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AVR单片机驱动二相步进电机(单极驱动)简易程序,带串口控制
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AVR单片机驱动二相步进电机(单极驱动)简易程序,带串口控制。
编译器为ICC6.31A;
#include"iom16v.h"
#include"macros.h"
#define uint unsigned int
#define uchar unsigned char
#pragma interrupt_handler usart:14
uchar i;
uchar const *p;
uchar zf=1; //电机正反转标志;
uchar k1=5;
//uchar const timer2dath[10]={};
//uchar const timer2datl[10]={};
unsigned char const suzhu1[16]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f,
0x77,0x7c,0x39,0x5e,0x79,0x71};
uchar const bjdjdat[48]={0x80,0xa0,0x20,0x60,0x40,0x50,0x10,0x90,
0x80,0x90,0x10,0x50,0x40,0x60,0x20,0xa0,
0x80,0x20,0x40,0x10,0x80,0x20,0x40,0x10,
0x80,0x10,0x40,0x20,0x80,0x10,0x40,0x20,
0xa0,0x60,0x50,0x90,0xa0,0x60,0x50,0x90,
0xa0,0x90,0x50,0x60,0xa0,0x90,0x50,0x60
};//设置单片机IO口高低电平数据组,用以驱动步进电机的各相按需通电;
uint const timer1dat[11]={36000,23000,13000,7000,4300,3000,2500,2100,1800,1700,0};//定时器1定时数据,用于控制电机的转速,定时越短转速越快;
uchar uartdat[4]={0,0,0,0}; //划出串行通信时所需的寄存器;
uchar add,open,jslopen;
void siansi(unsigned int dat,unsigned char bit,unsigned int time)//数码管显示函数
{
//PORTA&=~BIT(4);
PORTC&=~BIT(7);
PORTA&=~0x17;
PORTB=suzhu1[dat];
PORTA|=bit ;
PORTA|=BIT(4);
PORTC|=BIT(7);
while(time--);
}
void ioinit()//IO口初始化;
{
DDRB=0XFF;
DDRD=0XF3;
DDRA|=0X17;
DDRC|=0X80;
PORTD|=0X0f;
}
void usart()//串行接收中断处理;
{
uchar a;
a=UDR;
if(a==168)
{
open=1;
add=0;
}
if(a==138&&open)
{
open=0;
uartdat[add]=a;
jslopen=1;
}
if(open)
{
uartdat[add]=a;
add++;
}
}
void jsl()//一帧数据处理;
{
uchar j;
jslopen=0;
switch(uartdat[1])
{
case 1:
if(uartdat[2])TIMSK|=0X04;
else TIMSK&=~0X04;
break;
case 2:
if(uartdat[2]>0)
k1=uartdat[2]-1;
else k1=10;
break;
case 3:
if(uartdat[2]&&!zf)p=p-8,zf=1;
if(!uartdat[2]&&zf)p=p+8,zf=0;
break;
case 4:
if(uartdat[2]==1&&zf)p=bjdjdat;
if(uartdat[2]==1&&!zf)p=bjdjdat+8;
if(uartdat[2]==2&&zf)p=bjdjdat+16;
if(uartdat[2]==2&&!zf)p=bjdjdat+24;
if(uartdat[2]==3&&zf)p=bjdjdat+32;
if(uartdat[2]==3&&!zf)p=bjdjdat+40;
break;
}
for(j=0;j<4;j++)
{
/* 等待发送缓冲器为空 */
while ( !( UCSRA & (1<<UDRE)) )
;
/* 将数据放入缓冲器,发送数据 */
UDR=uartdat[j];
}
}
void uartinit()//串行口初始化;
{
UCSRA=0X00;
UCSRB=0X98;
UCSRC=0X86;
UBRRH=0X00;
UBRRL=71;
SREG|=0X80;
}
#pragma interrupt_handler timer1:9
void timer1() //定时器1中断处理;
{
TCNT1=65536-timer1dat[k1];
i++;
if(i>7)i=0;
PORTD&=0X0F;
if(k1==10)return;
PORTD|=p[i];
}
void timer1init()
{
TCCR1A=0X00;
TCCR1B=0X02;
TIMSK|=0X04;
}
void main(void)//主程序;
{
p=bjdjdat;
uartinit();
ioinit();
timer1init();
while(1)
{
siansi(timer1dat[k1]%10,7,1000);
siansi(timer1dat[k1]%100/10,6,1000);
siansi(timer1dat[k1]%1000/100,5,1000);
siansi(timer1dat[k1]%10000/1000,4,1000);
siansi(timer1dat[k1]/10000,3,1000);
if(zf)siansi(14,2,1000);
else siansi(15,2,1000);
if(jslopen)jsl();
}
}
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