單片機數控云臺master 仿真及源程序

ID:137190 · 發(fā)表于 2016-10-9 21:35

仿真工程文件及所有完整程序等資料下載地址：
http://www.zg4o1577.cn/bbs/dpj-56304-1.html

源程序：

/*********************************************
This program was produced by the
CodeWizardAVR V1.23.8c Standard
Project : SKYT
Version : 0.01
Date : 2006-12-6
Author : hlchen
Company :
Comments:
數控云臺
Chip type : ATmega8
Program type : Application
Clock frequency : 3.690000 MHz
Memory model : Small
External SRAM size : 0
Data Stack size : 256
*********************************************/
typedef unsigned char uchar;
typedef unsigned int uint;
#include <mega8.h>
#include <math.h>
#include "macro.h"
#include "LCD.h"
//#include "sed1565_s.h"
#define RXB8 1
#define TXB8 0
#define UPE 2
#define OVR 3
#define FE 4
#define UDRE 5
#define RXC 7
#define Light 5
#define FRAMING_ERROR (1<<FE)
#define PARITY_ERROR (1<<UPE)
#define DATA_OVERRUN (1<<OVR)
#define DATA_REGISTER_EMPTY (1<<UDRE)
#define RX_COMPLETE (1<<RXC)
#define sysInitLcd 0
// USART Receiver buffer
#define RX_BUFFER_SIZE 8
char rx_buffer[RX_BUFFER_SIZE];
unsigned char rx_wr_index,rx_rd_index,rx_counter;
// This flag is set on USART Receiver buffer overflow
bit rx_buffer_overflow,b_ComEnable;
uchar uc_syssta;
// USART Receiver interrupt service routine
#pragma savereg-
interrupt [USART_RXC] void uart_rx_isr(void)
{
char status,data;
#asm
push r26
push r27
push r30
push r31
in r26,sreg
push r26
#endasm
status=UCSRA;
data=UDR;
if ((status & (FRAMING_ERROR | PARITY_ERROR | DATA_OVERRUN))==0)
{
rx_buffer[rx_wr_index]=data;
if (++rx_wr_index == RX_BUFFER_SIZE) rx_wr_index=0;
if (++rx_counter == RX_BUFFER_SIZE)
{
rx_counter=0;
rx_buffer_overflow=1;
};
};
if ((rx_buffer[0]=='o')&&(rx_buffer[1]=='k')) b_ComEnable=1;
#asm
pop r26
out sreg,r26
pop r31
pop r30
pop r27
pop r26
#endasm
}
#pragma savereg+
#ifndef _DEBUG_TERMINAL_IO_
// Get a character from the USART Receiver buffer
#define _ALTERNATE_GETCHAR_
#pragma used+
char getchar(void)
{
char data;
while (rx_counter==0);
data=rx_buffer[rx_rd_index];
if (++rx_rd_index == RX_BUFFER_SIZE) rx_rd_index=0;
#asm("cli")
--rx_counter;
#asm("sei")
return data;
}
#pragma used-
#endif
// USART Transmitter buffer
#define TX_BUFFER_SIZE 8
char tx_buffer[TX_BUFFER_SIZE];
unsigned char tx_wr_index,tx_rd_index,tx_counter;
// USART Transmitter interrupt service routine
#pragma savereg-
interrupt [USART_TXC] void uart_tx_isr(void)
{
#asm
push r26
push r27
push r30
push r31
in r26,sreg
push r26
#endasm
if (tx_counter)
{
--tx_counter;
UDR=tx_buffer[tx_rd_index];
if (++tx_rd_index == TX_BUFFER_SIZE) tx_rd_index=0;
};
#asm
pop r26
out sreg,r26
pop r31
pop r30
pop r27
pop r26
#endasm
}
#pragma savereg+
#ifndef _DEBUG_TERMINAL_IO_
// Write a character to the USART Transmitter buffer
#define _ALTERNATE_PUTCHAR_
#pragma used+
void putchar(char c)
{
while (tx_counter == TX_BUFFER_SIZE);
#asm("cli")
if (tx_counter || ((UCSRA & DATA_REGISTER_EMPTY)==0))
{
tx_buffer[tx_wr_index]=c;
if (++tx_wr_index == TX_BUFFER_SIZE) tx_wr_index=0;
++tx_counter;
}
else UDR=c;
#asm("sei")
}
#pragma used-
#endif
// Standard Input/Output functions
