单片机教程网

电脑版
提示:原网页已由神马搜索转码, 内容由www.51hei.com提供.
查看:4513|回复:1

单片机数控云台master 仿真及源程序

[复制链接]
ID:137190发表于 2016-10-9 21:35|显示全部楼层
0.png

0.png


仿真工程文件及所有完整程序等资料下载地址：
http://www.51hei.com/bbs/dpj-56304-1.html

源程序：
  1. /*********************************************
  2. This program was produced by the
  3. CodeWizardAVR V1.23.8c Standard

  5. Project : SKYT
  6. Version : 0.01
  7. Date   : 2006-12-6
  8. Author  : hlchen                  
  9. Company :                      
  10. Comments:  
  11. 数控云台
  12. Chip type         : ATmega8
  13. Program type       : Application
  14. Clock frequency     : 3.690000 MHz
  15. Memory model       : Small
  16. External SRAM size  : 0
  17. Data Stack size     : 256
  18. *********************************************/
  19. typedef unsigned char uchar;  
  20. typedef unsigned int uint;
  21. #include< mega8.h>  
  22. #include< math.h>  
  23. #include "macro.h"
  24. #include "LCD.h"
  25. //#include "sed1565_s.h"
  26. #define RXB8 1
  27. #define TXB8 0
  28. #define UPE 2
  29. #define OVR 3
  30. #define FE 4
  31. #define UDRE 5
  32. #define RXC 7
  33. #define Light 5
  34. #define FRAMING_ERROR (1<<FE)
  35. #define PARITY_ERROR (1<<UPE)
  36. #define DATA_OVERRUN (1<<OVR)
  37. #define DATA_REGISTER_EMPTY (1<<UDRE)
  38. #define RX_COMPLETE (1<<RXC)
  39. #define sysInitLcd 0
  40. // USART Receiver buffer
  41. #define RX_BUFFER_SIZE 8
  42. char rx_buffer[RX_BUFFER_SIZE];
  43. unsigned char rx_wr_index,rx_rd_index,rx_counter;
  44. // This flag is set on USART Receiver buffer overflow
  45. bit rx_buffer_overflow,b_ComEnable;
  46. uchar uc_syssta;
  47. // USART Receiver interrupt service routine
  48. #pragma savereg-
  49. interrupt [USART_RXC] void uart_rx_isr(void)
  50. {
  51. char status,data;
  52. #asm
  53.    push r26
  54.    push r27
  55.    push r30
  56.    push r31
  57.    in   r26,sreg
  58.    push r26
  59. #endasm
  60. status=UCSRA;
  61. data=UDR;

  63. if ((status& (FRAMING_ERROR | PARITY_ERROR | DATA_OVERRUN))==0)
  64.    {
  65.    rx_buffer[rx_wr_index]=data;
  66.    if (++rx_wr_index == RX_BUFFER_SIZE) rx_wr_index=0;
  67.    if (++rx_counter == RX_BUFFER_SIZE)
  68.      {
  69.      rx_counter=0;
  70.      rx_buffer_overflow=1;
  71.      };
  72.    };
  73. if ((rx_buffer[0]=='o')&&(rx_buffer[1]=='k')) b_ComEnable=1;
  74. #asm
  75.    pop  r26
  76.    out  sreg,r26
  77.    pop  r31
  78.    pop  r30
  79.    pop  r27
  80.    pop  r26
  81. #endasm
  82. }
  83. #pragma savereg+

  85. #ifndef _DEBUG_TERMINAL_IO_
  86. // Get a character from the USART Receiver buffer
  87. #define _ALTERNATE_GETCHAR_
  88. #pragma used+
  89. char getchar(void)
  90. {
  91. char data;
  92. while (rx_counter==0);
  93. data=rx_buffer[rx_rd_index];
  94. if (++rx_rd_index == RX_BUFFER_SIZE) rx_rd_index=0;
  95. #asm("cli")
  96. --rx_counter;
  97. #asm("sei")
  98. return data;
  99. }
  100. #pragma used-
  101. #endif

  103. // USART Transmitter buffer
  104. #define TX_BUFFER_SIZE 8
  105. char tx_buffer[TX_BUFFER_SIZE];
  106. unsigned char tx_wr_index,tx_rd_index,tx_counter;

  108. // USART Transmitter interrupt service routine
  109. #pragma savereg-
  110. interrupt [USART_TXC] void uart_tx_isr(void)
  111. {
  112. #asm
  113.    push r26
  114.    push r27
  115.    push r30
  116.    push r31
  117.    in   r26,sreg
  118.    push r26
  119. #endasm
  120. if (tx_counter)
  121.    {
  122.    --tx_counter;
  123.    UDR=tx_buffer[tx_rd_index];
  124.    if (++tx_rd_index == TX_BUFFER_SIZE) tx_rd_index=0;
  125.    };

