步进电机驱动程序C语言

步进电机控制程序(c语言+51单片机)

#include<reg51.h>

#define uint unsigned int

#define uchar unsigned char

#define ms *77

// f = 12 M

#define LEDLen 4

#define Dj_star() {IE=0x81pri_dj=0}

#define Dj_stop() {IE=0x00pri_dj=1P1=0xffshache="0"delay(800ms)delay(800ms)delay(400ms)shache = 1}

#define Chilun_Num 8

/* 齿轮数 8 个*/

#define set_display_num() { LEDBuf[0] = tmp / 1000LEDBuf[1] = tmp / 100 % 10 \

LEDBuf[2] = tmp / 10 % 10 LEDBuf[3] = tmp % 10 }

uchar LEDBuf[LEDLen] = {0,0,0,0}

void read_num () /* 读播码盘 到 set_round_num * 8 */

void display ()

void delay(uint delay_time) { uint ifor (i=0i <delay_time i++) }

void run ()

void fx_run()

uint round_num = 0 /* 记录已转的 齿轮数 , 中断1次 加 1*/

uint set_round_num = 0 /* 播码盘设置 圈数 */

uint set_pwm_width = 0 /* 播码盘设置 步进电机 正向速度 */

bit one_round_flg = 0

sbit led_1000 = P0^7 //use for display

sbit led_100 = P0^6 //use for display

sbit led_10= P0^5 //use for display

sbit led_1 = P0^4 //use for display

sbit key_start = P3^0

sbit key_puse = P3^0

sbit key_clear = P3^1

/* P3^2 接齿轮传感器 中断 */

sbit bujin_zx_stop = P3^3 /* 接步进电机 ,正向到位传感器 ,为 0 停机 */

sbit bujin_fx_stop = P3^4 /* 接步进电机 ,反向到位传感器 ,为 0 停机 */

sbit shache= P3^5 /* 接刹车控制继电器 0 电位有效 */

sbit pri_dj= P3^6 /* 接主电机控制继电器 0 电位有效 */

void main(){

TCON = 0x01

display()

while(1) {

IE="0x00"

round_num = 0

display()

if ( bujin_fx_stop ) fx_run()

while ( key_start )

delay ( 8ms )

if(!key_start){

read_num()

//set_round_num = 8

while ( !key_start )

run ()

fx_run()

}

}

}

void run () {

#define Delay_time 180

/* 转一圈 50 次循环，每循环 4 步 ，50 * 4 = 200 ， 200 * 1。8 = 360 */

uchar i

P1 = 0xff

set_pwm_width = 15 + set_pwm_width / 10

while ( 1 ) {

while( !shache | !key_start )

Dj_star()

for ( i="0" bujin_zx_stop &!pri_dji++ ){

P1 = 0xf9

delay ( Delay_time ) // bujin_zx_stop = P3^3

P1 = 0xfc // bujin_fx_stop = P3^4

delay ( Delay_time) // key_puse = P3^0

P1 = 0xf6 // key_clear = P3^1

delay ( Delay_time ) // shache= P3^5

P1 = 0xf3 // pri_dj= P3^6

delay ( Delay_time )

if( i == set_pwm_width ) { P1 = 0xffi = 0one_round_flg = 0while ( !one_round_flg &key_puse )}

if(!key_puse) { delay(4ms) if(!key_puse) break }

}

P1 = 0xff

if ( pri_dj ) break

if ( !key_puse ) {

delay ( 8ms )

if ( !key_puse ) {

Dj_stop()

while ( !key_puse )

// next pree key

while( !shache )

while(1){

while ( key_puse & key_clear )

delay ( 8ms )

if ( !key_clear ) { round_num = 0display()}

if ( !key_puse ) break

}

while( !key_puse )

delay(8ms)

while( !key_puse )

}

}

}

}

void ext_int0(void) interrupt 0 { /* 主电机 齿轮 中断 */

uint tmp

EA = 0

if( !pri_dj ){

round_num ++

if (round_num % Chilun_Num == 0 ){

one_round_flg = 1

tmp = round_num / Chilun_Num

set_display_num()

