;/*=========================================================================================== ;Project : 스테핑 모터 1상 여자 구동 방식으로 구동 하기 ;Date : 2011-07-28 ;Author : Kyung Nam Lee ;Company : LKEMBEDDED ;Compiler: CodevisionAVR + AVRStudio ;Comment : 스테핑 모터 정회전 및 역회전 예제소스 ; ;※※주의사항※※ ;10P 플랫케이블 연결시 아래와 같이 연결해주세요! ;ATmega128-C 확장형 개발보드 10Pin Box커넥터(PORTC) <-------------> 스테핑모터 모듈 - 10Pin Box커넥터(PORT) ;===========================================================================================*/ ; ;#include ;PCODE: $00000000 VOL: 0 #ifndef __SLEEP_DEFINED__ ;PCODE: $00000001 VOL: 0 #define __SLEEP_DEFINED__ ;PCODE: $00000002 VOL: 0 .EQU __se_bit=0x01 ;PCODE: $00000003 VOL: 0 .EQU __sm_mask=0x0E ;PCODE: $00000004 VOL: 0 .EQU __sm_powerdown=0x04 ;PCODE: $00000005 VOL: 0 .EQU __sm_powersave=0x06 ;PCODE: $00000006 VOL: 0 .EQU __sm_standby=0x0C ;PCODE: $00000007 VOL: 0 .EQU __sm_ext_standby=0x0E ;PCODE: $00000008 VOL: 0 .EQU __sm_adc_noise_red=0x02 ;PCODE: $00000009 VOL: 0 .SET power_ctrl_reg=smcr ;PCODE: $0000000A VOL: 0 #endif ;PCODE: $0000000B VOL: 0 ;PCODE: $0000000C VOL: 0 ;#include ;char cw[4]={0x11,0x44,0x22,0x88}; .DSEG ;char ccw[4]={0x88,0x22,0x44,0x11}; ;bit Flag; ;int Dir; ;int Pulse_cnt; ;// Timer 0 overflow interrupt service routine ;interrupt [TIM0_OVF] void timer0_ovf_isr(void) ; 0000 0017 { .CSEG ;PCODE: $0000000D VOL: 0 ;PCODE: $0000000E VOL: 0 ; 0000 0018 ; 0000 0019 static int cnt,cnt2=0; ; 0000 001A cnt++;cnt2++; ;PCODE: $0000000F VOL: 0 ;PCODE: $00000010 VOL: 0 ;PCODE: $00000011 VOL: 0 ;PCODE: $00000012 VOL: 0 ;PCODE: $00000013 VOL: 0 ;PCODE: $00000014 VOL: 0 ;PCODE: $00000015 VOL: 0 ;PCODE: $00000016 VOL: 0 ; 0000 001B if(cnt==2)//2ms마다 ;PCODE: $00000017 VOL: 0 ;PCODE: $00000018 VOL: 0 ;PCODE: $00000019 VOL: 0 ; 0000 001C { ; 0000 001D Pulse_cnt++; // Pulse Count! ;PCODE: $0000001A VOL: 0 ;PCODE: $0000001B VOL: 0 ;PCODE: $0000001C VOL: 0 ; 0000 001E if(Pulse_cnt==4) ;PCODE: $0000001D VOL: 0 ;PCODE: $0000001E VOL: 0 ;PCODE: $0000001F VOL: 0 ; 0000 001F { ; 0000 0020 Pulse_cnt=0; ;PCODE: $00000020 VOL: 0 ; 0000 0021 } ; 0000 0022 cnt=0; ;PCODE: $00000021 VOL: 0 ;PCODE: $00000022 VOL: 0 ;PCODE: $00000023 VOL: 0 ; 0000 0023 } ; 0000 0024 if(cnt2==3000) ;PCODE: $00000024 VOL: 0 ;PCODE: $00000025 VOL: 0 ;PCODE: $00000026 