步进电机原代码.c

三相步进电机的三相六拍工作方式

#include<io8515v.h>
#include<macros.h>
const char zhzhuan[7]={0x06,0x04,0x05,0x01,0x03,0x02,0x00};
const char fanzhuan[7]={0x06,0x02,0x03,0x01,0x05,0x004,0x00};
const int time[5]={4000,3200,2400,1600,800};/*脉冲宽度：0.05m,0.04ms,0.03ms,0.02ms,0.01ms*/
char num;   /*将要转动的步数*/
char direct;  /*转动方向，0为反转，1为正转*/
char num_run; /*已经转动的步数*/

void main(void)
    {
	 DDRA=0x07;
	 TCCR1A=0x00;
	 TCCR1B=0x09;
	 TIMSK=0x10;
	 SREG|=0x80;
	 while(1)
	 {
	   ;
	 }
	}
	
#pragma interrupt_handler time1coma:5 
void time1coma(void)
     {
	  char i,j;	  
	  if(num>9)                        
	  {
	   if(num_run<5) OCR1A=time[num_run];                 /*增速*/
	   else if(num_run>(num-5)) OCR1A=time[num-num_run];/*减速*/
	  }
	  else
	  {
	   i=(num+1)/2;
	   if(num_run<(i)) OCR1A=time[num_run];             /*增速*/
	   else OCR1A=time[num-num_run];                    /*减速*/
	  }
	  if(num_run<num)
	  {
	   j=num_run%6;
	   if(direct==1) PORTA=zhzhuan[j];	   	    	  
	   else PORTA=fanzhuan[j];
	   num_run+=1;
	  }
	  else
	  {
	   OCR1A=0x0fa0;
	  }
	 }