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完善二 源程序：/*-----------------------------------------------------------------------------工作板源程序-----------------------------------------------------------------------------*/#include <REG52.H> //各個(gè)特殊功能寄存器地址定義#include <intrins.h>/*-----------------------------------------------------------------------------用于串行輸入SPI的數(shù)據(jù)接收口-----------------------------------------------------------------------------*/volatile  unsigned int  data zd0; //功能1的時(shí)候調(diào)整蜂鳴器時(shí)間volatile  unsigned char data SPI_DH,SPI_DL;//串行口高位和低位高位用于識別功能指令和地址指令，低位用于數(shù)據(jù)傳輸volatile  unsigned char data  SPI_ZL,SPI_DZ,SPI_SJ;volatileunsigned   int data  m,z;/*-----------------------------------------------------------------------------三變量用于默認(rèn)的速度，寬度，高度。-----------------------------------------------------------------------------*/volatile  unsigned char data b=100;    //單位是rpm/minvolatile unsigned char data  BBZ;volatile  unsigned char data c=1;          //       寬度單位是毫米volatile unsigned char data  CBZ;volatile  unsigned char data d=4;              //         高度單位是毫米volatile unsigned char data  DBZ;/*-----------------------------------------------------------------------------三變量用于速度，寬度，高度的翻譯中間變量-----------------------------------------------------------------------------*/unsigned char data  e;//  用于速度unsigned char data  f; //用于寬度unsigned  char data g;//用高度/*-------------------------------------------------------------P0引腳定義： P0口有5種定義，每種定義根據(jù)P2口給定功能不同而不同。每種功能不能同時(shí)實(shí)現(xiàn)，否則會出現(xiàn)混亂。-------------------------------------------------------------*/sbitCLK1=P0^0;       //步進(jìn)電機(jī)1脈沖sbit CW1    =P0^1; //步進(jìn)電機(jī)1方向sbitEW1=P0^2; //步進(jìn)電機(jī)1使能sbitCLK2    =P0^3; //步進(jìn)電機(jī)2脈沖sbitCW2    =P0^4;      //步進(jìn)電機(jī)2方向sbitEW2    =P0^5;      //步進(jìn)電機(jī)2使能sbitEN1    =P0^6;      //角度電機(jī)使能sbitIN1    =P0^7;    //角度電機(jī)脈沖/*-------------------------------------------------------------P1引腳定義 ：P1口為限位檢測口。-------------------------------------------------------------*/sbit LED_SD    =P1^0;sbit    LED_KD    =P1^2;sbit    LED_GD=P1^3;sbit    LED_YX=P1^4;sbit    LED_FW=P1^5;sbit    CLK        =P1^6;      //角度限位右  。當(dāng)高電平表示有限位sbitDATAS    =P1^7;      //角度電機(jī)輸入2/*-------------------------------------------------------------P2引腳定義 ：-------------------------------------------------------------*/sbit    VSW     = P2^0;sbit    FXXWZ   = P2^1;sbitFXXWY=P2^2;  //  驅(qū)動(dòng)控制，=0該為Q=D.=1時(shí)為高阻態(tài)。sbitZXWX=P2^3;  //鍵盤控制，該位=0時(shí)為跟隨變化Q=D，=1時(shí)為高阻態(tài)。sbitZXWS=P2^4; //指示燈LED控制該位=0時(shí)為保持，=1時(shí)為數(shù)據(jù)Q=Dsbit    XXWZ=P2^5; //數(shù)碼管個(gè)位控制該位=0時(shí)為保持，=1時(shí)為數(shù)據(jù)Q=Dsbit XXWY=P2^6; //數(shù)碼管十位控制該位=0時(shí)為保持，=1時(shí)為數(shù)據(jù)Q=DsbitIN2    =P2^7;  //角度電機(jī)脈沖/*-------------------------------------------------------------P3引腳定義：P3口為主軸電機(jī)調(diào)速端口和主軸編碼方向編碼，還有鍵盤中斷。-------------------------------------------------------------*/sbit    STB_IO  =P3^2 ;sbit    JT      =P3^3 ;sbitZZZD=P3^4;sbitFXMC=P3^5;sbitPOWSW=P3^7;/*-----------------------------------------------------------------------------函數(shù)功能 : MS 毫秒 延遲函數(shù)-----------------------------------------------------------------------------*/void Delay(unsigned int i){unsigned int j;for(i;i>0;i--){for(j=0;j<125;j++){;}}}unsigned char code table[]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f,0x77,0x7c,0x39,0x5e,0x79,0x71,0x00,0x40,0x00};/*-----------------------------------------------------------------------------函數(shù)功能 : us 微秒 延遲函數(shù)-----------------------------------------------------------------------------*/void MyDelay(unsigned int time){while(time--){_nop_();}}/*-----------------------------------------------------------------------------函數(shù)功能 : us 微秒 精確US延遲 12MHZ延遲6us-----------------------------------------------------------------------------*/void MyDelay2(){_nop_();}/*-----------------------------------------------------------------------------函數(shù)功能 :X軸電機(jī)驅(qū)動(dòng)脈沖-----------------------------------------------------------------------------*/void XZDJQD(){CLK1=0;MyDelay2();CLK1=1;Delay(1);}/*-----------------------------------------------------------------------------函數(shù)功能 :Z軸電機(jī)驅(qū)動(dòng)脈沖-----------------------------------------------------------------------------*/void ZZDJQD(){CLK2=0;MyDelay2();CLK2=1;Delay(1);}/*-----------------------------------------------------------------------------函數(shù)功能 :機(jī)構(gòu)復(fù)位程序 復(fù)位x軸z軸以及角度軸。