#include <stdio.h>
uchar ucInputValue;
uint uiLastADValue[3];
uchar ucInputParam0;
uchar ucChannelN,uc_ReceiveSta;
bit bInputChange,bMotorSpeed,bLight,bReceiveOpend;
void inputdeal(void);
void TransmitEnable(void);
void ReceiveEnable(void);
void Communication(void);
void LcdShow(void);
#define HighSpeed 0x33
#define SlowSpeed 0x99
#define ADC_VREF_TYPE 0x00
#define RE 0
#define DE 1
// ADC interrupt service routine
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
// Place your code here
TCNT0=0xf0;
}
interrupt [ADC_INT] void adc_isr(void)
{
uint adc_data;
// Read the AD conversion result
adc_data=ADCW;
// Place your code here
switch (ucChannelN)
{
case 0:
if (uiLastADValue[0]!=adc_data)
{
uiLastADValue[0]=adc_data;
ucInputParam0=uiLastADValue[0]*24/1024;
//ucInputParam0 = tmp/100;
//ucInputParam1 = (tmp%100)/10;
//ucInputParam2 = (tmp%100)%10;
bInputChange=1;
ucInputValue=0x01;
}
ADMUX=0x01;
break;
case 1:
if (uiLastADValue[1]!=adc_data)
{
uiLastADValue[1]=adc_data;
ucInputParam0=uiLastADValue[1]*12/1024;
//ucInputParam0 = tmp/100;
//ucInputParam1 = (tmp%100)/10;
//ucInputParam2 = (tmp%100)%10;
bInputChange=1;
ucInputValue=0x02;
}
ADMUX=0x02;
break;
case 2:
if (uiLastADValue[2]!=adc_data)
{
uiLastADValue[2]=adc_data;
//ucInputParam0=uiLastADValue[2]*6/1024;
if (abs(uiLastADValue[2]-1023)<100)
ucInputValue=3;
else if (abs(uiLastADValue[2]-465)<50)
ucInputValue=4;
else if (abs(uiLastADValue[2]-292)<25)
ucInputValue=5;
else if (abs(uiLastADValue[2]-204)<25)
ucInputValue=6;
else if (abs(uiLastADValue[2]-146)<12)
ucInputValue=7;
else if (abs(uiLastADValue[2]-93)<12)
ucInputValue=8;
else if (abs(uiLastADValue[2])<6)
ucInputValue=9;
else break;
// else if (abs(uiLastADValue[2]-512
//ucInputParam0 = tmp/100;
//ucInputParam1 = (tmp%100)/10;
//ucInputParam2 = (tmp%100)%10;
bInputChange=1;
// ucInputValue=ucInputParam0+2;
}
ADMUX=0x00;
break;
default:
break;
}
ADCSRA|=0x40;
//ADMUX^=0x01;
if (ucChannelN++==3) ucChannelN=0;
}
// Declare your global variables here
void main(void)
{
// Declare your local variables here
uint i;
// Input/Output Ports initialization
// Port B initialization
// Func0=Out Func1=Out Func2=Out Func3=Out Func4=Out Func5=Out Func6=Out Func7=Out
// State0=0 State1=0 State2=0 State3=0 State4=0 State5=0 State6=0 State7=0
PORTB=0x00;
DDRB=0xFF;
// Port C initialization
// Func0=Out Func1=Out Func2=Out Func3=Out Func4=Out Func5=Out Func6=Out
// State0=0 State1=0 State2=0 State3=0 State4=0 State5=0 State6=0
PORTC=0x00;
DDRC=0xff;
// Port D initialization
// Func0=Out Func1=Out Func2=Out Func3=Out Func4=Out Func5=Out Func6=Out Func7=Out
// State0=0 State1=0 State2=0 State3=0 State4=0 State5=0 State6=0 State7=0
PORTD=0x00;
DDRD=0x73;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 3690.000 kHz
TCCR0=0x03;
TCNT0=0xf0;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer 1 Stopped
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
//模式1(計數器上限值=0xff) PWM頻率 = 系統時鐘頻率/（分頻系數*2*計數器上限值））
TCCR1A=0x00;
//COM1A1,COM1A0,COM1B1,COM1B0=1表示升序記數時比較匹配將置位OC1A/OC1B，降序記數時比較匹配將清零OC1A/OC1B
