motor.h

步进电机驱动程序,MCU:AT89C51,硬件L297,L298.

#ifndef _Motor_H
#define _Motor_H
#define uchar unsigned char
#define uint unsigned int
#define EN1 P0_0
#define RST1 P0_1
#define HF1 P0_2
#define DR1 P0_3
#define EN2 P0_4
#define RST2 P0_5
#define HF2 P0_6
#define DR2 P0_7
#define CLK1 P2_0
#define CLK2 P2_1
#define HOME1 P2_2
#define HOME2 P2_3
#define LED_M1  P2_6
#define LED_M2  P2_7

#define CLK1_CLR P2_0=0
#define CLK1_SET P2_0=1
#define CLK2_CLR P2_1=0
#define CLK2_SET P2_1=1
#define M1_RST  P2_2=0
#define M1_uRST P2_2=1
#define M2_RST  P2_3=0
#define M2_uRST P2_3=1

#define FOREVER_RUN 0xffff
#define TURE 1
#define FALSE 0
#define ENABLE  1
#define DISABLE 0
#define M1 0
#define M2 1
#define CW 1
#define CCW 0
#define deflaut_speed 5000
bit M1_BUSY,M2_BUSY;
uint speed_set1=deflaut_speed;
uint speed_set2=deflaut_speed;
uint speed_count1,speed_count2;
uint step_count1=0,step_count2=0;
void init_ports();
void init_device();
void motor1_stop();
void motor2_stop();
void motor_run(bit Motor_Select,bit Derection,uint speed,uint step);
void Clk_Delay()
{
 uchar i;
 for(i=5;i;i--);
}
#endif