  127. #asm
  128.    pop  r26
  129.    out  sreg,r26
  130.    pop  r31
  131.    pop  r30
  132.    pop  r27
  133.    pop  r26
  134. #endasm
  135. }
  136. #pragma savereg+

  138. #ifndef _DEBUG_TERMINAL_IO_
  139. // Write a character to the USART Transmitter buffer
  140. #define _ALTERNATE_PUTCHAR_
  141. #pragma used+
  142. void putchar(char c)
  143. {
  144. while (tx_counter == TX_BUFFER_SIZE);
  145. #asm("cli")
  146. if (tx_counter || ((UCSRA& DATA_REGISTER_EMPTY)==0))
  147.    {
  148.    tx_buffer[tx_wr_index]=c;
  149.    if (++tx_wr_index == TX_BUFFER_SIZE) tx_wr_index=0;
  150.    ++tx_counter;
  151.    }
  152. else UDR=c;
  153. #asm("sei")
  154. }
  155. #pragma used-
  156. #endif
  157. // Standard Input/Output functions
  158. #include< stdio.h>  
  159. uchar ucInputValue;
  160. uint uiLastADValue[3];
  161. uchar ucInputParam0;
  162. uchar ucChannelN,uc_ReceiveSta;
  163. bit bInputChange,bMotorSpeed,bLight,bReceiveOpend;      
  164. void inputdeal(void);
  165. void TransmitEnable(void);
  166. void ReceiveEnable(void);
  167. void Communication(void);
  168. void LcdShow(void);
  169. #define HighSpeed 0x33
  170. #define SlowSpeed 0x99
  171. #define ADC_VREF_TYPE 0x00    
  172. #define RE 0
  173. #define DE 1
  174. // ADC interrupt service routine
  175. interrupt [TIM0_OVF] void timer0_ovf_isr(void)
  176. {
  177. // Place your code here
  178. TCNT0=0xf0;
  179. }
  180. interrupt [ADC_INT] void adc_isr(void)
  181. {
  182. uint adc_data;
  183. // Read the AD conversion result
  184. adc_data=ADCW;

  186. // Place your code here
  187. switch (ucChannelN)
  188. {
  189. case 0:
  190.                  if (uiLastADValue[0]!=adc_data)
  191.              {
  192.              uiLastADValue[0]=adc_data;
  193.              ucInputParam0=uiLastADValue[0]*24/1024;
  194.            //ucInputParam0 = tmp/100;
  195.            //ucInputParam1 = (tmp%100)/10;
  196.            //ucInputParam2 = (tmp%100)%10;
  197.            bInputChange=1;
  198.            ucInputValue=0x01;
  199.           
  200.            }
  201.            ADMUX=0x01;
  202.            break;  
  203. case 1:
  204.            if (uiLastADValue[1]!=adc_data)
  205.              {
  206.              uiLastADValue[1]=adc_data;
  207.              ucInputParam0=uiLastADValue[1]*12/1024;
  208.            //ucInputParam0 = tmp/100;
  209.            //ucInputParam1 = (tmp%100)/10;
  210.            //ucInputParam2 = (tmp%100)%10;
  211.            bInputChange=1;
  212.            ucInputValue=0x02;
  213.         
  214.            }
  215.            ADMUX=0x02;
  216.            break;  
  217. case 2:
  218.            if (uiLastADValue[2]!=adc_data)
  219.              {
  220.              uiLastADValue[2]=adc_data;
  221.              //ucInputParam0=uiLastADValue[2]*6/1024;
  222.                  if (abs(uiLastADValue[2]-1023)<100)
  223.                        ucInputValue=3;
  224.              else if (abs(uiLastADValue[2]-465)<50)
  225.                        ucInputValue=4;
  226.                  else if (abs(uiLastADValue[2]-292)<25)
  227.                        ucInputValue=5;      
  228.                  else if (abs(uiLastADValue[2]-204)<25)
  229.                        ucInputValue=6;
  230.                  else if (abs(uiLastADValue[2]-146)<12)
  231.                        ucInputValue=7;
  232.                  else if (abs(uiLastADValue[2]-93)<12)
  233.                        ucInputValue=8;
  234.                  else if (abs(uiLastADValue[2])<6)
  235.                        ucInputValue=9;
  236.                  else break;
  237.            //       else if (abs(uiLastADValue[2]-512
  238.            //ucInputParam0 = tmp/100;
  239.            //ucInputParam1 = (tmp%100)/10;
  240.            //ucInputParam2 = (tmp%100)%10;
  241.            bInputChange=1;
  242. //           ucInputValue=ucInputParam0+2;
  243.         
  244.            }
  245.            ADMUX=0x00;
  246.            break;          
  247. default:
  248.            break;
  249. }  
  250. ADCSRA|=0x40;
  251. //ADMUX^=0x01;  
  252. if (ucChannelN++==3)   ucChannelN=0;

