- AVR单片机驱动二相步进电机（单极驱动）简易程序,带串口控制。
- 编译器为ICC6.31A;
- #include"iom16v.h"
- #include"macros.h"
- #define uint unsigned int
- #define uchar unsigned char
- #pragma interrupt_handler usart:14
- uchar i;
- uchar const *p;
- uchar ***=1; //电机正反转标志;
- uchar k1=5;
- //uchar const timer2dath[10]={};
- //uchar const timer2datl[10]={};
- unsigned char const suzhu1[16]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f,
- 0x77,0x7c,0x39,0x5e,0x79,0x71};
- uchar const bjdjdat[48]={0x80,0xa0,0x20,0x60,0x40,0x50,0x10,0x90,
- 0x80,0x90,0x10,0x50,0x40,0x60,0x20,0xa0,
- 0x80,0x20,0x40,0x10,0x80,0x20,0x40,0x10,
- 0x80,0x10,0x40,0x20,0x80,0x10,0x40,0x20,
- 0xa0,0x60,0x50,0x90,0xa0,0x60,0x50,0x90,
- 0xa0,0x90,0x50,0x60,0xa0,0x90,0x50,0x60
- }；//设置单片机IO口高低电平数据组，用以驱动步进电机的各相按需通电；
- uint const timer1dat[11]={36000,23000,13000,7000,4300,3000,2500,2100,1800,1700,0};//定时器1定时数据，用于控制电机的转速，定时越短转速越快；
- uchar uartdat[4]={0,0,0,0}; //划出串行通信时所需的寄存器；
- uchar add,open,jslopen;
- void siansi(unsigned int dat,unsigned char bit,unsigned int time)//数码管显示函数
- {
- //PORTA&=~BIT(4);
- PORTC&=~BIT(7);
- PORTA&=~0x17;
- PORTB=suzhu1[dat];
- PORTA|=bit ;
- PORTA|=BIT(4);
- PORTC|=BIT(7);
- while(time--);
- }
- void ioinit()//IO口初始化；
- {
- DDRB=0XFF;
- DDRD=0XF3;
- DDRA|=0X17;
- DDRC|=0X80;
- PORTD|=0X0f;
- }
- void usart()//串行接收中断处理；
- {
- uchar a;
- a=UDR;
- if(a==168)
- {
- open=1;
- add=0;
- }
- if(a==138&&open)
- {
- open=0;
- uartdat[add]=a;
- jslopen=1;
- }
- if(open)
- {
- uartdat[add]=a;
- add++;
- }
- }
- void jsl()//一帧数据处理；
- {
- uchar j;
- jslopen=0;
- switch(uartdat[1])
- {
- case 1:
- if(uartdat[2])TIMSK|=0X04;
- else TIMSK&=~0X04;
- break;
- case 2:
- if(uartdat[2]>0)
- k1=uartdat[2]-1;
- else k1=10;
- break;
- case 3:
- if(uartdat[2]&&!***)p=p-8,***=1;
- if(!uartdat[2]&&***)p=p+8,***=0;
- break;
- case 4:
- if(uartdat[2]==1&&***)p=bjdjdat;
- if(uartdat[2]==1&&!***)p=bjdjdat+8;
- if(uartdat[2]==2&&***)p=bjdjdat+16;
- if(uartdat[2]==2&&!***)p=bjdjdat+24;
- if(uartdat[2]==3&&***)p=bjdjdat+32;
- if(uartdat[2]==3&&!***)p=bjdjdat+40;
- break;
- }
- for(j=0;j<4;j++)
- {
- /* 等待发送缓冲器为空 */
- while ( !( UCSRA & (1< ;
- /* 将数据放入缓冲器，发送数据 */
- UDR=uartdat[j];
- }
- }
- void uartinit()//串行口初始化；
- {
- UCSRA=0X00;
- UCSRB=0X98;
- UCSRC=0X86;
- UBRRH=0X00;
- UBRRL=71;
- SREG|=0X80;
- }
- #pragma interrupt_handler timer1:9
- void timer1() //定时器1中断处理；
- {
- TCNT1=65536-timer1dat[k1];
- i++;
- if(i>7)i=0;
- PORTD&=0X0F;
- if(k1==10)return;
- PORTD|=p;
- }
- void timer1init()
- {
- TCCR1A=0X00;
- TCCR1B=0X02;
- TIMSK|=0X04;
- }
- void main(void)//主程序；
- {
- p=bjdjdat;
- uartinit();
- ioinit();
- timer1init();
- while(1)
- {
- siansi(timer1dat[k1]%10,7,1000);
- siansi(timer1dat[k1]%100/10,6,1000);
- siansi(timer1dat[k1]%1000/100,5,1000);
- siansi(timer1dat[k1]%10000/1000,4,1000);
- siansi(timer1dat[k1]/10000,3,1000);
- if(***)siansi(14,2,1000);
- else siansi(15,2,1000);
- if(jslopen)jsl();
- }
- }
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