ST单片机C语言驱动电机程序

第一个正式的C语言单片机程序，用于驱动汽车大灯的电机

#include<St72F324.h>
#define VCC  4.9
typedef unsigned char  uchar ;
char state=0;
char en_drv=0;
char dir=0;
float target=0;
float location=0;
uchar turns=0; 
uchar cmd_word=0xdb;
void init()
{                      
 PADDR=0x18;
 PAOR=0x18;
 PADR=0x18;
 PCDDR=0x04;
 PCOR=0x07;
 PCDR=0x00; 
 PFDDR=0x02;
 PFOR=0x02;
 PFDR=0x00;
 SPICSR=0x01;
 SPICR=0x5f;
}
void init_adc(void)
{
   ADCCSR = 0x20;   /* ADC on ; AIN0 = analog input */
}
int adc_get(char channel)
{ 
 char i=0;  
 int sum=0;
 int aver=0;
  ADCCSR = 0x20 + channel;       /* select the channel to be converted */   
  for(i=0;i<16;i++)
  {
   while ((ADCCSR&0x80)==0);         /* wait for the end of conversion     */
   sum=sum+ADCDRH*4+(ADCDRL&3);
  } 
   aver=sum/16;
   return(aver);
}
void delay(uchar t)
{
 int i,j;
 for(i=0;i<t;i++)
  for( j=0;j<500;j++);
}
void deal_error()
{
 char state1=0;
 state1=state>>6;
 switch(state1)
 {
  case 0: PCDR=0x00;
          break;
  case 1: PCDR=0x00;
          break;
  case 2: PCDR=0x00;
          break;
  case 3:PCDR=0x00; 
         break;
 }
}
void write_cmd(uchar cmd)
{
  PADR=0x00;
  SPIDR=cmd;
  while((SPICSR&0x80)==0);
  state=SPIDR;
  PADR=0x08;
}
void drv_motor()
{
 uchar i=0;
 if(dir)
 {
  for(i=0;i<turns;i++)
  {
    switch(cmd_word)
    {
     case 0xdb: cmd_word=0xd3;
                break;
     case 0xd3: cmd_word=0xd2;
                break;
     case 0xd2: cmd_word=0xda;
                break;
     case 0xda: cmd_word=0xdb;
                break;
    }
    write_cmd(cmd_word);
    if((state&0xc0)!=0xc0)
      deal_error();
    delay(2);
  } 
 }
 else
 {
   for(i=0;i<turns;i++)
  {
    switch(cmd_word)
    {
     case 0xda: cmd_word=0xd2;
                break;
     case 0xd2: cmd_word=0xd3;
                break;
     case 0xd3: cmd_word=0xdb;
                break;
     case 0xdb: cmd_word=0xda;
                break;
    }
    write_cmd(cmd_word);
    if((state&0xc0)!=0xc0)
      deal_error();
    delay(2);
  } 
 }
 en_drv=0;
 write_cmd(cmd_word|0xf6);  //turn off motor
}
/*some case must be noted in main function:
1.delay(T) func parameter T can be changed
  by user's need.usally it is commend using 2;
2.The diffrence between variable location and
  target can be by user's need, but you should
  use 0.021*N(N is integer);
*/
void main()
{
 char i=0; 
 int sen0=0,sen1=0;    
 init();
 init_adc();
 while(1)
 {
  sen0=adc_get(0);
  sen1=adc_get(1);
  target=(sen1-sen0)*VCC/1023;
  if(location-target>0.063)        //0.0625 v
     { dir=0;
     turns=48*(location-target);   //转动格适?  48=120/2.5
     en_drv=1;
   }
  if(target-location>0.063)         //0.042
   {
    dir=1;
    turns=48*(target-location);
    en_drv=1;
   }
  if(en_drv)
   {
    drv_motor();
    location=target;
   }
 } 
}

  //step: 1.build 2.debug 3. program 
  //4.select the erase and Program Option Bytes
  //5.download