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Create 52mcu four phase five wire stepper motor (3)-main.c #1

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fd40a60
Create 52mcu four phase five wire stepper motor (3)-main.c
Dec 12, 2014
8d242a6
Create 52mcu four phase five wire stepper motor (3)-stepper_motor.h
Dec 12, 2014
41648ef
Create 52mcu four phase five wire stepper motor (4)-main.c
Dec 12, 2014
a60d473
Create 52mcu four phase five wire stepper motor (5)-main.c
Jan 20, 2015
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303 changes: 303 additions & 0 deletions 52mcu four phase five wire stepper motor (3)-main.c
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/*-------------------------------------------
简单的串口通信
-------------------------------------------*/
#include"stepper_motor.h"
#include<reg52.h>

#define uint unsigned int
#define uchar unsigned char

sbit ADDO = P3^3;
sbit ADSK = P3^2;

unsigned int speed1,speed2,speed3,speed4,speed5;//控制5个点机的速度
unsigned char num1,num2,num3,num4,num5;//控制5个电机的8个相轮转
unsigned char go1,go2,go3,go4,go5;//控制5个电机的正反转
uint time;

uchar flag,a,i; //标志接收串口中断标志，接收SBUF内容
uchar table[26];
/*--------------------------------------------
USAR初始函数
---------------------------------------------*/
void USRT_init()
{
TMOD|=0x20; //设置T1定时器工作方式2
TH1=0xfd; //T1定时器装初值
TL1=0xfd;
TR1=1; //启动T1定时器
REN=1; //允许串口中断接收
SM0=0; //设定串口工作方式
SM1=1;
EA=1; //开总中断
ES=1; //开串口中断
}
/*--------------------------------------------
串口中断程序
---------------------------------------------*/
void ser()interrupt 4
{
RI=0;
a=SBUF;
flag=1;
}
/*--------------------------------------------
读取重力信息
---------------------------------------------*/
unsigned long ReadCount(void)
{
unsigned long Count;
unsigned char i;
ADSK=0;
Count=0;
while(ADDO);
for (i=0;i<24;i++){
ADSK=1;
Count=Count<<1;
ADSK=0;
if(ADDO)Count++;
}
ADSK=1;
if((Count&0x800000)!=0)//最高位为1说明为负数
{
table[0]='-';
Count=16777217-Count;//转变为对应负数
}
else table[0]='+';
Count=Count*50000/16777216;
table[1]='0'+Count%10000/1000;
table[2]='0'+Count%1000/100;
table[3]='0'+Count%100/10;
table[4]='0'+Count%10;
table[5]=0x0d;
table[6]=0x0a;
ADSK=0;
return(Count);
}
/*--------------------------------------------
主函数
---------------------------------------------*/
void main()
{
time=0;
speed1=speed2=speed3=speed4=speed5=2;
num1=num2=num3=num4=num5=0;
go1=go2=go3=go4=go5=1;
USRT_init();
while(1)
{
time++;
if(time==200000)time=0;
if(time%speed1==0)
{
//if(num1==0)Coil_OFF1;
switch(num1){
case 0:num1++;
if(go1==0)Coil_A1
else Coil_A1
break;
case 1:num1++;
if(go1==0)Coil_AB1
else Coil_DA1
break;
case 2:num1++;
if(go1==0)Coil_B1
else Coil_D1
break;
case 3:num1++;
if(go1==0)Coil_BC1
else Coil_CD1
break;
case 4:num1++;
