 2;
|
||
826 4 }
|
||
827 3 else
|
||
828 3 {
|
||
829 4 Runmotor_step = 2;
|
||
830 4 }
|
||
831 3 }
|
||
832 2 break;
|
||
833 2 default :
|
||
834 2 {
|
||
835 3
|
||
836 3 }
|
||
837 2 break;
|
||
838 2 }
|
||
839 1 }
|
||
840
|
||
841 //电机点动运行，方案三（直行程）
|
||
842 void mov_step(void)
|
||
843 {
|
||
844 1 if(Run_Step == 0) return;//步长不能为0
|
||
845 1
|
||
846 1 switch(Runmotor_step)
|
||
847 1 {
|
||
848 2 case 1 : //电机运行准备
|
||
849 2 {
|
||
850 3 motor_start(); //运行
|
||
851 3 if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0)//判断是否到达始限位
|
||
852 3 FWD(); //正转
|
||
853 3 if(GPIO_ReadPin(GPIO1,GPIO_PIN_5) == 0)//判断是否到达终限位
|
||
854 3 REV(); //反转
|
||
855 3 Runmotor_Nums = 0; //运行次数
|
||
856 3 mov_flag = 0;
|
||
857 3 Runmotor_step++;
|
||
858 3 }
|
||
859 2 break;
|
||
C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 15
|
||
|
||
860 2 case 2 : //电机运行过程
|
||
861 2 {
|
||
862 3 motor_mov(1);//运行1个脉冲
|
||
863 3 if(Runmotor_Nums >= (Run_Step * STEP_LIN))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
864 3 {
|
||
865 4 Runmotor_Nums = 0;
|
||
866 4 motor_stop(); //马达停止
|
||
867 4 Runmotor_step++;
|
||
868 4 Run_mm++; //磁条移动距离加1
|
||
869 4 Run_num = Run_mm * Run_Step;
|
||
870 4 motor_data[8] = (Run_num & 0xff00) >> 8;//磁条长度高8位
|
||
871 4 motor_data[9] = Run_num & 0x00ff; //磁条长度低8位
|
||
872 4 // motor_seat(); //读取电机当前位置
|
||
873 4 // send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
874 4 }
|
||
875 3 }
|
||
876 2 break;
|
||
877 2 case 3 :
|
||
878 2 {
|
||
879 3 if(it_1ms_flag) //检查1ms定时标志
|
||
880 3 {
|
||
881 4 it_1ms_flag = 0;//定时标志清零
|
||
882 4 Runmotor_Nums++;
|
||
883 4 }
|
||
884 3 if(Runmotor_Nums >= 50)//时间
|
||
885 3 {
|
||
886 4 Runmotor_Nums = 0;
|
||
887 4 Runmotor_step++;
|
||
888 4 motor_seat(); //读取电机当前位置
|
||
889 4 send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
890 4 }
|
||
891 3 }
|
||
892 2 break;
|
||
893 2 case 4 :
|
||
894 2 {
|
||
895 3 Runmotor_step = 0;
|
||
896 3 Motor_Run = 0; //运行标记清除
|
||
897 3 }
|
||
898 2 break;
|
||
899 2 default :
|
||
900 2 {
|
||
901 3
|
||
902 3 }
|
||
903 2 break;
|
||
904 2 }
|
||
905 1 }
|
||
906
|
||
907 //电机点动运行，方案三（角行程）
|
||
908 void mov_step_ang(void)
|
||
909 {
|
||
910 1 if(Run_Step == 0) return;//步长不能为0
|
||
911 1
|
||
912 1 switch(Runmotor_step)
|
||
913 1 {
|
||
914 2 case 1 : //电机运行准备
|
||
915 2 {
|
||
916 3 motor_start(); //运行
|
||
917 3 FWD(); //正转
|
||
918 3 Runmotor_Nums = 0; //运行次数
|
||
919 3 mov_flag = 0;
|
||
920 3 Runmotor_step++;
|
||
921 3 }
|
||
C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 16
|
||
|
||
922 2 break;
|
||
923 2 case 2 : //电机运行过程
|
||
924 2 {
|
||
925 3 motor_mov(1);//运行1个脉冲
|
||
926 3 if(Runmotor_Nums >= (Run_Step * STEP_ROT))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
927 3 {
|
||