-----------------------------------------------------------------------------*/void jgfw ( ){unsigned int g=0; //中點(diǎn)計(jì)數(shù)中間變量EX0=0;//關(guān)閉鍵盤中斷等待復(fù)位完成。EW1=0;CW1=1;while(XXWZ==0){CW1=1;XZDJQD();}CW1=0;while (XXWY==0){CW1=0;XZDJQD();g=g+1;}g=g/2;CW1=1;while (g>0){CW1=1;XZDJQD();g=g-1;}P2=0XF0;EX0=1;}/*-----------------------------------------------------------------------------函數(shù)功能 :運(yùn)行狀態(tài)中X軸和Z軸角度軸的控制。-----------------------------------------------------------------------------*/void YXQD ( ){f=c*20;while(f>0){XZDJQD();f=f-1;if(XXWZ==1)CW1=0;if(XXWY==1)CW1=1;if(XXWZ==1||XXWY==1){g=d*5;while(g>0){ZZDJQD();g=g-1;}}}}/*-----------------------------------------------------------------------------函數(shù)功能 :運(yùn)行狀態(tài)電機(jī)參數(shù)送出(串行方式)-----------------------------------------------------------------------------*/void Control(unsigned char cmd){unsigned char i;STB_IO = 0;//拉低片選Delay(20);for(i=0;i<8;i++){CLK = 0;//這里大約是100usif(cmd & 0x80)DATAS = 1;//把datas的參數(shù)與16進(jìn)制數(shù)8000進(jìn)行位與運(yùn)算把結(jié)果給datas（如果有數(shù)則DAT=1else DATAS = 0;//否則DAT=0MyDelay(200) ;CLK = 1;MyDelay(200) ;//這里大約是100uscmd <<= 1;}DATAS = 1;STB_IO = 1;CLK = 1;}/*-----------------------------------------------------------------------------函數(shù)功能 : 主函數(shù)-----------------------------------------------------------------------------*/void main(void){unsigned char YSJS=5 ;EX0=1;//開中斷0EA=1; //開總中斷IT0=1; //設(shè)定中斷0方式為下降沿觸發(fā)。while (1){if   (SPI_ZL==0)   {POWSW=1;LED_SD=1;LED_KD=1;LED_GD=1;LED_YX=1;LED_FW=1;}       //  關(guān)閉電源狀態(tài)while(SPI_ZL==0){;  }if   (SPI_ZL==1){VSW=0; POWSW=0;}                                                                  //啟動(dòng)電源的狀態(tài)。while(SPI_ZL==1)   {LED_SD=~LED_SD;LED_KD=~LED_KD;LED_GD=~LED_GD;LED_YX=~LED_YX;LED_FW=~LED_FW;Delay(300); }if   (SPI_ZL==2){  LED_SD=1;LED_KD=1;LED_GD=1;LED_YX=1;LED_FW=0;                      }   //復(fù)位狀態(tài)while(SPI_ZL==2){;}if   (SPI_ZL==3){    LED_SD=0;LED_KD=1;LED_GD=1;LED_YX=0;LED_FW=1; VSW=1; POWSW=0;                             }       //運(yùn)行狀態(tài)while(SPI_ZL==3){if(BBZ!=b){LED_SD=1;LED_KD=1;LED_GD=1;while(--YSJS){LED_SD=~LED_SD;Delay(100);}LED_SD=0 ;BBZ=b;YSJS=5 ;}if(CBZ!=c){LED_SD=1;LED_KD=1;LED_GD=1;while(--YSJS){LED_KD=~LED_KD;Delay(100);}LED_KD=0;CBZ=c;YSJS=5 ;}if(DBZ!=d){LED_SD=1;LED_KD=1;LED_GD=1;while(--YSJS){LED_GD=~LED_GD;Delay(100);}LED_GD=0;DBZ=d;YSJS=5 ;}}if   (SPI_ZL==4)                                                                       //暫停狀態(tài){LED_SD=0;LED_KD=1;LED_GD=1;LED_YX=0;LED_FW=1; POWSW=1;}while (SPI_ZL==4)                                                                               //參數(shù)調(diào)整{if(BBZ!=b){LED_SD=1;LED_KD=1;LED_GD=1;while(--YSJS){LED_SD=~LED_SD;Delay(100);}LED_SD=0 ;BBZ=b;YSJS=5 ;}if(CBZ!=c){LED_SD=1;LED_KD=1;LED_GD=1;while(--YSJS){LED_KD=~LED_KD;Delay(100);}LED_KD=0;CBZ=c;YSJS=5 ;}if(DBZ!=d){LED_SD=1;LED_KD=1;LED_GD=1;while(--YSJS){LED_GD=~LED_GD;Delay(100);}LED_GD=0;DBZ=d;YSJS=5 ;}LED_YX=~LED_YX;Delay(100);}}}/*-----------------------------------------------------------------------------函數(shù)功能 : 串行中斷接收-----------------------------------------------------------------------------*/void SPI_IO(void) interrupt 0{IE0=0;m=0;if(STB_IO==0){for(m=0;m<16;m++){while(CLK==1){;}if(CLK==0){_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();if(DATAS==1){ z|=1;}else{ z|=0;}}zd0=z;z=z<<1;while(CLK==0){;}}SPI_DL=zd0;zd0>>=8;SPI_DH=zd0;if(SPI_DH==0){SPI_ZL  =   SPI_DL;}if(SPI_DH==0xf1){c       =   SPI_DL;}if(SPI_DH==0xf0){b       =   SPI_DL;}if(SPI_DH==0xf2){d       =   SPI_DL;}}IE0=0;}