📄 step_seq.asm
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; *************************************************************************
;
; Filename: step_seq.asm
;
; Date: 07/22/05
;
; Author: Aaron Garber
;
; *************************************************************************
;
; License:
;
; This software can be used and modified for personal or non-commercial use only.
;
; Please contact avr.stmd@gmail.com if you wish to use this code
; for any commercial purpose usage of this software.
;
; Please contact avr.stmd@gmail.com with any bug fixes or functional improvements.
;
; Use this code at your own risk as there is no guarantee that it will work for you.
;
; *************************************************************************.cseg
.org 0x700 ; stick the tables near the end of memory
; ***** Stepping Sequence Lookup Tables **********************************
; format: db b'xy' where 'x' is the direction pin of the B driver chip.
; where 'y' is the direction pin on the A driver chip.
; db b'xxxxyyyyy' where the most significant nibble 'xxxx' are the pins of the B Driver (M4-M3-M2-M1) chip.
; where the least significant nibble 'yyyy' are the pins of the A Driver (M4-M3-M2-M1) chip.
;
; *************************************************************************
; Stepping Sequence for Full Step Drive (1 Phase On Wave Drive)
; 90 degrees electrical per full step
seq_full_wave: ; 4 entries in table
.db 0b11, 0b00001111 ; 0 degrees
.db 0b10, 0b11110000 ; 90 degrees
.db 0b00, 0b00001111 ; 180 degrees
.db 0b01, 0b11110000 ; 270 degrees
; *************************************************************************
; Stepping Sequence for Full Step Drive (Both Phases On)
; 90 degrees electrical per full step
seq_full_both: ; 4 entries in table
.db 0b11, 0b11111111 ; 0 degrees
.db 0b10, 0b11111111 ; 90 degrees
.db 0b00, 0b11111111 ; 180 degrees
.db 0b01, 0b11111111 ; 270 degrees
; *************************************************************************
; Stepping Sequence for Half Step Drive with Torque Compensation
; 90 degrees electrical per full step / 2 microsteps per full step = 45.0 degrees electrical per microstep
seq_half: ; 8 entries in table
.db 0b11, 0b00001111 ; 0 degrees
.db 0b11, 0b10111011 ; 45 degrees
.db 0b10, 0b11110000 ; 90 degrees
.db 0b10, 0b10111011 ; 135 degrees
.db 0b00, 0b00001111 ; 180 degrees
.db 0b00, 0b10111011 ; 225 degrees
.db 0b01, 0b11110000 ; 270 degrees
.db 0b01, 0b10111011 ; 315 degrees
; *************************************************************************
; Stepping Sequence for Quarter Step Drive with Torque Compensation
; 90 degrees electrical per full step / 4 microsteps per full step = 22.5 degrees electrical per microstep
seq_quarter: ; 16 entries in table
.db 0b11, 0b00001111 ; 0.0 degrees
.db 0b11, 0b01101110 ; 22.5 degrees
.db 0b11, 0b10111011 ; 45.0 degrees
.db 0b11, 0b11100110 ; 67.5 degrees
.db 0b10, 0b11110000 ; 90.0 degrees
.db 0b10, 0b11100110 ; 112.5 degrees
.db 0b10, 0b10111011 ; 135.0 degrees
.db 0b10, 0b01101110 ; 157.5 degrees
.db 0b00, 0b00001111 ; 180.0 degrees
.db 0b00, 0b01101110 ; 202.5 degrees
