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標題: Stepper Motor controller [打印本頁]

作者: uucww 時間: 2006-8-16 13:16
標題: Stepper Motor controller
Stepper Motor controller

http://www.interq.or.jp/japan/se-inoue/e_step.htm
http://www.interq.or.jp/japan/se-inoue/e_step4.htm

step1.jpg (24.16 KB, 下載次數: 1042)

作者: uucww 時間: 2006-8-16 13:21
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;********************************************************
;
;             Stepper Motor controller
;
;                               Author : Seiichi Inoue
;********************************************************

      list          p=pic16f84a
      include       p16f84a.inc
      __config _hs_osc & _wdt_off & _pwrte_on & _cp_off

;****************  Label Definition  ********************
      cblock  h'0c'
mode                         ;Operation mode
                              ;0=stop 1=right 2=left
count1                         ;Wait counter
count2                         ;Wait counter(for 1msec)
      endc

rb0    equ    0             ;RB0 of PORTB
rb1    equ    1             ;RB1 of PORTB
rb2    equ    2             ;RB2 of PORTB
rb5    equ    5             ;RB5 of PORTB
rb7    equ    7             ;RB7 of PORTB

;****************  Program Start  ***********************
      org    0             ;Reset Vector
      goto init
      org    4             ;Interrupt Vector
      clrf intcon       ;Clear Interruption reg

;****************  Initial Process  *********************
init
      bsf    status,rp0    ;Change to Bank1
      clrf trisa          ;Set PORTA all OUT
      movlw b'00100111'    ;RB0,1,2.5=IN RB7=OUT
      movwf trisb          ;Set PORTB
      movlw b'10000000'    ;RBPU=1 Pull up not use
      movwf option_reg    ;Set OPTION_REG
      bcf    status,rp0    ;Change to Bank0
      clrf mode          ;Set mode = stop
      clrf count1       ;Clear counter
      clrf count2       ;Clear counter
      movlw b'00000101'    ;Set PORTA initial value
      movwf porta          ;Write PORTA
      bsf    portb,rb7    ;Set RB7 = 1
      btfsc portb,rb5    ;RB5 = 0 ?
      goto $-1          ;No. Wait

start
;*************  Check switch condition  *****************
      btfsc portb,rb1    ;RB1(stop key) = ON ?
      goto check1       ;No. Next
      clrf mode          ;Yes. Set stop mode
      goto drive          ;No. Jump to motor drive
check1
      btfsc portb,rb2    ;RB2(right key) = ON ?
      goto check2       ;No. Next
      movlw d'1'          ;Yes. Set right mode
      movwf mode          ;Save mode
      goto drive          ;No. Jump to motor drive
check2
      btfsc portb,rb0    ;RB0(left key) = ON ?
      goto drive          ;No. Jump to motor drive
      movlw d'2'          ;Yes. Set left mode
      movwf mode          ;Save mode

;********************  Motor drive  *********************
drive
      movf mode,w       ;Read mode
      bz    start          ;mode = stop
      bsf    portb,rb7    ;Set RB7 = 1
      btfsc portb,rb5    ;RB5 = 0 ?
      goto $-1          ;No. Wait
      movlw d'5'          ;Set loop count(5msec)
      movwf count1       ;Save loop count
loop call timer          ;Wait 1msec
      decfsz  count1,f       ;count - 1 = 0 ?
      goto loop          ;No. Continue
      bcf    portb,rb7    ;Set RB7 = 0
      btfss portb,rb5    ;RB5 = 1 ?
      goto $-1          ;No. Wait
      movf porta,w       ;Read PORTA
      sublw b'000000101' ;Check motor position
      bnz    drive2       ;Unmatch
      movf mode,w       ;Read mode
      sublw d'1'          ;Right ?
      bz    drive1       ;Yes. Right
      movlw b'00001001'    ;No. Set Left data
      goto drive_end    ;Jump to PORTA write
drive1
      movlw b'00000110'    ;Set Right data
      goto drive_end    ;Jump to PORTA write
;-------
drive2
      movf porta,w       ;Read PORTA
      sublw b'000000110' ;Check motor position
      bnz    drive4       ;Unmatch
      movf mode,w       ;Read mode
      sublw d'1'          ;Right ?
      bz    drive3       ;Yes. Right
      movlw b'00000101'    ;No. Set Left data
      goto drive_end    ;Jump to PORTA write
drive3
      movlw b'00001010'    ;Set Right data
      goto drive_end    ;Jump to PORTA write
;-------
drive4
      movf porta,w       ;Read PORTA
      sublw b'000001010' ;Check motor position
      bnz    drive6       ;Unmatch
      movf mode,w       ;Read mode
      sublw d'1'          ;Right ?
      bz    drive5       ;Yes. Right
      movlw b'00000110'    ;No. Set Left data
      goto drive_end    ;Jump to PORTA write
drive5
      movlw b'00001001'    ;Set Right data
      goto drive_end    ;Jump to PORTA write
;-------
drive6
      movf porta,w       ;Read PORTA
      sublw b'000001001' ;Check motor position
      bnz    drive8       ;Unmatch
      movf mode,w       ;Read mode
      sublw d'1'          ;Right ?
      bz    drive7       ;Yes. Right
      movlw b'00001010'    ;No. Set Left data
      goto drive_end    ;Jump to PORTA write
drive7
      movlw b'00000101'    ;Set Right data
      goto drive_end    ;Jump to PORTA write
;-------
drive8
      movlw b'00000101'    ;Compulsion setting

drive_end
      movwf porta          ;Write PORTA
      goto start          ;Jump to start

;*************  1msec Timer Subroutine  *****************
timer
      movlw d'200'       ;Set loop count
      movwf count2       ;Save loop count
tmlp nop                   ;Time adjust
      nop                   ;Time adjust
      decfsz  count2,f       ;count - 1 = 0 ?
      goto tmlp          ;No. Continue
      return                ;Yes. Count end

;********************************************************
;          END of Stepper Motor controller
;********************************************************

      end

http://www.interq.or.jp/japan/se-inoue/e_step7.htm

step5_1.jpg (36.35 KB, 下載次數: 1005)

step5_2.jpg (39.75 KB, 下載次數: 1011)

作者: uucww 時間: 2006-8-16 13:27
..............................

step2_1.gif (9.67 KB, 下載次數: 1033)

step2_2.gif (12.95 KB, 下載次數: 1031)

作者: uucww 時間: 2006-8-16 13:32
PIC16F84A

pic2_0.gif (2.31 KB, 下載次數: 1019)

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