if(go1==0)Coil_C1
else Coil_C1
break;
case 5:num1++;
if(go1==0)Coil_CD1
else Coil_BC1
break;
case 6:num1++;
if(go1==0)Coil_D1
else Coil_B1
break;
case 7:num1=0;
if(go1==0)Coil_DA1
else Coil_AB1
break;
default:break;
}
}
if(time%speed2==0)
{
//if(num2==0)Coil_OFF2;
switch(num2){
case 0:num2++;
if(go2==0)Coil_A2
else Coil_A2
break;
case 1:num2++;
if(go2==0)Coil_AB2
else Coil_DA2
break;
case 2:num2++;
if(go2==0)Coil_B2
else Coil_D2
break;
case 3:num2++;
if(go2==0)Coil_BC2
else Coil_CD2
break;
case 4:num2++;
if(go2==0)Coil_C2
else Coil_C2
break;
case 5:num2++;
if(go2==0)Coil_CD2
else Coil_BC2
break;
case 6:num2++;
if(go2==0)Coil_D2
else Coil_B2
break;
case 7:num2=0;
if(go2==0)Coil_DA2
else Coil_AB2
break;
default:break;
}
}
if(time%speed3==0)
{
//if(num3==0)Coil_OFF3;
switch(num3){
case 0:num3++;
if(go3==0)Coil_A3
else Coil_A3
break;
case 1:num3++;
if(go3==0)Coil_AB3
else Coil_DA3
break;
case 2:num3++;
if(go3==0)Coil_B3
else Coil_D3
break;
case 3:num3++;
if(go3==0)Coil_BC3
else Coil_CD3
break;
case 4:num3++;
if(go3==0)Coil_C3
else Coil_C3
break;
case 5:num3++;
if(go3==0)Coil_CD3
else Coil_BC3
break;
case 6:num3++;
if(go3==0)Coil_D3
else Coil_B3
break;
case 7:num3=0;
if(go3==0)Coil_DA3
else Coil_AB3
break;
default:break;
}
}
if(time%speed4==0)
{
//if(num4==0)Coil_OFF4;
switch(num4){
case 0:num4++;
if(go4==0)Coil_A4
else Coil_A4
break;
case 1:num4++;
if(go4==0)Coil_AB4
else Coil_DA4
break;
case 2:num4++;
if(go4==0)Coil_B4
else Coil_D4
break;
case 3:num4++;
if(go4==0)Coil_BC4
else Coil_CD4
break;
case 4:num4++;
if(go4==0)Coil_C4
else Coil_C4
break;
case 5:num4++;
if(go4==0)Coil_CD4
else Coil_BC4
break;
case 6:num4++;
if(go4==0)Coil_D4
else Coil_B4
break;
case 7:num4=0;
if(go4==0)Coil_DA4
else Coil_AB4
break;
default:break;
}
}
if(time%speed5==0)
{
//if(num5==0)Coil_OFF5;
switch(num5){
case 0:num5++;
if(go5==0)Coil_A5
else Coil_A5
break;
case 1:num5++;
if(go5==0)Coil_AB5
else Coil_DA5
break;
case 2:num5++;
if(go5==0)Coil_B5
else Coil_D5
break;
case 3:num5++;
if(go5==0)Coil_BC5
else Coil_CD5
break;
case 4:num5++;
if(go5==0)Coil_C5
else Coil_C5
break;
case 5:num5++;
if(go5==0)Coil_CD5
else Coil_BC5
break;
case 6:num5++;
if(go5==0)Coil_D5
else Coil_B5
break;
case 7:num5=0;
if(go5==0)Coil_DA5
else Coil_AB5
break;
default:break;
}
}
if(flag==1) //检测到串口中断。表示有数据传过来了
{
ReadCount();
ES=0; //关闭串口中断，接下来要发送数据，如果不关闭每次发送之后串口中断都会执行又进入if(flag==1)那里，然后死循环
for(i=0;i<8;i++) //将table[]中的前6个发送出去
{
SBUF=table[i];
while(!TI); //每次等待发送完毕，再执行下一条
TI=0; //手动清0
}
SBUF=a; //将收到的数据发送出去
while(!TI);
TI=0;
ES=1;
flag=0;
}
}
}
72 changes: 72 additions & 0 deletions 52mcu four phase five wire stepper motor (3)-stepper_motor.h
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#include<reg52.h>

