51单片机 步进电机旋转角度控制

#include 

typedef unsigned char uchar;
typedef unsigned int uint;
typedef unsigned long ulong;

uchar code beatCode[8] = {
    0xE, 0xC, 0xD, 0x9, 0xB, 0x3, 0x7, 0x6
};
ulong beats = 0;
uchar T0RH = 0, T0RL = 0;

void turnMotor(ulong angle){
    EA = 0;
    beats = angle * 4076 / 360;
    EA = 1;
}

void setTimer0(uint ms){
    ulong tmp;
    tmp = 11059326 / 12;
    tmp = tmp * ms / 1000;
    tmp = 65536 - tmp;
    tmp += 28;
    T0RL = tmp;
    T0RH = tmp>>8;
}

void interruptTimer0() interrupt 1{
    static uchar index = 0;
    TH0 = T0RH;
    TL0 = T0RL;
    if(beats){
        uchar tmp = P1;
        tmp &= 0xF0;
        tmp |= beatCode[index];
        P1 = tmp;
        index = ++index & 0x07;
        beats--;
    }
    else{
        P1 |= 0x0F;
    }
}

void main(){
    EA = 1;
    TMOD = 0x01;
    setTimer0(2);
    TH0 = T0RH;
    TL0 = T0RL;
    ET0 = 1;
    TR0 = 1;
    turnMotor(2 * 360 + 180);
    while(1);
}

下面是使用库函数循环左移实现的：

#include 
#include 

typedef unsigned char uchar;
typedef unsigned int uint;
typedef unsigned long ulong;

ulong beats = 0;
uchar T0RH = 0, T0RL = 0;

void turnMotor(ulong angle){
    EA = 0;
    beats = angle * 4076 / 360;
    EA = 1;
}

void setTimer0(uint ms){
    ulong tmp;
    tmp = 11059326 / 12;
    tmp = tmp * ms / 1000;
    tmp = 65536 - tmp;
    tmp += 28;
    T0RL = tmp;
    T0RH = tmp>>8;
}

void interruptTimer0() interrupt 1{
    static uchar beatCode = 0x33;
    TH0 = T0RH;
    TL0 = T0RL;
    if(beats){
        uchar tmp = P1;
        tmp &= 0xF0;
        beatCode = _crol_(beatCode, 1);
        tmp |= beatCode;
        P1 = tmp;
        beats--;
    }
    else{
        P1 |= 0x0F;
    }
}

void main(){
    EA = 1;
    TMOD = 0x01;
    setTimer0(2);
    TH0 = T0RH;
    TL0 = T0RL;
    ET0 = 1;
    TR0 = 1;
    turnMotor(2 * 360 + 180);
    while(1);
}