广工信工测控数控课设c文件源码.docx

#include #include #include funs.h/* * 名称: motor.c * 功能: XY轴电机正反转*/void DelayMs(int z) /延时msint x,y;for(x=z;x0;x-) for(y=12000;y0;y-);void motor_init()PINSEL1 &=(0xFF22);IO0DIR |=(0xF12);IO0DIR |=(0xF27);void motor_x_p() /x电机正转if(8=k_p)k_p=0;IO0CLR=0xF12;IO0SET=(motor_pk_p12);k_p+;void motor_x_r() /x电机反转if(8=k_r)k_r=0;IO0CLR=0xF12;IO0SET=(motor_rk_r12);k_r+;void motor_y_r() /y反转if(8=j_r)j_r=0;IO0CLR=0xF27;IO0SET=(motor_rj_r27);j_r+;void motor_y_p() /y正转if(8=j_p)j_p=0;IO0CLR=0xF27;IO0SET=(motor_pj_p27);j_p+;/* * 名称: UART.c * 功能: UART初始化和设置*/void UART_init(void)uint16 Fdiv;PINSEL0|=0x05;U0LCR=0x83;Fdiv=(Fpclk/16)/UART_BPS;U0DLM=Fdiv/256;U0DLL=Fdiv%256;U0LCR=0x03;void UART0_SendByte(uint8 data)U0THR=data;while(U0LSR&0x40)=0);void UART0_SendStr(int8 strs)uint32 j=0;while(strsj!=0)UART0_SendByte(strj);j+;uint8 UART0_RcvByte(void)uint8 rcv_byte; while(U0LSR&0x01)=0);rcv_byte= U0RBR;/rcv_byte=rcv_byte-0x30;return (rcv_byte);/* * 名称: led.c * 功能: led*/ void show_init()/led管脚的初始化IODIR0|=(0x7FF1);IOCLR0 = 0x7FF1; /IOSET0=0x7FF1;/while(1); void show_led(uint8 data,uint8 bit)IOSET0= 0x7FF1;IOCLR0= (numdata1|selectbit8);/*在led灯中显示x和y值*/void show_x_y(uint8 x,uint8 y)uint8 x_data_bit,x_data_rem,y_data_bit,y_data_rem; x_data_bit=x/10;show_led(x_data_bit,1);DelayMs(1);x_data_rem=x%10;show_led(x_data_rem,2);DelayMs(1);y_data_bit=y/10;show_led(y_data_bit,3);DelayMs(1);y_data_rem=y%10;show_led(y_data_rem,4);DelayMs(1);/*led显示x和y的值，跟show一样*/void led_init()IODIR0|=(0x3FF2);IOCLR0 = (0x3FF2);void led_show_x(uint8 x)IOCLR0=0x1F2; x &= 0x1f;IOSET0=(x2);void led_show_y(uint8 y)IOCLR0=0x1F7;y &=0x1f;IOSET0=(y7);/* 按键扫描程序*/void key_init()PINSEL1&=(0x30);PINSEL1|=(0x010);/P0.16为外部中断0EXTMODE|=(10);VICVectCntl0=0x2E;VICVectAddr0 = (unsigned)key_irq;VICIntEnable = 0x6000;/*扫描键盘的列，返回列的序号03*/uint8 row_scan()IO0CLR=0x0F22;IO0SET=0X0E18)&0x0F;/p0.1821，行的状态，本应全为1if(0x0f!=key_null)while(0x0f!=key_null)/等待按键放开key_null= (IO0PIN18)&0x0F;return 0;/返回列序号IO0CLR=0x0F22;IO0SET=0X0D18)&0x0F;if(0x0f!=key_null)while(0x0f!=key_null)key_null= (IO0PIN18)&0x0F;return 1;IO0CLR=0x0F22;IO0SET=0X0B18)&0x0F;if(0x0f!=key_null)while(0x0f!=key_null)key_null= (IO0PIN18)&0x0F;return 2;IO0CLR=0x0F22;IO0SET=0X0718)&0x0F;if(0x0f!=key_null)while(0x0f!=key_null)key_null= (IO0PIN18)&0x0F;return 3;/*扫描键盘的值，返回按键号real_row*/uint8 key_scan()if(0x0e=key_null)/line1有按键real_row=row_scan();/得到列号return real_row;if(0x0d=key_null) /line2real_row=row_scan();return(real_row+4);if(0x0b=key_null) /line3real_row=row_scan();return(real_row+8);if(0x07=key_null)/line4real_row=row_scan();return(real_row+12);/*中断程序，有按键时运行*/void key_irq() _irq/UART0_SendByte(8);key_flag=1;EXTINT =0x01;VICVectAddr = 0x00000000;/wait the next buttonvoid wait_next()uint8 next;donext =(IOPIN116)&0x01;while(next); /等next按下才继续运行/wait the clear buttonvoid wait_clear()uint8 next,clear;donext =(IOPIN116)&0x01;clear =(IOPIN118)&0x01;if(!clear)/若clear键按下set_line(0);clearscreen(1); clearscreen(2); /重新显示坐标轴，即清除图像while(next&clear); /next和clear其中一个按下继续运行/wait the CONTINUS buttonvoid wait_continus()uint8 con;docon =(IOPIN117)&0x01;while(con); /等continus键按下/*G01直线插补，x，y，f分别为,终点坐标(x，y)和转速 f,起点为(0,0) */void G01(uint16 x,uint16 y,uint16 f) float f_i,f_new,k_g;uint16 x_i,y_i,number,i,show_time,k_x,k_y,show_x,show_y;number=y+x;show_x=0;show_y=0;k_x=0;k_y=0;x_i=0;/起点坐标y_i=0;f_i=0;/斜率kk_g= (float)y/x;for(i=0;i=0)/进给+xx_i +=1;f_new=f_i-k_g;motor_x_p();/x电机正转一步k_x+;if(8=k_x) /若够一圈 k_x=0;show_x+; /x的圈数加1led_show_x(show_x); /led灯显示x的圈数else /进给+yy_i +=1;f_new =f_i+1;motor_y_p();k_y+;if(8=k_y)k_y=0;show_y+;led_show_y(show_y);DelayMs(show_time);/延时电机转一步的时间（ms）f_i=f_new;wait_continus();/是否继续，continus按下继续/*G03逆圆插补*/void G03(uint16 x1,uint16 y1,uint16 x2,uint16 y2,uint16 f)uint16 k,x_i,y_i,number,show_time,k_x,k_y,show_x,show_y;float f_i,new_f_i;show_x=0;x_i=x1;y_i=y1;k_x=0;k_y=0;f_i=0;show_time=(1000*60)/(8*f);number=x1+y2-x2-y1; /总插补次数numberfor(k=0;k=0)new_f_i=f_i-2*x_i+1;x_i-;k_x+;motor_x_r();if(8=k_x)k_x=0;show_x+;led_show_x(show_x);elsenew_f_i=f_i+2*y_i+1;y_i+;k_y+;motor_y_p();if(8=k_y)k_y=0;show_y+;led_show_y(show_y);f_i=new_f_i;DelayMs(show_time);wait_continus();/*G02顺圆插补*/void G02(uint16 x1,uint16 y1,uint16 x2,uint16 y2,uint16 f)uint16 k,x_i,y_i,number,show_time,k_x,k_y,show_x,show_y;float f_i,new_f_i;k_x=0;k_y=0;show_x=0; show_y=0;x_i=x1;y_i=y1;f_i=0;show_time=(1000*60)/(8*f);number=x2+y1-x1-y2; /总次数for(k=0;k=0)new_f_i=f_i-2*y_i+1;y_i-;k_y+;motor_y_r();if(8=k_y)k_y=0;show_y+;led_show_y(show_y);elsenew_f_i=f_i+2*x_i+1;x_i+;k_x+;motor_x_p();if(8=k_x)k_x=0;show_x+;led_show_x(show_x);f_i=new_f_i;DelayMs(show_time);wait_continus();/*检测G代码，返回G值*/uint16 check_g(uint8 a40)uint16 check_k,g_value=0;for(check_k=0;check_k40;check_k+)if(G=button_numberacheck_k)/检查按键是否为Gcheck_k+=2;/检查是G01，或G02，或G03g_value=(button_numberacheck_k-48);return g_value;/返回1,或2,或3/*检测G01中的x值*/uint16 check_x(uint8 a40)uint16 check_k,x_value=0,temp;for(check_k=0;check_k127)/UART0_SendStr(str);x_value=127;return x_value; /*检测G01中的y值*/uint16 check_y(uint8 a40)uint16 check_k,y_value=0,temp;for(check_k=0;check_k63)/UART0_SendStr(str);y_value=63;return y_value;/*检测速度f的值*/uint16 check_f(uint8 a40)uint16 check_k,f_value=0,temp;for(check_k=0;check_k40;check_k+)if(F=button_numberacheck_k)check_k+;for(; !=button_numberacheck_k;check_k+)temp=(button_numberacheck_k-48);f_value= 10*f_value+temp;return f_value; /*检测G02 G03中的x值*/uint16 check_x1(uint8 a40)uint16 check_k,x1_value=0,temp=0;for(check_k=0;check_k127)/UART0_SendStr(str);x1_value=127;return x1_value; uint16 check_x2(uint8 a40)uint16 check_k,x2_value=0,temp=0;for(check_k=0;check_k127)/UART0_SendStr(str);x2_value=127;return x2_value; /*检测G02 G03中的y值*/uint16 check_y1(uint8 a40)uint16 check_k,y1_value=0,temp=0;for(check_k=0;check_k63)/UART0_SendStr(str);y1_value=63;return y1_value; uint16 check_y2(uint8 a40)uint16 check_k,y2_value=0,temp=0;for(check_k=0;check_k63)/UART0_SendStr(str);y2_value=63;return y2_value; /* 译码与执行插补*/void operate(uint8 a40)uint16 operate_x,operate_y,operate_f,operate_g;uint16 operate_x1,operate_x2,operate_y1,operate_y2;operate_g=check_g(a);switch(operate_g)case 1:operate_x=check_x(a); /得到终点坐标(x,y)和转速foperate_y=check_y(a);operate_f=check_f(a);G01(operate_x,operate_y,operate_f); /画直线break;case 2:operate_x1=check_x1(a);operate_x2=check_x2(a);operate_y1=check_y1(a);operate_y2=check_y2(a);operate_f=check_f(a);G02(operate_x1,operate_y1,operate_x2,operate_y2,operate_f);/G02(0,60,60,0,300); /画顺圆break;case 3:operate_x1=check_x1(a);operate_x2=check_x2(a);operate_y1=check_y1(a);operate_y2=check_y2(a);operate_f=check_f(a);G03(operate_x1,operate_y1,operate_x2,operate_y2,operate_f);break; /画逆圆default :break;/*清除数组*/void clear_number(uint8 a40)uint8 k;for(k=0;k40;k+)ak= ;DelayMs(5);/*main函数*/int main()i=0;motor_init(); /x；p0.1215，y：p0.2730，八个管脚都是输出led_init(); /p0.211为X.Y值得显示引脚，初始化为全灭UART_init();key_init(); /p0.16为外部中断0IO_set();/p1.2731为输出lcd_init();/开显示，起始行为0行clearscreen(0);set_line(0);show_name();/显示姓名信息selectscreen(0);for(