51單片機有沒有辦法用一個定時器來完成對兩個步進電機的控制

ID:368637 · 發表于 2019-5-5 14:32

我是用51單片機來控制兩個步進電機的運動，同時還要用串口通訊發送數據給串口助手顯示，但是單片機的兩個定時器都被步進電機占用了，有什么解決辦法嗎。程序如下：
#include<reg52.h>
#include<stdio.h>
#include "PCF8591.H"
#define uchar unsigned char
#define uint  unsigned int
#define del 2 //速度調節
#define ydl 5 //移動量調節
#define  PCF8591 0x90 //PCF8591 地址

uint s=0,x=0; //s表示上，x表示下
uint z=0,y=0; //
uint sx=0,zy=0;

sbit ENTER = P3^3;
sbit UP = P3^4;
sbit DOWN = P3^5;
sbit LEFT = P3^6;
sbit RIGHT = P3^7;
sbit LED1 = P1^2;
sbit LED2 = P1^3;
uchar Motor_Up[4]={0x08,0x04,0x02,0x01};
uchar Motor_Down[4]={0x01,0x02,0x04,0x08};

uchar Motor_Left[4]={0x10,0x20,0x40,0x80};
uchar Motor_Right[4]={0x80,0x40,0x20,0x10};

unsigned char AD_CHANNEL;

uchar AD_Up,AD_Down,AD_Left,AD_Right;
uchar i,j,k;
uchar Table[4];
uint alt,alt1;

//延時函數
void Delay_ms(uint jj)
{
uint ii;
while(jj--)
for(ii=0;ii<125;ii++);
}
void delay(unsigned int time)
{
  unsigned int o,p;
for(o=0;o<1000;o++)
for(p=0;p<time;p++);
}
void UART_Init(void)
{
   TMOD = 0x11; //定時器模式選擇
   TH0 = (65535-50000)%256;
   TL0 = (65535-50000)/256;
ET0=1;    //使能定時器0
TR0 = 1; //啟動定時器1

TH1 = (65535-50000)%256;
  TL1 = (65535-50000)/256;
ET1=1;    //使能定時器0
TR1 = 1; //啟動定時器1
EA=1;    //開啟總中斷

}
/********************************************************************
* 名稱 : PSend_Hex()
* 功能 : 發送字符串函數,可控制發送長度
* 變量 : 無
* 返回值 : 無
********************************************************************/
void Send_Hex(unsigned char *p,unsigned char num)
{
   while(num--) //剩余發送的字符數
{
      SBUF = *p; //將要發送的數據賦給串口緩沖寄存器
while(!TI);//等待發送結束
TI = 0; //軟件清零
p++;    //指針加一
}
}
void main()    //函數功能：主函數
{

Delay_ms(200);
UART_Init();
SCON = 0x50; //串口方式1，允許接收
TMOD = 0x20; //定時器1定時方式2
TCON = 0x40; //設定時器1開始計數
TH1 = 0XFD;    //11.0592MHz 9600波特率
TI = 1;
TR1 = 1;       //啟動定時器
while(1)
{

if(!ENTER)
{
Delay_ms(20);
while(!ENTER);
k++;
}

if(k%2 == 0)
{
LED1 = 1;
LED2 = 0;
for(i=0;i<8;i++)
{
switch(AD_CHANNEL)
{
case 0: PCF8591_ISendByte(PCF8591,0x41);
AD_Up=PCF8591_IRcvByte(PCF8591)*2;  //模擬輸入口1A/D轉換
break;

case 1: PCF8591_ISendByte(PCF8591,0x42);
AD_Down=PCF8591_IRcvByte(PCF8591)*2;  //模擬輸入口2A/D轉換
break;
case 2: PCF8591_ISendByte(PCF8591,0x43);
AD_Left=PCF8591_IRcvByte(PCF8591)*2;  //模擬輸入口3A/D轉換
break;

case 3: PCF8591_ISendByte(PCF8591,0x40);
AD_Right=PCF8591_IRcvByte(PCF8591)*2;  //模擬輸入口4A/D轉換
break;
}

Send_Hex(Table,4);
if(++AD_CHANNEL>3)
{
   AD_CHANNEL=0;
   Table[0] = AD_Up;
Table[1] = AD_Down;
Table[2] = AD_Left;
Table[3] = AD_Right;
   }
}
}

if(k%2 == 1)
{
LED1 = 0;
LED2 = 1;
AD_Up = 0; //上
AD_Down = 0;//下
AD_Left = 0;//左
AD_Right = 0;//右
}
zy=y-z;
zy=zy*5.625;
sx=x-s;
sx=sx*5.625;
printf("fangxiang:%d\n",zy);
printf("fujjiao:%d\n",sx);
delay(100);


      ///////////////////////////


////////////////////////////////////
//Delay_ms(100);//延時，可適當修改
}
}
void timer0() interrupt 1
{
TH0 = (65535-50000)%256;
  TL0 = (65535-50000)/256;
alt++;
if(alt==3)
{
alt=0;
if(((AD_Up<AD_Down)&&(AD_Down-AD_Up>10))||(!UP))//上轉
{
for(i=0;i<ydl;i++)
{
for(j=0;j<4;j++)
{
P2=Motor_Up[j];
Delay_ms(del);
}
   s=s+1;
}
}
//////////////////////////////////////
if(((AD_Up>AD_Down)&&(AD_Up-AD_Down>10))||(!DOWN))//下轉
{
for(i=0;i<ydl;i++)
{
for(j=0;j<4;j++)
{
P2=Motor_Down[j];
Delay_ms(del);
}
x=x+1;
}
}
}
}

void timer1() interrupt 3
{
TH1 = (65535-50000)%256;
  TL1 = (65535-50000)/256;
alt1++;
if(alt1==3)
{
alt1=0;
/////////////////////////////
if(((AD_Left<AD_Right)&&(AD_Right-AD_Left>10))||(!LEFT))//左轉
{
for(i=0;i<ydl;i++)
{
for(j=0;j<4;j++)
{
P2=Motor_Left[j];
Delay_ms(del);
}
z=z+1;
}

}
//////////////////////////////////////
if(((AD_Left>AD_Right)&&(AD_Left-AD_Right>10))||(!RIGHT))//右轉
{
for(i=0;i<ydl;i++)
{
for(j=0;j<4;j++)
{
P2=Motor_Right[j];
Delay_ms(del);
}
y=y+1;
}
}
}
}