用51单片机控制步进电机的转向，速度，并且将速度显示在LCD1602

本文链接：https://blog.csdn.net/hh_fwk/article/details/131339991

#include "reg52.h"
#include "intrins.h"
#include"LCD1602.h"
#include"Delay.h"
typedef unsigned int u16;
typedef unsigned char u8;
sbit IN1_A=P2^0;
sbit IN2_B=P2^1;
sbit IN3_C=P2^2;
sbit IN4_D=P2^3;

//unsigned char x=0;

sbit KEY1=P1^0;
sbit KEY2=P1^1;
sbit KEY3=P1^2;
sbit KEY4=P1^3;

#define KEY1_PRESS   1
#define KEY2_PRESS   2
#define KEY3_PRESS   3
#define KEY4_PRESS   4
#define KEY_UNPRESS   0

#define STEPMOTOR_MAXSPEED 1
#define STEPMOTOR_MINSPEED 5
u8 key=0;
   u8 dir=0;
   u8 peed=STEPMOTOR_MAXSPEED;
   u8 step=0;
u8 sil=0;

void delay_10us(u16 ten_us)
{
while(ten_us--);
}

void delay_ms(u16 ms)
{
   u16 i,j;
   for(i=ms;i>0;i--)
       for(j=110;j>0;j--);
}

void step_motor_28BYJ48_send_pulse(u8 step,u8 dir)
{
   u8 temp=step;

   if(dir==0)
       temp=7-step;
   switch(temp)
   {
       case 0: IN1_A=1;IN2_B=0;IN3_C=0;IN4_D=0;break;
       case 1: IN1_A=1;IN2_B=1;IN3_C=0;IN4_D=0;break;
       case 2: IN1_A=0;IN2_B=1;IN3_C=0;IN4_D=0;break;
       case 3: IN1_A=0;IN2_B=1;IN3_C=1;IN4_D=0;break;
       case 4: IN1_A=0;IN2_B=0;IN3_C=1;IN4_D=0;break;
       case 5: IN1_A=0;IN2_B=0;IN3_C=1;IN4_D=1;break;
       case 6: IN1_A=0;IN2_B=0;IN3_C=0;IN4_D=1;break;
       case 7: IN1_A=1;IN2_B=0;IN3_C=0;IN4_D=1;break;
       default: IN1_A=0;IN2_B=0;IN3_C=0;IN4_D=0;break;//停止相序
   }
}

u8 key_scan(u8 mode)
{
static u8 key=1;

   if(mode)key=1;//连续扫描按键
   if(key==1&&(KEY1==0||KEY2==0||KEY3==0||KEY4==0))//任意按键按下
   {
       delay_10us(1000);//消抖
       key=0;
       if(KEY1==0){

           return KEY1_PRESS;}
       else if(KEY2==0){

           return KEY2_PRESS;}
       else if(KEY3==0){

           return KEY3_PRESS;}
       else if(KEY4==0){

           return KEY4_PRESS;}
   }
   else if(KEY1==1&&KEY2==1&&KEY3==1&&KEY4==1)   //无按键按下
   {
       key=1;
   }
   return KEY_UNPRESS;
}
sbit SlotSensor = P3^2;

volatile unsigned long timestamp1 = 0; // 上一个脉冲信号捕捉的时间戳
volatile unsigned long timestamp2 = 0; // 当前脉冲信号捕捉的时间戳
volatile unsigned int interval = 0; // 相邻两个脉冲之间的时间间隔，单位为微秒
volatile unsigned long speed = 0; // 电机当前的转速，单位为rpm

void External_ISR(void) interrupt 0 // 外部中断服务函数，中断号为0
{   LCD_ShowNum(1,7,speed,6); // 显示转速
       delay_ms(5);
timestamp1 = timestamp2;
timestamp2 = TH0*256 + TL0; // 记录当前时间戳
interval = timestamp2 - timestamp1;
speed = 60000000 / (interval * 12); // 计算转速

}

void main()
{ LCD_Init(); // 清屏LCD_Init();
   delay_ms(5);
   LCD_Init(); // 清屏LCD_Init();
   delay_ms(5);
   LCD_Init(); // 清屏LCD_Init();
   delay_ms(5);
   LCD_Init(); // 清屏LCD_Init();
   delay_ms(5);
LCD_ShowString(1, 1, "speed:"); // 显示标签
       delay_ms(5);

EA = 1;
EX0 = 1;
IT0 = 1;
TMOD = 0x01;
TH0 = 0;
TL0 = 0;
TR0 = 1;

while(1)
{
           key=key_scan(0);
       if(key==KEY1_PRESS)//换向
       {
           dir=!dir;
       }
       else if(key==KEY2_PRESS)//加速
       {
           if(peed>STEPMOTOR_MAXSPEED)
               peed-=1;

       }
       else if(key==KEY3_PRESS)//减速
       {
           if(peed<STEPMOTOR_MINSPEED)
               peed+=1;

       }
       step_motor_28BYJ48_send_pulse(step++,dir);
       if(step==8)step=0;
       delay_ms(peed);

}
}