分享：步进电机细分驱动思路及程序-第5页回答

1楼-- · 2019-12-16 11:32

楼上的，真心感谢您的指导，我的不细分没问题，一细分，就抖的很厉害。
细分时实验的代码。请您指导一下。
//ICC-AVR application builder : 2014-2-4 9:18:54
// Target : M16
// Crystal: 8.0000Mhz

#include <iom16v.h>
#include <macros.h>
# define unint unsigned int
# define uchar unsigned char

#define SET_BIT(io ,bit) (  io |=  (1<<bit) )
//置位: SET_BIT(PORTA,0);SET_BIT(DDRA,0);
#define CLR_BIT(io ,bit) (  io &= ~(1<<bit) )
//清0: CLR_BIT(PORTA,0);CLR_BIT(DDRA,0);
#define GET_BIT(pin,bit) ( pin & (1<<bit) )
//读位: GET_BIT(PINA,0);
#define SET_IN( dir,bit) ( dir &= ~(1<<bit) )
//端口方向输入: SET_IN(DDRA,0);
#define SET_OUT(dir,bit) ( dir |=  (1<<bit) )
//端口方向输出: SET_OUT(DDRA,0);
#define INVBIT(io,bit) ( io ^= (1<<bit) )
//反转方向
//
#define STEPPER_LN_1 SET_BIT(PORTB ,0)
#define STEPPER_LN_0 CLR_BIT(PORTB ,0)
//
#define STEPPER_RN_1 SET_BIT(PORTB ,1)
#define STEPPER_RN_0 CLR_BIT(PORTB ,1)

#define STEPPER_LR_1 SET_BIT(PORTD ,4)
#define STEPPER_LR_0 CLR_BIT(PORTD ,4)

#define STEPPER_RL_1 SET_BIT(PORTD ,5)
#define STEPPER_RL_0 CLR_BIT(PORTD ,5)

#define STEP_LN_1 SET_BIT(PORTA ,6)
#define STEP_LN_0 CLR_BIT(PORTA ,6)
#define STEP_RN_1 SET_BIT(PORTA ,4)
#define STEP_RN_0 CLR_BIT(PORTA ,4)

#define STEP_LR_1 SET_BIT(PORTA ,5)
#define STEP_RL_1 SET_BIT(PORTA ,5)

#define STEP_LR_0 CLR_BIT(PORTA ,5)
#define STEP_RL_0 CLR_BIT(PORTA ,5)

unsigned  char OCRnA_Num_L ,OCRnA_Num_R ;

unsigned char direction_flag = 1;
const unsigned char OCRnA_Val[24] =
{
5,48,94,163,220,247,250,247,220,163,94,48,5,207,161,92,34,8,5,8,34,92,161,207

//0,65,127,180,221,246,255,246,221,180,127,65,0,190,128,75,34,9,0,9,34,75,128,190
}; //微步码两个线圈中电流相位是60度，

void delay_1us(void)                //1us延时函数
  {
asm("nop");
  }
void delay_nus(unsigned short int n)    //N us延时函数
  {
unsigned short int i=0;
for (i=0;i<n;i++)
delay_1us();
  }

void Delay_1ms(void)                //1ms延时函数
  {
unsigned short int i;
for (i=0;i<(unsigned short int)(8*143-2);i++);
  }

void Delay_nms(unint n) //n*1mS延时子函数
{
unint i=0;
while(i<n)
{
Delay_1ms();
i++;
}
}

void port_init(void)
{
PORTA = 0xFF;
DDRA  = 0xFF;
PORTB = 0x0f;
DDRB  = 0xFF;
PORTC = 0x0f; //m103 output only
DDRC  = 0xFF;
PORTD = 0xff;
DDRD  = 0xff;
}

//TIMER0 initialize - prescale:8
// WGM: Normal
// desired value: 255uSec
// actual value: 255.000uSec (0.0%)
void timer0_init(void)
{
TCCR0 = 0x00; //stop
TCNT0 = 0x01; //set count
OCR0  = 0xFF;  //set compare
TCCR0 = 0x01; //start timer
}

//TIMER1 initialize - prescale:8
void timer1_init(void)
{
TCCR1B = 0x00;
//OCR1AH = 0x01;
OCR1AL = 0xF4;
//OCR1BH = 0x01;
OCR1BL = 0xF4;
TCCR1A = 0x61;
TCCR1B = 0x02; //start Timer
}

//call this routine to initialize all peripherals
void init_devices(void)
{
//stop errant interrupts until set up
CLI(); //disable all interrupts
port_init();
//timer0_init();
timer1_init();

MCUCR = 0x00;
GICR  = 0x00;
//TIMSK = 0x01; //timer interrupt sources
SEI(); //re-enable interrupts
//all peripherals are now initialized
}

void step_moto_control(void)
{

if(direction_flag) //反转
{

      if(OCRnA_Num_L==0) { OCRnA_Num_L = 23;STEPPER_LN_0;}//正负端左接1。
      else OCRnA_Num_L--;
      if(OCRnA_Num_L <= 12) STEPPER_LN_1; //正负端左接0。
      OCR1AL  =  OCRnA_Val[OCRnA_Num_L]; //左线圈电流
      OCR1AH = 0x00;

      if(OCRnA_Num_R==0)
      {OCRnA_Num_R = 23;STEPPER_RN_1; }//正负端右接1。
      else  OCRnA_Num_R--;
      if(OCRnA_Num_R <= 12) STEPPER_RN_0;  //正负端右接0。
      OCR1BL =  OCRnA_Val[OCRnA_Num_R];//右线圈电流
OCR1BH = 0x00;

}

else //正转
{

if(OCRnA_Num_L>23)  {OCRnA_Num_L=0;STEPPER_LN_0;} //正负端左接0。
      else {OCRnA_Num_L++;}
      if(OCRnA_Num_L>12) STEPPER_LN_1;//正负端左接1。
      OCR1AL  =  OCRnA_Val[OCRnA_Num_L];
OCR1AH = 0x00;

      if(OCRnA_Num_R>23) {OCRnA_Num_R=0;STEPPER_RN_0;}  //正负端右接1。
      else OCRnA_Num_R++;
      if(OCRnA_Num_R>12) STEPPER_RN_1;//正负端右接1。
      OCR1BL  =  OCRnA_Val[OCRnA_Num_R];
      OCR1BH = 0x00;

   }
}

/*
1个脉冲转子转60，指针转1/3度。
1/3度*90（1个周期6个脉冲）=180  （个脉冲）*6/180减速比
*/
//24*90

void main(void)
{
unint k = 2250;
init_devices();
direction_flag = 0;

      //逆时针
      STEPPER_LN_0;
STEPPER_RN_0;
OCRnA_Num_L = 6;
OCRnA_Num_R = 10;

//  顺时
      STEPPER_LN_0;
STEPPER_RN_0;
OCRnA_Num_L = 4;
OCRnA_Num_R = 0;

while(1)
{

   delay_nus(255);
   step_moto_control();
  }
}

#pragma interrupt_handler timer1_ovf_isr:iv_TIM1_OVF
void timer1_ovf_isr(void)
{
TCNT1H = 0xFF;
TCNT1L = 0x00;
//step_moto_control();
}

#pragma interrupt_handler timer0_ovf_isr:iv_TIM0_OVF
void timer0_ovf_isr(void)
{
TCNT0 = 0x00; //reload counter value
//step_moto_control();
}