驱动方式: 单相励磁
1-2相励磁
2相励磁
Step Motor Drive Mode:
Mode 1: 2-2 Phase Pluse Sequence
----------------------------------------------------------
Wrie color Brown Orange Yellow Black
A+ A- B+ B-
Clockwise 1 0 1 0
1 0 0 1
0 1 0 1
0 1 1 0
CouterClockwise 1 0 1 0
0 1 1 0 0 1 0 1 1 0 0 1
----------------------------------------------------------
Mode 2: 1 Phase Pluse Sequence
Clockwise 1 0 0 0 0 0 1 0
0 1 0 0 0 0 0 1
CouterClockwise 1 0 0 0 0 0 0 1
0 1 0 0 0 0 1 0
----------------------------------------------------------
Mode 3: 1-2 Phase Pluse Sequence
Clockwise 1 0 0 0
1 0 1 0
0 0 1 0
0 1 1 0
0 1 0 0
0 1 0 1
0 0 0 1
1 0 0 1
CounterClockwise 1 0 0 0
1 0 0 1
0 0 0 1
0 1 0 0
0 1 1 0
0 0 1 0
1 0 1 0
1 0 0 0
***********************************************************************************/
#include "includes.h"
#define MODE1 1
#define MODE2 2
#define MODE3 3
#define Clockwise 0
#define Counterclockwise 1
sbit LED = P1^4;
sbit SPM0 = P1^0;
sbit I0 = P1^1;
sbit SPM1 = P1^2;
sbit I1 = P1^3;
/********************************************************************************/
//function Protypes
void System_Initial(void);
void MotorDriver_Initial(void);
INT8U MotorRun(INT16U StartPPS, INT16U EndPPS, INT8U DriveMode, INT8U direction);
void StepPhasing(void);
//Global variables
INT8U mode;
INT8U dir;
INT8U phase;
INT16U cnt_start;
INT16U cnt_end;
void main(void)
{
MotorDriver_Initial();
System_Initial();
if(MotorRun(100, 110, MODE3, Counterclockwise)==0)
LED = 0;
P1 = 0;
while(1)
{
}
}
/********************************************************************************/
//System Resource Inital
void System_Initial(void)
{
//config Timer0
EA = 1;
ET0 = 1;
TMOD = 1;
}
/********************************************************************************
name: MotorDriver_Initial
desc: Initial the driver
pars: no
rets: no
**********************************************************************************/
void MotorDriver_Initial(void)
{
I0 = 0;
I1 = 0;
SPM0 = 0;
SPM1 = 0;
LED = 1;
}
/*********************************************************************************
name: MotorRun
desc: config the motor mode and its pars
pars: StartPPS, EndPPS, Mode, Direction
rets: state
**********************************************************************************/
INT8U MotorRun(INT16U StartPPS, INT16U EndPPS, INT8U DriveMode, INT8U direction)
{
if(StartPPS >1000 || StartPPS <100)
return 0;
if(EndPPS <100 || EndPPS > 2500)
return 0;
cnt_start = 65535 - 1000000/StartPPS;
cnt_end = 65535 - 1000000/EndPPS;
TH0 = cnt_start/256;
TL0 = cnt_start%256;
mode = DriveMode;
dir = direction;
if(direction==Clockwise)
phase = 1;
if(direction==Counterclockwise)
if(mode!=3)
phase = 4;
else
phase = 8;
TR0 = 1;
return 1;
}
/*************************************************************************************/
//Timer0 interrupt isr
void Timer0_isr(void) interrupt 1 using 0
{
TR0 = 0;
TF0 = 0;
if(cnt_start!=cnt_end)
{
cnt_start += 1;
TH0 = cnt_start/256;
TL0 = cnt_start%256;
}
else
{
TH0 = cnt_end/256;
TL0 = cnt_end%256;
}
StepPhasing();
TR0 = 1;
}
/*************************************************************************************
name: StepPhasing
desc: motor step phasing according to Run Mode
pars: no
rets: no
**************************************************************************************/
void StepPhasing(void)
{
if(mode==MODE1)
{
I0 = 1;
I1 = 1;
switch (phase)
{
case 1:
phase = 2 + (dir<<1);
SPM0 = 1;
SPM1 = 1;
break;
case 2:
phase = 3 - (dir<<1);
SPM0 = 1;
SPM1 = 0;
break;
case 3:
phase = 4 - (dir<<1);
SPM0 = 0;
SPM1 = 0;
break;
case 4:
phase = 1 + (dir<<1);
SPM0 = 0;
SPM1 = 1;
break;
default : break;
}
}
else if(mode==MODE2)
switch (phase)
{
case 1:
phase = 2 + (dir<<1);
//disable coil B, current from A+ ---->A-
I1 = 0;
SPM1 = 0;
SPM0 = 1;
I0 = 1;
break;
case 2:
phase = 3 - (dir<<1);
//disable coil A, current from B+ ---->B-
I0 = 0;
SPM0 = 0;
I1 = 1;
SPM1 = 1;
break;
//disable coil B, current from A- ----->A+
case 3:
phase = 4 - (dir<<1);
I1 = 0;
SPM1 = 0;
I0 = 1;
SPM0 = 0;
break;
//disable coil A, current from B- ----->B+
case 4:
phase = 1 + (dir<<1);
I0 = 0;
SPM0 = 0;
I1 = 1;
SPM1 = 0;
break;
default : break;
}
else if(mode==MODE3)
switch (phase)
{
case 1:
phase = 2 + dir*6;
I1 = 0;
SPM1 = 0;
I0 = 1;
SPM0 = 1;
break;
case 2:
phase = 3 - (dir<<1);
I0 = 1;
SPM0 = 1;
I1 = 1;
SPM1 = 1;
break;
case 3:
phase = 4 - (dir<<1);
I0 = 0;
SPM0 = 0;
I1 = 1;
SPM1 = 1;
break;
case 4:
phase = 5 - (dir<<1);
I0 = 1;
SPM0 = 0;
I1 = 1;
SPM1 = 1;
break;
case 5:
phase = 6 - (dir<<1);
I1 = 0;
SPM1 = 0;
I0 = 1;
SPM0 = 0;
break;
case 6:
phase = 7 - (dir<<1);
I0 = 1;
SPM0 = 0;
I1 = 1;
SPM1 = 0;
break;
case 7:
phase = 8 - (dir<<1);
I0 = 0;
SPM0 = 0;
I1 = 1;
SPM1 = 0;
break;
case 8:
phase = 1 + dir*6;
I0 = 1;
SPM0 = 1;
I1 = 1;
SPM1 = 0;
break;
default : break;
}
}
请教下,在将启动频率PPS加载到定时器时,怎样避免
cnt_start = 65535 - 1000000/StartPPS;
中的除法运算,这样的语句在51中执行的太慢还站代码空间
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