928 4 Runmotor_Nums = 0;
|
||
929 4 motor_stop(); //马达停止
|
||
930 4 Run_mm++; //磁条移动距离加1
|
||
931 4 Run_num = Run_mm * Run_Step;
|
||
932 4 motor_data[8] = (Run_num & 0xff00) >> 8;//磁条长度高8位
|
||
933 4 motor_data[9] = Run_num & 0x00ff; //磁条长度低8位
|
||
934 4 motor_seat(); //读取电机当前位置
|
||
935 4 send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
936 4 Runmotor_step++;
|
||
937 4 }
|
||
938 3 }
|
||
939 2 break;
|
||
940 2 case 3 :
|
||
941 2 {
|
||
942 3 Runmotor_step = 0;
|
||
943 3 Motor_Run = 0; //运行标记清除
|
||
944 3 if(Run_num >= 3600) //判断磁条是否转动一圈
|
||
945 3 Run_mm = 0;
|
||
946 3 }
|
||
947 2 break;
|
||
948 2 default :
|
||
949 2 {
|
||
950 3
|
||
951 3 }
|
||
952 2 break;
|
||
953 2 }
|
||
954 1 }
|
||
955
|
||
956 //电机回到起始位
|
||
957 void mov_begin(void)
|
||
958 {
|
||
959 1 motor_data[1] = 0x02; //电机运行到起始位，对应数据02
|
||
960 1 motor_data[8] = 0x00; //磁条长度高8位
|
||
961 1 motor_data[9] = 0x00; //磁条长度低8位
|
||
962 1 REV(); //电机反转
|
||
963 1 motor_start(); //电机启动
|
||
964 1 if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0) //判断是否到达限位处
|
||
965 1 {
|
||
966 2 motor_stop(); //电机停止
|
||
967 2 Run_mm = 0;
|
||
968 2 Run_num = 0;
|
||
969 2 if(send_flag == 1)
|
||
970 2 {
|
||
971 3 send_flag = 0;
|
||
972 3 motor_seat(); //读取电机当前位置
|
||
973 3 send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
974 3 }
|
||
975 2 }
|
||
976 1 else
|
||
977 1 motor_mov(1); //提供脉冲
|
||
978 1 }
|
||
979
|
||
980 //电机回到结束位
|
||
981 void mov_end(void)
|
||
982 {
|
||
983 1 motor_data[1] = 0x03; //电机运行到结束位，对应数据03
|
||
C51 COMPILER V9.59.0.0 MOTOR 01/18/2024 10:03:10 PAGE 17
|
||
|
||
984 1 FWD(); //电机反转
|
||
985 1 motor_start(); //电机启动
|
||
986 1 //Run_mm = 0;
|
||
987 1 if(GPIO_ReadPin(GPIO1,GPIO_PIN_5) == 0)//判断是否到达限位处
|
||
988 1 motor_stop(); //电机停止
|
||
989 1 else
|
||
990 1 motor_mov(1); //提供脉冲
|
||
991 1 }
|
||
992
|
||
993 //电机位置判断
|
||
994 void motor_seat(void)
|
||
995 {
|
||
996 1 if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0) //磁条处于起始点限位开关处
|
||
997 1 motor_data[3] = 0x01; //发送时反馈的数据
|
||
998 1 else if(GPIO_ReadPin(GPIO1,GPIO_PIN_5) == 0)//磁条处于结束点限位开关处
|
||
999 1 motor_data[3] = 0x02; //发送时反馈的数据
|
||
1000 1 else if(GPIO_ReadPin(GPIO0,GPIO_PIN_5) == 0)//磁条正通过光栅
|
||
1001 1 motor_data[3] = 0x03; //发送时反馈的数据
|
||
1002 1 else //无状态
|
||
1003 1 motor_data[3] = 0x00; //发送时反馈的数据
|
||
1004 1 }
|
||
|
||
|
||
MODULE INFORMATION: STATIC OVERLAYABLE
|
||
CODE SIZE = 3818 ----
|
||
CONSTANT SIZE = ---- ----
|
||
XDATA SIZE = 17 ----
|
||
PDATA SIZE = ---- ----
|
||
DATA SIZE = ---- ----
|
||
IDATA SIZE = ---- ----
|
||
BIT SIZE = 6 ----
|
||
EDATA SIZE = ---- ----
|
||
HDATA SIZE = ---- ----
|
||
XDATA CONST SIZE = ---- ----
|
||
FAR CONST SIZE = ---- ----
|
||
END OF MODULE INFORMATION.
|
||
|
||
|
||
C51 COMPILATION COMPLETE. 0 WARNING(S), 0 ERROR(S)
|