.db 0b00, 0b10111011 ; 225.0 degrees
.db 0b00, 0b11100110 ; 247.5 degrees
.db 0b01, 0b11110000 ; 270.0 degrees
.db 0b01, 0b11100110 ; 292.5 degrees
.db 0b01, 0b10111011 ; 315.0 degrees
.db 0b01, 0b01101110 ; 337.5 degrees
; *************************************************************************
; Stepping Sequence for Sixth Step Drive with Torque Compensation
; 90 degrees electrical per full step / 6 microsteps per full step = 15 degrees electrical per microstep
seq_sixth: ; 24 entries in table
.db 0b11, 0b00001111 ; 0 degrees
.db 0b11, 0b01001110 ; 15 degrees
.db 0b11, 0b10001101 ; 30 degrees
.db 0b11, 0b10111011 ; 45 degrees
.db 0b11, 0b11011000 ; 60 degrees
.db 0b11, 0b11100100 ; 75 degrees
.db 0b10, 0b11110000 ; 90 degrees
.db 0b10, 0b11100100 ; 105 degrees
.db 0b10, 0b11011000 ; 120 degrees
.db 0b10, 0b10111011 ; 135 degrees
.db 0b10, 0b10001101 ; 150 degrees
.db 0b10, 0b01001110 ; 165 degrees
.db 0b00, 0b00001111 ; 180 degrees
.db 0b00, 0b01001110 ; 195 degrees
.db 0b00, 0b10001101 ; 210 degrees
.db 0b00, 0b10111011 ; 225 degrees
.db 0b00, 0b11011000 ; 240 degrees
.db 0b00, 0b11100100 ; 255 degrees
.db 0b01, 0b11110000 ; 270 degrees
.db 0b01, 0b11100100 ; 285 degrees
.db 0b01, 0b11011000 ; 300 degrees
.db 0b01, 0b10111011 ; 315 degrees
.db 0b01, 0b10001101 ; 330 degrees
.db 0b01, 0b01001110 ; 345 degrees
; *************************************************************************
; Stepping Sequence for Eighth Step Drive with Torque Compensation
; 90 degrees electrical per full step / 8 microsteps per full step = 11.25 degrees electrical per microstep
seq_eighth: ; 32 entries in table
.db 0b11, 0b00001111 ; 0.00 degrees
.db 0b11, 0b00111111 ; 11.25 degrees
.db 0b11, 0b01101110 ; 22.50 degrees
.db 0b11, 0b10001100 ; 33.75 degrees
.db 0b11, 0b10111011 ; 45.00 degrees
.db 0b11, 0b11001000 ; 56.25 degrees
.db 0b11, 0b11100110 ; 67.50 degrees
.db 0b11, 0b11110011 ; 78.75 degrees
.db 0b10, 0b11110000 ; 90.00 degrees
.db 0b10, 0b11110011 ; 101.25 degrees
.db 0b10, 0b11100110 ; 112.50 degrees
.db 0b10, 0b11001000 ; 123.75 degrees
.db 0b10, 0b10111011 ; 135.00 degrees
.db 0b10, 0b10001100 ; 146.25 degrees
.db 0b10, 0b01101110 ; 157.50 degrees
.db 0b10, 0b00111111 ; 168.75 degrees
.db 0b00, 0b00001111 ; 180.00 degrees
.db 0b00, 0b00111111 ; 191.25 degrees
.db 0b00, 0b01101110 ; 202.50 degrees
.db 0b00, 0b10001100 ; 213.75 degrees
.db 0b00, 0b10111011 ; 225.00 degrees
.db 0b00, 0b11001000 ; 236.25 degrees
.db 0b00, 0b11100110 ; 247.50 degrees
.db 0b00, 0b11110011 ; 258.75 degrees
.db 0b01, 0b11110000 ; 270.00 degrees
.db 0b01, 0b11110011 ; 281.25 degrees
.db 0b01, 0b11100110 ; 292.50 degrees
.db 0b01, 0b11001000 ; 303.75 degrees
.db 0b01, 0b10111011 ; 315.00 degrees
.db 0b01, 0b10001100 ; 326.25 degrees
.db 0b01, 0b01101110 ; 337.50 degrees
.db 0b01, 0b00111111 ; 348.75 degrees
; *************************************************************************
; Stepping Sequence for Tenth Step Drive with Torque Compensation
; 90 degrees electrical per full step / 10 microsteps per full step = 9.0 degrees electrical per microstep
seq_tenth: ; 40 entries in table
.db 0b11, 0b00001111 ; 0 degrees
.db 0b11, 0b00101111 ; 9 degrees