  254. }

  256. // Declare your global variables here

  258. void main(void)
  259. {
  260. // Declare your local variables here

  262. uint i;
  263. // Input/Output Ports initialization
  264. // Port B initialization
  265. // Func0=Out Func1=Out Func2=Out Func3=Out Func4=Out Func5=Out Func6=Out Func7=Out
  266. // State0=0 State1=0 State2=0 State3=0 State4=0 State5=0 State6=0 State7=0
  267. PORTB=0x00;
  268. DDRB=0xFF;

  270. // Port C initialization
  271. // Func0=Out Func1=Out Func2=Out Func3=Out Func4=Out Func5=Out Func6=Out
  272. // State0=0 State1=0 State2=0 State3=0 State4=0 State5=0 State6=0
  273. PORTC=0x00;
  274. DDRC=0xff;

  276. // Port D initialization
  277. // Func0=Out Func1=Out Func2=Out Func3=Out Func4=Out Func5=Out Func6=Out Func7=Out
  278. // State0=0 State1=0 State2=0 State3=0 State4=0 State5=0 State6=0 State7=0
  279. PORTD=0x00;
  280. DDRD=0x73;

  282. // Timer/Counter 0 initialization
  283. // Clock source: System Clock
  284. // Clock value: 3690.000 kHz
  285. TCCR0=0x03;
  286. TCNT0=0xf0;


  289. // Timer/Counter 1 initialization
  290. // Clock source: System Clock
  291. // Clock value: Timer 1 Stopped
  292. // Mode: Normal top=FFFFh
  293. // OC1A output: Discon.
  294. // OC1B output: Discon.
  295. // Noise Canceler: Off
  296. // Input Capture on Falling Edge
  297. //模式1(计数器上限值=0xff) PWM频率 = 系统时钟频率/（分频系数*2*计数器上限值））
  298. TCCR1A=0x00;
  299. //COM1A1,COM1A0,COM1B1,COM1B0=1表示升序记数时比较匹配将置位OC1A/OC1B，降序记数时比较匹配将清零OC1A/OC1B
  300. //即OCR1AL<tcnt1<TOP(0xff)时 OC1A为高 tcnt1<OCR1AL时OC1A为低
  301. //WGM11=0 WGM10=1
  302. TCCR1B=0x00;
  303. //WGM13=0 WGM12=0 CS12=1 CS11=0 CS10=0 分频系数=256
  304. TCNT1H=0x00;
  305. TCNT1L=0x00;
  306. OCR1AH=0x00;
  307. OCR1AL=0x00; //占空比=40% (0xff-0x99)/0xff=0.4
  308.            //占空比=80% 0x33
  309. OCR1BH=0x00;
  310. OCR1BL=0x00;

  312. // Timer/Counter 2 initialization
  313. // Clock source: System Clock
  314. // Clock value: Timer 2 Stopped
  315. // Mode: Normal top=FFh
  316. // OC2 output: Disconnected
  317. ASSR=0x00;
  318. TCCR2=0x00;
  319. TCNT2=0x00;
  320. OCR2=0x00;

  322. // External Interrupt(s) initialization
  323. // INT0: Off
  324. // INT1: Off
  325. GICR|=0x00;
  326. MCUCR=0x00;

  328. // Timer(s)/Counter(s) Interrupt(s) initialization
  329. TIMSK=0X01;

  331. // USART initialization
  332. // Communication Parameters: 8 Data, 1 Stop, No Parity
  333. // USART Receiver: On
  334. // USART Transmitter: On
  335. // USART Mode: Asynchronous
  336. // USART Baud rate: 1200

  338. UCSRA=0x00;
  339. UCSRB=0xD8;
  340. UCSRC=0x86;
  341. UBRRH=0x00;
  342. UBRRL=0x33;
  343. // Analog Comparator initialization
  344. // Analog Comparator: Off
  345. // Analog Comparator Input Capture by Timer/Counter 1: Off
  346. // Analog Comparator Output: Off
  347. ACSR=0x80;
  348. SFIOR=0x00;

  350. // ADC initialization
  351. // ADC Clock frequency: 115.313 kHz
  352. // ADC Voltage Reference: AREF pin
  353. // ADC High Speed Mode: Off
  354. // ADC Auto Trigger Source: Timer0 Overflow
  355. ADMUX=0x00;
  356. ADCSRA=0x00;
  357. //SFIOR&=0x0F;
  358. //SFIOR|=0x80;

