📄 stepmotor.lst
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C51 COMPILER V7.50 STEPMOTOR 06/11/2008 15:16:27 PAGE 1
C51 COMPILER V7.50, COMPILATION OF MODULE STEPMOTOR
OBJECT MODULE PLACED IN StepMotor.OBJ
COMPILER INVOKED BY: D:\Program Files\keil\C51\BIN\C51.EXE StepMotor.c BROWSE DEBUG OBJECTEXTEND
line level source
1
2 #include "StepMotor.h"
3 //*********************************步进电机的运行曲线表******
4 code INT8U StepMotorCurve[256]=
5 {
6 0, 2, 3, 5, 6, 8, 9, 11, 13, 14,
7 16, 17, 19, 20, 22, 24, 25, 27, 28, 30,
8 31, 33, 34, 36, 38, 39, 41, 42, 44, 45,
9 47, 48, 50, 51, 53, 55, 56, 58, 59, 61,
10 62, 64, 65, 67, 68, 70, 71, 73, 74, 76,
11 77, 79, 80, 82, 83, 85, 86, 88, 89, 91,
12 92, 94, 95, 97, 98, 99, 101, 102, 104, 105,
13 107, 108, 109, 111, 112, 114, 115, 117, 118, 119,
14 121, 122, 123, 125, 126, 128, 129, 130, 132, 133,
15 134, 136, 137, 138, 140, 141, 142, 144, 145, 146,
16 147, 149, 150, 151, 152, 154, 155, 156, 157, 159,
17 160, 161, 162, 164, 165, 166, 167, 168, 170, 171,
18 172, 173, 174, 175, 177, 178, 179, 180, 181, 182,
19 183, 184, 185, 186, 188, 189, 190, 191, 192, 193,
20 194, 195, 196, 197, 198, 199, 200, 201, 202, 203,
21 204, 205, 206, 207, 207, 208, 209, 210, 211, 212,
22 213, 214, 215, 215, 216, 217, 218, 219, 220, 220,
23 221, 222, 223, 224, 224, 225, 226, 227, 227, 228,
24 229, 229, 230, 231, 231, 232, 233, 233, 234, 235,
25 235, 236, 237, 237, 238, 238, 239, 239, 240, 241,
26 241, 242, 242, 243, 243, 244, 244, 245, 245, 245,
27 246, 246, 247, 247, 248, 248, 248, 249, 249, 249,
28 250, 250, 250, 251, 251, 251, 252, 252, 252, 252,
29 253, 253, 253, 253, 254, 254, 254, 254, 254, 255,
30 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
31 255, 255, 255, 255, 255, 255,
32 } ;
33 //*******************************延时一个us**************************
34 void Delay1us(void)
35 {
36 1 _nop_();
37 1 }
38 //*******************************延时n个us**************************
39 void DelayNus(INT16U us)
40 {
41 1 while(us--)
42 1 {
43 2 Delay1us();
44 2 _nop_();
45 2 _nop_();
46 2
47 2 }
48 1 }
49
50 //****************************SPI0串口发送一个字节***************
51 void SPI0SendOneByte(INT8U Value)
52 {
53 1
54 1 }
*** WARNING C280 IN LINE 51 OF STEPMOTOR.C: 'Value': unreferenced local variable
C51 COMPILER V7.50 STEPMOTOR 06/11/2008 15:16:27 PAGE 2
55 //******************************HC595移位两个字节*******************
56 void HC595Shift2Byte(INT8U ShiftData)
57 {
58 1
59 1 Load595Wait;
60 1 SPI0SendOneByte(ShiftData);
61 1 SPI0SendOneByte(ShiftData);//这里要发送2次，因为有两个一样的值
62 1 Load595Execuate; //更新数值
63 1 }
64
65 //****************************依次装入256个曲线值****************
66 void LoadCurveValue(void)
67 {
68 1 INT8U i;
69 1 for(i==0;i<0xff;i++)
70 1 {
71 2 HC595Shift2Byte(StepMotorCurve[i]);
72 2 DelayNus(StepMotorTurnSpeed);//延时越少电机转动得越快
73 2 }
74 1 for(i==0;i<0xff;i++)
75 1 {
76 2 HC595Shift2Byte(StepMotorCurve[0xff-i]);
77 2 DelayNus(StepMotorTurnSpeed);//延时越少电机转动得越快
78 2 }
79 1 //这里要进行半个正弦波的过程
80 1 }
81 //**************************步进电机走一步AB,A/B/,BA,B/A/,AB***********************
82 void StepMotorWalkOneStep(INT8U Direction)
83 {
84 1 if(Direction==0)//向右转过程为AB-B/A/- A/B/-AB-BA-A/B/-B/A/-BA
85 1 {
86 2 StepMotorPhase1H;//相位脚置高
87 2 StepMotorPhase2L;
88 2 LoadCurveValue();//执行了 AB,B/A/,
89 2 StepMotorPhase1H;
90 2 StepMotorPhase2H;
91 2 LoadCurveValue();//执行了 A/B/,AB
92 2 StepMotorPhase1L;//相位脚置高
93 2 StepMotorPhase2H;
94 2 LoadCurveValue();//执行了 BA,A/B/
95 2 StepMotorPhase1L;
96 2 StepMotorPhase2L;
97 2 LoadCurveValue();//执行了 B/A/,BA
98 2 }
99 1 else if(Direction==1)//向左转过程为AB-A/B/-B/A/-AB-BA-B/A-/A/B/-BA
100 1 {
101 2 StepMotorPhase1H;//相位脚置高
102 2 StepMotorPhase2H;
103 2 LoadCurveValue();//执行了 AB,B/A/,
104 2 StepMotorPhase1H;
105 2 StepMotorPhase2L;
106 2 LoadCurveValue();//执行了 A/B/,AB
107 2 StepMotorPhase1L;//相位脚置高
108 2 StepMotorPhase2L;
109 2 LoadCurveValue();//执行了 BA,A/B/
110 2 StepMotorPhase1L;
111 2 StepMotorPhase2H;
112 2 LoadCurveValue();//执行了 B/A/,BA
113 2 }
114 1 }
115
116 //********************** 步进电机走N步****************************
C51 COMPILER V7.50 STEPMOTOR 06/11/2008 15:16:27 PAGE 3
117 void StepMotorWalkNStep(INT8U Direction,INT16U NStep)
118 {
119 1 while(NStep--)
120 1 {
121 2 StepMotorWalkOneStep(Direction);
122 2 }
123 1 }
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MODULE INFORMATION: STATIC OVERLAYABLE
CODE SIZE = 216 ----
CONSTANT SIZE = 256 ----
XDATA SIZE = ---- ----
PDATA SIZE = ---- ----
DATA SIZE = ---- 4
IDATA SIZE = ---- ----
BIT SIZE = ---- ----
END OF MODULE INFORMATION.
C51 COMPILATION COMPLETE. 1 WARNING(S), 0 ERROR(S)
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