P0 = 0xf0

P0 = P0 | LEDBuf[0]

led_1000 = 0

P0 |= 0xf0

P0 = 0xf0

P0 = P0 | LEDBuf[1]

led_100 = 0

P0 |= 0xf0

P0 = 0xf0

P0 = P0 | LEDBuf[2]

led_10= 0

P0 |= 0xf0

P0 = 0xf0

P0 = P0 | LEDBuf[3]

led_1 = 0

P0 |= 0xf0

P0 = 0xf0

}

if ( round_num >= set_round_num ) Dj_stop()

}

EA = 0x81

}

void display(){

uchar i

uint tmp = 0

tmp = round_num / Chilun_Num

set_display_num()

for(i = 0i <LEDLen i ++){

P0 = 0xf0

P0 = P0 | LEDBuf[i]

if(i==0) led_1000 = 0 //P0^4

if(i==1) led_100 = 0 //P0^5

if(i==2) led_10= 0 //P0^6

if(i==3) led_1 = 0 //P0^7

P0 |= 0xf0

}

P0 = 0xf0

}

void read_num(){

/* 读播码盘 到 set_round_num ，set_pwm_width */

uchar tmp

P2 = 0xFF

P2 = 0xEF // 1110 1111

delay ( 1ms )

tmp = ~(P2 | 0xF0)

P2 = 0xDF // 1101 1111

delay ( 1ms )

tmp = (~(P2 | 0xF0 )) * 10 + tmp

set_round_num = tmp

P2 = 0xBF // 1011 1111

delay ( 1ms )

tmp = (~(P2 | 0xF0))

P2 = 0x7F // 0111 1111

delay ( 1ms )

tmp = (~(P2 | 0xF0)) * 10 + tmp

set_round_num = set_round_num + tmp * 100

set_round_num = set_round_num * Chilun_Num

P2 = 0xFF

P1 = 0xbF // 0111 1111

delay ( 1ms )

tmp = ~(P2 | 0xF0)

P1 = 0xFF

P2 = 0xFF

P1 &= 0x7F // 1011 1111

delay ( 1ms )

tmp = (~(P2 | 0xF0)) * 10 + tmp

set_pwm_width = tmp

P1 = 0xFF

P2 = 0xFF

}

void fx_run(){

#define f_Delay_time 180

while ( bujin_fx_stop ) { /* 反向 回车 直到 传感器 动作*/

P1 = 0xf3 //0011

delay ( f_Delay_time )

P1 = 0xf6 //0110

delay ( f_Delay_time )

P1 = 0xfc //1100

delay ( f_Delay_time )

P1 = 0xf9 //1001

delay ( f_Delay_time )

}

P1 = 0xff

}

#include<reg51.h>

#define uchar unsigned char

sbit key=P3^2

sbit dir=P0^3

sbit pluse=P0^2

sbit en=P0^4

void delay(int a)

{

    while(a--)

}

main()

{

uchar i

en=0

pluse=0

    while(1)

    {

        if(key==0)

        {

            delay(1000)

            if(key==0)

            {

                while(key==0)

                for(i=0i<200i++)

                {

                    dir=0

                    en=1

                    pluse=~pluse

                    delay(800)

                }

            }

        }

    dir=1

    en=0

    pluse=0

    }

}

这个STI6608驱动器输入信号是Pluse+DIR方式控制，可以带2个步进电机。Reset可以置位步进电机到位置1。刚启动是置位1次就可以了。以下编一简单的演示程序：

#include<reg51.h>

#define uchar unsigned char

#define uint unsigned char

sbit pluse1=P1^0

sbit pluse2=P1^1

sbit dir1=P1^2

sbit dir2=P1^3

sbit reset1=P1^4

sbit reset2=P1^5

void delay(uint a)

{

uint i

while(a--)for(i=0i<1100i++)

}

main()

{

uint i

reset1=0

reset2=0

delay(1000)

reset1=1

reset2=1

while(1)

    {

    for(i=0i<4800i++)

        {

        pluse1=~pluse1

        dir1=1

        delay(5)

        }

    for(i=0i<4800i++)

        {

        pluse2=~pluse2

        dir2=1

        delay(5)

        }

    for(i=0i<4800i++)

        {

        pluse1=~pluse1

        dir1=0

        delay(5)

    for(i=0i<4800i++)

        {

        pluse2=~pluse2

        dir2=0

        delay(5)

        }        

    }

}

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