VOL: 0 ;PCODE: $00000027 VOL: 0 ; 0000 0025 { ; 0000 0026 Dir^=1; ;PCODE: $00000028 VOL: 0 ;PCODE: $00000029 VOL: 0 ;PCODE: $0000002A VOL: 0 ; 0000 0027 cnt2=0; ;PCODE: $0000002B VOL: 0 ;PCODE: $0000002C VOL: 0 ; 0000 0028 } ; 0000 0029 TCNT0+=0x06; ;PCODE: $0000002D VOL: 0 ;PCODE: $0000002E VOL: 0 ;PCODE: $0000002F VOL: 0 ;PCODE: $00000030 VOL: 0 ; 0000 002A } ;PCODE: $00000031 VOL: 0 ;PCODE: $00000032 VOL: 0 ;PCODE: $00000033 VOL: 0 ; ;// Declare your global variables here ; ;void main(void) ; 0000 002F { ;PCODE: $00000034 VOL: 0 ; 0000 0030 int i=0; //사용자 변수 clear ; 0000 0031 ; 0000 0032 PORTC=0x00; // PORTC 0~7핀 출력으로 설정 ; i -> R16,R17 ;PCODE: $00000035 VOL: 0 ;PCODE: $00000036 VOL: 0 ;PCODE: $00000037 VOL: 0 ;PCODE: $00000038 VOL: 0 ; 0000 0033 DDRC=0xff; ;PCODE: $00000039 VOL: 0 ;PCODE: $0000003A VOL: 0 ; 0000 0034 ; 0000 0035 TCCR0A=0x00;//Normal Mode Operation(Overflow Interrupt Enable) ;PCODE: $0000003B VOL: 0 ;PCODE: $0000003C VOL: 0 ; 0000 0036 TCCR0B=0x03;//64Prescale Select ;PCODE: $0000003D VOL: 0 ;PCODE: $0000003E VOL: 0 ; 0000 0037 TCNT0=0x06;// Timer/Count Register initialization ;PCODE: $0000003F VOL: 0 ;PCODE: $00000040 VOL: 0 ; 0000 0038 ; 0000 0039 TIMSK0=0x01;// Timer(s)/Counter(s) Interrupt(s) initialization ;PCODE: $00000041 VOL: 0 ;PCODE: $00000042 VOL: 0 ; 0000 003A #asm("sei")// Global enable interrupts ;PCODE: $00000043 VOL: 0 sei ;PCODE: $00000044 VOL: 0 ; 0000 003B ; 0000 003C while (1) //endless Loop ;PCODE: $00000045 VOL: 0 ; 0000 003D { ; 0000 003E switch(Dir) ;PCODE: $00000046 VOL: 0 ; 0000 003F { ; 0000 0040 case 0:PORTC=ccw[Pulse_cnt];break; //forward direction ;PCODE: $00000047 VOL: 0 ;PCODE: $00000048 VOL: 0 ;PCODE: $00000049 VOL: 0 ;PCODE: $0000004A VOL: 0 ;PCODE: $0000004B VOL: 0 ;PCODE: $0000004C VOL: 0 ;PCODE: $0000004D VOL: 0 ; 0000 0041 case 1:PORTC=cw[Pulse_cnt];break; //reverse direction ;PCODE: $0000004E VOL: 0 ;PCODE: $0000004F VOL: 0 ;PCODE: $00000050 VOL: 0 ;PCODE: $00000051 VOL: 0 ;PCODE: $00000052 VOL: 0 ;PCODE: $00000053 VOL: 0 ;PCODE: $00000054 VOL: 0 ;PCODE: $00000055 VOL: 0 ; 0000 0042 } ;PCODE: $00000056 VOL: 0 ; 0000 0043 } ;PCODE: $00000057 VOL: 0 ;PCODE: $00000058 VOL: 0 ; 0000 0044 } ;PCODE: $00000059 VOL: 0 ;PCODE: $0000005A VOL: 0 ;PCODE: $0000005B VOL: 0