motor.c

步进电机驱动程序,MCU:AT89C51,硬件L297,L298.

//------12M Hz,AT89C51-----
#include <at89x51.h>
#include <motor.h>
void init_ports()
{
 P0=0x07;
 P1=0x00;
 P2=0x00;
 P3=0x00;
}
void init_297()
{
 DR1=CCW;
 DR2=CCW;
 RST1=1;
 RST2=1; 
 RST1=0;
 RST2=0;
 Clk_Delay();
 RST1=1;
 RST2=1; 
 EN1=DISABLE;
 EN2=DISABLE;
 HF1=1;
 HF2=1;
 M1_BUSY=0;
 M2_BUSY=0;
}
void init_device()
{
 EA=0;
 init_ports();
 init_297();
 TMOD=0x22;//timer,auto-reload mode.
 TL0=0x9B;
 TH0=0x9B;
 TL1=0x9B;
 TH1=0x9B; 
 ET0=1;
 ET1=1;
 TR0=1;
 TR1=1;
 EA=1; 
}
void int_t0(void) interrupt TF0_VECTOR using 1
{
  if(step_count1==0)
      {
	   M1_BUSY=0;
	   motor1_stop();
	   return;
	   }   
   else
      {
        M1_BUSY=1;
	  }   
  speed_count1++;
  if(speed_count1>=speed_set1)
  {   
   speed_count1=0;
   CLK1_CLR;
   Clk_Delay();
   CLK1_SET;
   if(speed_set1!=FOREVER_RUN)
      {
      step_count1--;
	  }
   } 
}
void int_t1(void) interrupt TF1_VECTOR using 2
{
  if(step_count2==0)
      {
	   M2_BUSY=0;
	   motor2_stop();
	   return;
	   }   
   else
      {
        M2_BUSY=1;
	  } 
 
 speed_count2++;
  if(speed_count2>=speed_set2)
  {
   speed_count2=0;  
   CLK2_CLR;
   Clk_Delay();
   CLK2_SET;
   if(speed_set2!=FOREVER_RUN)
   step_count2--; 
   }
}
void motor_run(bit Motor_Select,bit Direction,uint speed,uint step)
{
 if(!Motor_Select)
    {
	 if(M1_BUSY){return;}
	 EN1=ENABLE;
	 DR1=Direction;
	 speed_set1=speed;
	 step_count1=step;
	 //return TURE;
	 }
 else
    {
	 if(M2_BUSY){return;}
	 EN2=ENABLE;
	 DR2=Direction;
	 speed_set2=speed;
	 step_count2=step;
	 //return TURE;
   	}
}
void motor1_stop()
{
 M1_BUSY=0;
 EN1=DISABLE;
 step_count1=0;
}
void motor2_stop()
{
 M2_BUSY=0;
 EN2=DISABLE;
 step_count2=0;
}
void motor_status()
{
 if(M1_BUSY)
    LED_M1=0;
 else
    LED_M1=1;
 if(M2_BUSY)
    LED_M2=0;
 else
    LED_M2=1;
}
main()
{
 init_device();
 motor_run(M1,CW,5000,2000);
 motor_run(M2,CCW,500,2000);
 while(1)
 {
  motor_status();
 };
}