單片機控制的步進電機PWM控制程序

#include
#include
#include
#include "UPSD3200.H"
#include "upsd_pwm.h"
#define uint unsigned int
#define uchar unsigned char
PSD_REGS PSD8xx_reg _at_ csiop;
#define KEYIO (~(PSD8xx_reg.DATAIN_A)) & 0x07
sbit CP=P4^7;
sbit U_D=P1^1;
void init_system(); // 系統初始化
uchar keyboard();
void uPSD_PWM4_Variable(unsigned char PWM_Period, unsigned char PWM_PulseWidth);
uchar Adjust_station=NO;
unsigned char data x,flag;
unsigned char keyboard() //鍵盤輸入
{
unsigned char a=0xff,b=0x01,c=0xf8,d;//有按鍵的位置
uint i;
do{
a=KEYIO|c;
}while(a==0xff);
if (a == 0xfe){d = 1;}
else if (a == 0xfd){d = 2;}
else if (a == 0xfb){d = 3;}
else {d = 0;}
return(d);
}
void uPSD_PWM4_Init(void)
unsigned int PWM_prescaler;
P4SFS |= 0x80;
PWM_prescaler = (unsigned int)((FREQ_OSC/2)/PWM4_INPUT_freq);//PWM4輸入脈沖頻率 K

PSCL1L = PWM_prescaler & 0x00ff;
PSCL1H = (PWM_prescaler >> 8);
}
void StepMotor_GO(bit direction,uint speed) {
unsigned char PWM_Period, PWM_PulseWidth;
uint temp_uint;
U_D = direction;//方向
temp_uint = (PWM4_INPUT_freq*1000)/speed;
PWM_Period = (unsigned char)temp_uint;
PWM_PulseWidth = PWM_Period/2;
uPSD_PWM4_Variable(PWM_Period,PWM_PulseWidth);
}
void StepMotor_STOP(void)
{
P4SFS &= 0x7f;
}
void uPSD_PWM4_Variable(unsigned char PWM_Period, unsigned char PWM_PulseWidth)
{
P4SFS |= 0x80;
PWMVP = PWM_Period;
PWMVPW = PWM_PulseWidth;
PWMCON |= 0x20;
}
void initkey(void){
PSD8xx_reg.DATAOUT_A=0xFF;
PSD8xx_reg.CONTROL_A=0x00;
PSD8xx_reg.DIRECTION_A=0x00;
}
void init_system() // 系統初始化
{
WDKEY=0x55;
P4SFS = (unsigned char) (0x08 << 3);
uPSD_PWM_Channel_8bit(3,243);
問題補充：(接著上面的序)
void uPSD_PWM_Init_8bit(unsigned char PWM_channel_no, unsigned int PWM_freq8, unsigned char PWMCON_value)
{
unsigned int PWM_prescaler;
unsigned char output_polarity_mode;
output_polarity_mode = PWMCON_value & 0x8F;
PWMCON = (PWMCON & 0x70) | output_polarity_mode;
P4SFS = (unsigned char) (0x08 << PWM_channel_no);
PWM_prescaler = (unsigned int) ( (((unsigned int) FREQ_OSC) / 2) / PWM_freq8);
PSCL0L = PWM_prescaler & 0x00ff;
PSCL0H = (PWM_prescaler >> 8);
PSCL1L = PWM_prescaler & 0x00ff;
PSCL1H = (PWM_prescaler >> 8);
}
void uPSD_PWM_Disable(void)
{
PWMCON &= 0xDF;
}
void main(void){
x=0;
init_system();
flag=1;
while(flag==1){
x=keyboard();
if(x==1) {StepMotor_GO(0,100);}
else if(x==2) {StepMotor_GO(1,500);}
else if(x==3) { StepMotor_STOP();uPSD_PWM_Disable();}
else if(x==0) {uPSD_PWM_Disable();}
}
}