  360. // Global enable interrupts  

  362. InitLCD();







  370. #asm("sei")
  371. TransmitEnable();
  372. printf("Ready?");
  373. for (i=0;i<10000;i++);
  374. while (1)
  375.      {
  376.      // Place your code here
  377.      if (tx_counter==0) ReceiveEnable();  

  379.      if (b_ComEnable)
  380.        {
  381.            b_ComEnable=0;
  382.            LcdShow();
  383.            break;
  384.          }
  385.      };
  386. while(1)
  387. {

  389.      //inputdeal();
  390. }
  391. }
  392. void LcdShow(void)
  393. {
  394.        Show_Circle();
  395.        Show_HalfCircle();
  396.        Show_Preset();
  397.        Show_Slow();
  398. }
  399. void TransmitEnable(void)
  400. {
  401. PORTB|=Bit(RE);
  402. PORTB|=Bit(DE);
  403. }
  404. void ReceiveEnable(void)
  405. {

  407. PORTB&=Bit(RE);
  408. PORTB&=Bit(DE);

  410. }
  411. void TransmitCommandOk(void)
  412. {
  413.        //if (uc_syssta==sysInitLcd)
  414.        //       LcdShow();      
  415. }
  416. void Communication(void)
  417. {
  418.       
  419.      switch (uc_ReceiveSta)
  420.      {
  421.      case 0:
  422.                if (getchar()=='R')
  423.                      uc_ReceiveSta++;
  424.            else if (getchar()=='O')
  425.                  uc_ReceiveSta++;
  426.                 
  427.            break;
  428.      case 1:
  429.                if (getchar()=='e')
  430.                  uc_ReceiveSta++;
  431.            else if (getchar()=='k')
  432.                  {
  433.                  uc_ReceiveSta=0;
  434.                  b_ComEnable=1;
  435.                  }
  436.            else
  437.                  uc_ReceiveSta=0;
  438.            break;
  439.      case 2:
  440.                if (getchar()=='a')
  441.                  uc_ReceiveSta++;
  442.            else
  443.                      uc_ReceiveSta=0;
  444.            break;
  445.      case 3:
  446.                if (getchar()=='d')
  447.                  uc_ReceiveSta++;
  448.            else
  449.                  uc_ReceiveSta=0;
  450.                  break;  
  451.      case 4:
  452.                uc_ReceiveSta=0;
  453.                if (getchar()=='y')
  454.                  printf("ok");
  455.            break;
  456.      }              
  457.     
  458.     
  459. }
  460. void inputdeal(void)
  461. {
  462.        if (!bInputChange) return;
  463.        bInputChange=0;
  464.        switch (ucInputValue)
  465.        {
  466.        case 0x01:
  467.            //printf("%bu,%bu,%bu\n",ucInputParam0,ucInputParam1,ucInputParam2);
  468.            //       PaintDegree(ucInputParam0,0);  
  469.       
  470.            break;
  471.        case 0x02:
  472.            //       PaintDegree(ucInputParam0,1);
  473.       
  474.            break;
  475.        case 0x03://key1
  476.                if (!bLight) PORTB|=Bit(Light);
  477.                else PORTB&=~Bit(Light);
  478.                bLight=!bLight;
  479.            PORTD|=0x04;
  480.            break;
  481.        case 0x04://key2
  482.            //       PORTD&=0xc3;
  483.            PORTD|=0x08;  
  484.            //       if (bMotorSpeed)     {Show_Slow();OCR1AL=SlowSpeed;}
  485.          //       else   {Show_Quick();OCR1AL=HighSpeed;}
  486.            bMotorSpeed=!bMotorSpeed;
  487.           
  488.            break;  
  489.        case 0x05://key3
  490.            //       PORTD&=0xc3;
  491.            PORTD|=0x0c;
  492.            break;
  493.        case 0x06://key4
  494.            //       PORTD&=0xc3;
  495.            PORTD|=0x10;
  496.            break;
  497.        case 0x07://key5
  498.            //       PORTD&=0xc3;
  499.            PORTD|=0x14;
  500.            break;
  501.        case 0x08://key6  
  502.            //PORTD&=0xc3;
  503.            PORTD|=0x18;
  504.            break;
  505.        case 0x09://keyrelease
  506.            PORTD&=0xc3;  
  507.            break;
  508.        default:
  509.            break;
  510.        }
  511. }
复制代码

ID:1092949发表于 2023-9-8 09:40|显示全部楼层
可否更详细说明一下，有些看不懂

手机版|小黑屋|51黑电子论坛|51黑电子论坛6群QQ管理员QQ:125739409;技术交流QQ群281945664

Powered by 单片机教程网