.db 0b11, 0b01011110 ; 18 degrees
.db 0b11, 0b01111101 ; 27 degrees
.db 0b11, 0b10011100 ; 36 degrees
.db 0b11, 0b10111011 ; 45 degrees
.db 0b11, 0b11001001 ; 54 degrees
.db 0b11, 0b11010111 ; 63 degrees
.db 0b11, 0b11100101 ; 72 degrees
.db 0b11, 0b11110010 ; 81 degrees
.db 0b10, 0b11110000 ; 90 degrees
.db 0b10, 0b11110010 ; 99 degrees
.db 0b10, 0b11100101 ; 108 degrees
.db 0b10, 0b11010111 ; 117 degrees
.db 0b10, 0b11001001 ; 126 degrees
.db 0b10, 0b10111011 ; 135 degrees
.db 0b10, 0b10011100 ; 144 degrees
.db 0b10, 0b01111101 ; 153 degrees
.db 0b10, 0b01011110 ; 162 degrees
.db 0b10, 0b00101111 ; 171 degrees
.db 0b00, 0b00001111 ; 180 degrees
.db 0b00, 0b00101111 ; 189 degrees
.db 0b00, 0b01011110 ; 198 degrees
.db 0b00, 0b01111101 ; 207 degrees
.db 0b00, 0b10011100 ; 216 degrees
.db 0b00, 0b10111011 ; 225 degrees
.db 0b00, 0b11001001 ; 234 degrees
.db 0b00, 0b11010111 ; 243 degrees
.db 0b00, 0b11100101 ; 252 degrees
.db 0b00, 0b11110010 ; 261 degrees
.db 0b01, 0b11110000 ; 270 degrees
.db 0b01, 0b11110010 ; 279 degrees
.db 0b01, 0b11100101 ; 288 degrees
.db 0b01, 0b11010111 ; 297 degrees
.db 0b01, 0b11001001 ; 306 degrees
.db 0b01, 0b10111011 ; 315 degrees
.db 0b01, 0b10011100 ; 324 degrees
.db 0b01, 0b01111101 ; 333 degrees
.db 0b01, 0b01011110 ; 342 degrees
.db 0b01, 0b00101111 ; 351 degrees
; *************************************************************************
; Steppig Sequence for Twelfth Step Drive with Torque Compensation
; 90 degress electrical per full step / 12 microsteps per full step = 7.5 degrees electricer m palicrostep
seq_twelfth: ; 48 entries in table
.db 0b11, 0b00001111 ; 0.0 degrees
.db 0b11, 0b00101111 ; 7.5 degrees
.db 0b11, 0b01001110 ; 15.0 degrees
.db 0b11, 0b01101110 ; 22.5 degrees
.db 0b11, 0b10001101 ; 30.0 degrees
.db 0b11, 0b10011100 ; 37.5 degrees
.db 0b11, 0b10111011 ; 45.0 degrees
.db 0b11, 0b11001001 ; 52.5 degrees
.db 0b11, 0b11011000 ; 60.0 degrees
.db 0b11, 0b11100110 ; 67.5 degrees
.db 0b11, 0b11100100 ; 75.0 degrees
.db 0b11, 0b11110010 ; 82.5 degrees
.db 0b10, 0b11110000 ; 90.0 degrees
.db 0b10, 0b11110010 ; 97.5 degrees
.db 0b10, 0b11100100 ; 105.0 degrees
.db 0b10, 0b11100110 ; 112.5 degrees
.db 0b10, 0b11011000 ; 120.0 degrees
.db 0b10, 0b11001001 ; 127.5 degrees
.db 0b10, 0b10111011 ; 135.0 degrees
.db 0b10, 0b10011100 ; 142.5 degrees
.db 0b10, 0b10001101 ; 150.0 degrees
.db 0b10, 0b01101110 ; 157.5 degrees
.db 0b10, 0b01001110 ; 165.0 degrees
.db 0b10, 0b00101111 ; 172.5 degrees
.db 0b00, 0b00001111 ; 180.0 degrees
.db 0b00, 0b00101111 ; 187.5 degrees
.db 0b00, 0b01001110 ; 195.0 degrees
.db 0b00, 0b01101110 ; 202.5 degrees
.db 0b00, 0b10001101 ; 210.0 degrees
.db 0b00, 0b10011100 ; 217.5 degrees
.db 0b00, 0b10111011 ; 225.0 degrees
.db 0b00, 0b11001001 ; 232.5 degrees
.db 0b00, 0b11011000 ; 240.0 degrees
.db 0b00, 0b11100110 ; 247.5 degrees
.db 0b00, 0b11100100 ; 255.0 degrees
.db 0b00, 0b11110010 ; 262.5 degrees
.db 0b01, 0b11110000 ; 270.0 degrees
.db 0b01, 0b11110010 ; 277.5 degrees
.db 0b01, 0b11100100 ; 285.0 degrees
.db 0b01, 0b11100110 ; 292.5 degrees
.db 0b01, 0b11011000 ; 300.0 degrees
.db 0b01, 0b11001001 ; 307.5 degrees
