motel.txt

用于步进电机的驱动.可以通过输出信号来控制步进电机的转速和角度控制.

stepper.c
stepper.hex
/*
* STEPPER.C
* sweeping stepper‘s rotor cw and cww 400 steps
* Copyright (c) 1999 by W.Sirichote
*/
#include c:mc518051io.h /* include i/o header file */
#include c:mc518051reg.h
	
	
register unsigned char j,flag1,temp;
register unsigned int cw_n,ccw_n;
unsigned char step[8]={0x80,0xc0,0x40,0x60,0x20,0x30,0x10,0x90}
#define n 400
/* flag1 mask byte
0x01 run cw()
0x02 run ccw()
*/


main()
{
		flag1=0;
		serinit(9600);
		disable(); /* no need timer interrupt */
		cw_n = n; /* initial step number for cw */
		flag1 |=0x01; /* initial enable cw() */
		while(1)
		{
			{
			tick_wait(); /* wait for 10ms elapsed */
			energize(); /* round-robin execution the following tasks every 10ms */
			cw();
			ccw();
			}
		}
}


cw()
{
	if((flag1&0x01)!=0)
	{
	cw_n--; /* decrement cw step number */
	if (cw_n !=0)
	j++; /* if not zero increment index j */
	else
		{flag1&=~0x01; /* disable cw() execution */
		ccw_n = n; /* reload step number to ccw counter */
		flag1 |=0x02; /* enable cww() execution */
		}
	}
}


ccw()
{
if((flag1&0x02)!=0)
{
	ccw_n--; /* decremnent ccw step number */
	if (ccw_n !=0)
	j--; /* if not zero decrement index j */
	else
		{flag1&=~0x02; /* disable ccw() execution */
		cw_n = n; /* reload step number to cw counter */
		flag1 |=0x01; /* enable cw() execution */
		}
	}
}


tick_wait()
{ /* cputick was replaced by simpler ASM code 10ms wait */
	asm‘ JNB TCON.5,*‘; /* wait for TF0 set */
	asm‘ CLR TCON.5‘; /* clear TF0 for further set */
	asm‘ ORL TH0,#$DC‘; /* reload TH0 with $DC, TL0 = 0 */
}


energize()
{
	P1 = step[(j&0x07)]; /* only step 0-7 needed */
}