duojikongzhi.rar_pwm 20ms 舵机_控制舵机_舵机_舵机控制_鑸垫満鎺у埗

/////////舵机调试程序////////////// /////////servo1.c///////// #include <C8051F040.h> #define CEX0PORT p07//舵机控制信号管脚,为P0.7管脚 //系统时钟为24500KHZ/8=3062.5KHZ //周期为20ms，则频率为50HZ，则tmph+tmpl=61250可以保证产生50HZ PWM #define CONST_W 61250 #define FORMAT_ANG temp=6125L*angval;temp/=180;tmph=(uint)temp+1531;tmpl=(uint)CONST_W-tmph typedef unsigned int uint; typedef unsigned char uchar; typedef unsigned long ulong; sfr16 RCAP2=0xca; sfr16 RCAP3=0xca; sfr16 RCAP4=0xca; sfr16 TMR4=0xcc; sfr16 TMR3=0xcc; sfr16 TMR2=0xcc; sfr16 PCA0CP0=0xfb; sfr16 PCA0CP1=0xfd; sfr16 PCA0CP2=0xe9; sfr16 PCA0CP3=0xeb; sfr16 PCA0CP4=0xed; sfr16 PCA0CP5=0xe1; sbit p07=P0^7; sbit p00=P0^0; bit iscex0H; uchar temppage; xdata uint cex0L,cex0H; xdata uint tmph,tmpl; ulong temp; int xdata angval;//1800表示180度，使得精度为0.1度 //转化计算:tmph=6125*angval/180+1531,但是由于计算时超过65535就会溢出 //，所以不能直接这样计算,可定义ulong型变量temp， //temp=6125L*angval;temp/=180;tmph=(uint)temp+1531实现 void delay1ms(uint time){//延迟1ms uint i; uint j; for (i=0;i<time;i++){ for(j=0;j<300;j++); } } void pca0ini(){//CEX0为高速输出模式 SFRPAGE = 0x00; PCA0CPM0=0X4d; } void CEX0_out(uint h,uint l){//设置高电平值和低电平值 cex0L=l; cex0H=h; CEX0PORT=1; iscex0H=1; } void CEX0_set(uint pram){//设置高速模式下一次中断的间隔为pram个PCA时钟 SFRPAGE = 0x00; PCA0CP0+=pram; PCA0CPM0|=0x40;//注意编译的时候sfr16先写高地址，再写低地址 //所以编译结果使得最后写PCA0CPL0,将使得ECOM0清零，故加此句置1 } void pcaini(){ SFRPAGE=0x00; PCA0MD=0x09;//PCA时钟为系统时钟 PCA0CN=0x40;//开PCA时钟 EIE1|=0x08;//开PCA中断 } void config(){//PCA管脚不配置输出到crossbar WDTCN = 0x07; // 看门狗禁止 WDTCN = 0xDE; // Disable WDT WDTCN = 0xAD; SFRPAGE = 0x0F; XBR0 = 0x00; // XBAR0: Initial Reset Value XBR1 = 0x00; // XBAR1: Initial Reset Value XBR2 = 0x40; // XBAR2: Initial Reset Value XBR3 = 0x00; // XBAR3: Initial Reset Value SFRPAGE = 0x0F; P0MDOUT = 0x00; // Output configuration for P0 P1MDOUT = 0x00; // Output configuration for P1 P2MDOUT = 0x00; // Output configuration for P2 P3MDOUT = 0x00; // Output configuration for P3 P4MDOUT = 0x00; // Output configuration for P4 P5MDOUT = 0x00; // Output configuration for P5 P6MDOUT = 0x00; // Output configuration for P6 P7MDOUT = 0x00; // Output configuration for P7 P1MDIN = 0xFF; // Input configuration for P1 P2MDIN = 0xFF; // Input configuration for P2 P3MDIN = 0xFF; // Input configuration for P3 SFRPAGE = 0x0F; CLKSEL = 0x00; // Oscillator Clock Selector OSCXCN = 0x00; // EXTERNAL Oscillator Control Register OSCICN = 0x84; // Internal Oscillator Control Register } void main(void){ config(); pca0ini(); pcaini(); CEX0PORT=0;//将控制信号输出置0 //0度对应:tmph=1531,tmpl=CONST_W-tmph //180度对应:tmph=7656,tmpl=CONST_W-tmph, angval=0; FORMAT_ANG;//计算出tmph和tmpl的值 EA=1; CEX0_out(tmph,tmpl); delay1ms(1000); while(1){ for(angval=0;angval<=180;angval+=30){//每隔2秒正转30度 FORMAT_ANG; CEX0_out(tmph,tmpl); delay1ms(2000); } for(angval=180;angval>=0;angval-=30){//每隔2秒反转30度 /*注意angval不能定义成uint型，否则angval>=0条件恒真*/ FORMAT_ANG; CEX0_out(tmph,tmpl); delay1ms(2000); } } } void PCA_ISR(void) interrupt 9 { temppage=SFRPAGE; SFRPAGE = 0x00; if(CF){ CF=0; } if(CCF0){ if(iscex0H){ CEX0_set(cex0L);//隔cex0L个PCA时钟后发生中断，则低电平持续时间为 //cex0L个PCA时钟 iscex0H=0; } else{ CEX0_set(cex0H);//隔cex0H个PCA时钟后发生中断，则高电平持续时间为 //cex0H个PCA时钟 iscex0H=1; } CEX0PORT=iscex0H; CCF0=0; } SFRPAGE=temppage; }