.db 0b01, 0b10111011 ; 315.0 degrees
.db 0b01, 0b10011100 ; 322.5 degrees
.db 0b01, 0b10001101 ; 330.0 degrees
.db 0b01, 0b01101110 ; 337.5 degrees
.db 0b01, 0b01001110 ; 345.0 degrees
.db 0b01, 0b00101111 ; 352.5 degrees
; *************************************************************************
; Stepping Sequence for Sixteenth Step Drive with Torque Compensation
; 90 degrees electrical per full step / 16 microsteps per full step = 5.625 degrees electrical per microstep
seq_sixteenth: ; 64 entries in table
.db 0b11, 0b00001111 ; 0.000 degrees
.db 0b11, 0b00011111 ; 5.625 degrees
.db 0b11, 0b00111111 ; 11.250 degrees
.db 0b11, 0b01001110 ; 16.875 degrees
.db 0b11, 0b01101110 ; 22.500 degrees
.db 0b11, 0b01111101 ; 28.125 degrees
.db 0b11, 0b10001100 ; 33.750 degrees
.db 0b11, 0b10101100 ; 39.375 degrees
.db 0b11, 0b10111011 ; 45.000 degrees
.db 0b11, 0b11001010 ; 50.625 degrees
.db 0b11, 0b11001000 ; 56.250 degrees
.db 0b11, 0b11010111 ; 61.875 degrees
.db 0b11, 0b11100110 ; 67.500 degrees
.db 0b11, 0b11100100 ; 73.125 degrees
.db 0b11, 0b11110011 ; 78.750 degrees
.db 0b11, 0b11110001 ; 84.375 degrees
.db 0b10, 0b11110000 ; 90.000 degrees
.db 0b10, 0b11110001 ; 95.625 degrees
.db 0b10, 0b11110011 ; 101.250 degrees
.db 0b10, 0b11100100 ; 106.875 degrees
.db 0b10, 0b11100110 ; 112.500 degrees
.db 0b10, 0b11010111 ; 118.125 degrees
.db 0b10, 0b11001000 ; 123.750 degrees
.db 0b10, 0b11001010 ; 129.375 degrees
.db 0b10, 0b10111011 ; 135.000 degrees
.db 0b10, 0b10101100 ; 140.625 degrees
.db 0b10, 0b10001100 ; 146.250 degrees
.db 0b10, 0b01111101 ; 151.875 degrees
.db 0b10, 0b01101110 ; 157.500 degrees
.db 0b10, 0b01001110 ; 163.125 degrees
.db 0b10, 0b00111111 ; 168.750 degrees
.db 0b10, 0b00011111 ; 174.375 degrees
.db 0b00, 0b00001111 ; 180.000 degrees
.db 0b00, 0b00011111 ; 185.625 degrees
.db 0b00, 0b00111111 ; 191.250 degrees
.db 0b00, 0b01001110 ; 196.875 degrees
.db 0b00, 0b01101110 ; 202.500 degrees
.db 0b00, 0b01111101 ; 208.125 degrees
.db 0b00, 0b10001100 ; 213.750 degrees
.db 0b00, 0b10101100 ; 219.375 degrees
.db 0b00, 0b10111011 ; 225.000 degrees
.db 0b00, 0b11001010 ; 230.625 degrees
.db 0b00, 0b11001000 ; 236.250 degrees
.db 0b00, 0b11010111 ; 241.875 degrees
.db 0b00, 0b11100110 ; 247.500 degrees
.db 0b00, 0b11100100 ; 253.125 degrees
.db 0b00, 0b11110011 ; 258.750 degrees
.db 0b00, 0b11110001 ; 264.375 degrees
.db 0b01, 0b11110000 ; 270.000 degrees
.db 0b01, 0b11110001 ; 275.625 degrees
.db 0b01, 0b11110011 ; 281.250 degrees
.db 0b01, 0b11100100 ; 286.875 degrees
.db 0b01, 0b11100110 ; 292.500 degrees
.db 0b01, 0b11010111 ; 298.125 degrees
.db 0b01, 0b11001000 ; 303.750 degrees
.db 0b01, 0b11001010 ; 309.375 degrees
.db 0b01, 0b10111011 ; 315.000 degrees
.db 0b01, 0b10101100 ; 320.625 degrees
.db 0b01, 0b10001100 ; 326.250 degrees
.db 0b01, 0b01111101 ; 331.875 degrees
.db 0b01, 0b01101110 ; 337.500 degrees
.db 0b01, 0b01001110 ; 343.125 degrees
.db 0b01, 0b00111111 ; 348.750 degrees
.db 0b01, 0b00011111 ; 354.375 degrees
; *************************************************************************⌨️ 快捷键说明
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