sbit A1=P1^0; //定义步进电机连接端口
sbit B1=P1^1;
sbit C1=P1^2;
sbit D1=P1^3;
sbit A2=P1^4; //定义步进电机连接端口
sbit B2=P1^5;
sbit C2=P1^6;
sbit D2=P1^7;
sbit A3=P3^4; //定义步进电机连接端口
sbit B3=P3^5;
sbit C3=P3^6;
sbit D3=P3^7;
sbit A4=P2^4; //定义步进电机连接端口
sbit B4=P2^5;
sbit C4=P2^6;
sbit D4=P2^7;
sbit A5=P2^0; //定义步进电机连接端口
sbit B5=P2^1;
sbit C5=P2^2;
sbit D5=P2^3;

#define Coil_AB1 {A1=1;B1=1;C1=0;D1=0;}//AB相通电，其他相断电
#define Coil_BC1 {A1=0;B1=1;C1=1;D1=0;}//BC相通电，其他相断电
#define Coil_CD1 {A1=0;B1=0;C1=1;D1=1;}//CD相通电，其他相断电
#define Coil_DA1 {A1=1;B1=0;C1=0;D1=1;}//D相通电，其他相断电
#define Coil_A1 {A1=1;B1=0;C1=0;D1=0;}//A相通电，其他相断电
#define Coil_B1 {A1=0;B1=1;C1=0;D1=0;}//B相通电，其他相断电
#define Coil_C1 {A1=0;B1=0;C1=1;D1=0;}//C相通电，其他相断电
#define Coil_D1 {A1=0;B1=0;C1=0;D1=1;}//D相通电，其他相断电
#define Coil_OFF1 {A1=0;B1=0;C1=0;D1=0;}//全部断电

#define Coil_AB2 {A2=1;B2=1;C2=0;D2=0;}//AB相通电，其他相断电
#define Coil_BC2 {A2=0;B2=1;C2=1;D2=0;}//BC相通电，其他相断电
#define Coil_CD2 {A2=0;B2=0;C2=1;D2=1;}//CD相通电，其他相断电
#define Coil_DA2 {A2=1;B2=0;C2=0;D2=1;}//D相通电，其他相断电
#define Coil_A2 {A2=1;B2=0;C2=0;D2=0;}//A相通电，其他相断电
#define Coil_B2 {A2=0;B2=1;C2=0;D2=0;}//B相通电，其他相断电
#define Coil_C2 {A2=0;B2=0;C2=1;D2=0;}//C相通电，其他相断电
#define Coil_D2 {A2=0;B2=0;C2=0;D2=1;}//D相通电，其他相断电
#define Coil_OFF2 {A2=0;B2=0;C2=0;D2=0;}//全部断电

#define Coil_AB3 {A3=1;B3=1;C3=0;D3=0;}//AB相通电，其他相断电
#define Coil_BC3 {A3=0;B3=1;C3=1;D3=0;}//BC相通电，其他相断电
#define Coil_CD3 {A3=0;B3=0;C3=1;D3=1;}//CD相通电，其他相断电
#define Coil_DA3 {A3=1;B3=0;C3=0;D3=1;}//D相通电，其他相断电
#define Coil_A3 {A3=1;B3=0;C3=0;D3=0;}//A相通电，其他相断电
#define Coil_B3 {A3=0;B3=1;C3=0;D3=0;}//B相通电，其他相断电
#define Coil_C3 {A3=0;B3=0;C3=1;D3=0;}//C相通电，其他相断电
#define Coil_D3 {A3=0;B3=0;C3=0;D3=1;}//D相通电，其他相断电
#define Coil_OFF3 {A3=0;B3=0;C3=0;D3=0;}//全部断电

#define Coil_AB4 {A4=1;B4=1;C4=0;D4=0;}//AB相通电，其他相断电
#define Coil_BC4 {A4=0;B4=1;C4=1;D4=0;}//BC相通电，其他相断电
#define Coil_CD4 {A4=0;B4=0;C4=1;D4=1;}//CD相通电，其他相断电
#define Coil_DA4 {A4=1;B4=0;C4=0;D4=1;}//D相通电，其他相断电
#define Coil_A4 {A4=1;B4=0;C4=0;D4=0;}//A相通电，其他相断电
#define Coil_B4 {A4=0;B4=1;C4=0;D4=0;}//B相通电，其他相断电
#define Coil_C4 {A4=0;B4=0;C4=1;D4=0;}//C相通电，其他相断电
#define Coil_D4 {A4=0;B4=0;C4=0;D4=1;}//D相通电，其他相断电
#define Coil_OFF4 {A4=0;B4=0;C4=0;D4=0;}//全部断电

#define Coil_AB5 {A5=1;B5=1;C5=0;D5=0;}//AB相通电，其他相断电
#define Coil_BC5 {A5=0;B5=1;C5=1;D5=0;}//BC相通电，其他相断电
#define Coil_CD5 {A5=0;B5=0;C5=1;D5=1;}//CD相通电，其他相断电
#define Coil_DA5 {A5=1;B5=0;C5=0;D5=1;}//D相通电，其他相断电
#define Coil_A5 {A5=1;B5=0;C5=0;D5=0;}//A相通电，其他相断电
#define Coil_B5 {A5=0;B5=1;C5=0;D5=0;}//B相通电，其他相断电
#define Coil_C5 {A5=0;B5=0;C5=1;D5=0;}//C相通电，其他相断电
#define Coil_D5 {A5=0;B5=0;C5=0;D5=1;}//D相通电，其他相断电
#define Coil_OFF5 {A5=0;B5=0;C5=0;D5=0;}//全部断电
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