//即OCR1AL<tcnt1<TOP(0xff)時 OC1A為高 tcnt1<OCR1AL時OC1A為低
//WGM11=0 WGM10=1
TCCR1B=0x00;
//WGM13=0 WGM12=0 CS12=1 CS11=0 CS10=0 分頻系數=256
TCNT1H=0x00;
TCNT1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00; //占空比=40% (0xff-0x99)/0xff=0.4
//占空比=80% 0x33
OCR1BH=0x00;
OCR1BL=0x00;
// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;
// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
GICR|=0x00;
MCUCR=0x00;
// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0X01;
// USART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: On
// USART Transmitter: On
// USART Mode: Asynchronous
// USART Baud rate: 1200
UCSRA=0x00;
UCSRB=0xD8;
UCSRC=0x86;
UBRRH=0x00;
UBRRL=0x33;
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
// Analog Comparator Output: Off
ACSR=0x80;
SFIOR=0x00;
// ADC initialization
// ADC Clock frequency: 115.313 kHz
// ADC Voltage Reference: AREF pin
// ADC High Speed Mode: Off
// ADC Auto Trigger Source: Timer0 Overflow
ADMUX=0x00;
ADCSRA=0x00;
//SFIOR&=0x0F;
//SFIOR|=0x80;
// Global enable interrupts
InitLCD();
#asm("sei")
TransmitEnable();
printf("Ready?");
for (i=0;i<10000;i++);
while (1)
{
// Place your code here
if (tx_counter==0) ReceiveEnable();
if (b_ComEnable)
{
b_ComEnable=0;
LcdShow();
break;
}
};
while(1)
{
//inputdeal();
}
}
void LcdShow(void)
{
Show_Circle();
Show_HalfCircle();
Show_Preset();
Show_Slow();
}
void TransmitEnable(void)
{
PORTB|=Bit(RE);
PORTB|=Bit(DE);
}
void ReceiveEnable(void)
{
PORTB&=Bit(RE);
PORTB&=Bit(DE);
}
void TransmitCommandOk(void)
{
//if (uc_syssta==sysInitLcd)
// LcdShow();
}
void Communication(void)
{
switch (uc_ReceiveSta)
{
case 0:
if (getchar()=='R')
uc_ReceiveSta++;
else if (getchar()=='O')
uc_ReceiveSta++;
break;
case 1:
if (getchar()=='e')
uc_ReceiveSta++;
else if (getchar()=='k')
{
uc_ReceiveSta=0;
b_ComEnable=1;
}
else
uc_ReceiveSta=0;
break;
case 2:
if (getchar()=='a')
uc_ReceiveSta++;
else
uc_ReceiveSta=0;
break;
case 3:
if (getchar()=='d')
uc_ReceiveSta++;
else
uc_ReceiveSta=0;
break;
case 4:
uc_ReceiveSta=0;
if (getchar()=='y')
printf("ok");
break;
}
}
void inputdeal(void)
{
if (!bInputChange) return;
bInputChange=0;
switch (ucInputValue)
{
case 0x01:
//printf("%bu,%bu,%bu\n",ucInputParam0,ucInputParam1,ucInputParam2);
// PaintDegree(ucInputParam0,0);
break;
case 0x02:
// PaintDegree(ucInputParam0,1);
break;
case 0x03://key1
if (!bLight) PORTB|=Bit(Light);
else PORTB&=~Bit(Light);
bLight=!bLight;
PORTD|=0x04;
break;
case 0x04://key2
// PORTD&=0xc3;
PORTD|=0x08;
// if (bMotorSpeed) {Show_Slow();OCR1AL=SlowSpeed;}
// else {Show_Quick();OCR1AL=HighSpeed;}
bMotorSpeed=!bMotorSpeed;
break;
case 0x05://key3
// PORTD&=0xc3;
PORTD|=0x0c;
break;
case 0x06://key4
// PORTD&=0xc3;
PORTD|=0x10;
break;
case 0x07://key5
// PORTD&=0xc3;
PORTD|=0x14;
break;
case 0x08://key6
//PORTD&=0xc3;
PORTD|=0x18;
break;
case 0x09://keyrelease
PORTD&=0xc3;
break;
default:
break;
}
}

復制代碼

ID:1092949 · 發(fā)表于 2023-9-8 09:40

可否更詳細說明一下，有些看不懂

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單片機數控云臺master 仿真及源程序

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