STC51单片机35-五线四相步进电机驱动测试程序（2个步进电机）

/*-------------------------------------------------------------------------------- MCU: STC15W408AS 注意其没有T1，但是有T2 开发板: STC15W408AS最小系统板 晶振: 内部时钟11.0592M，波特率38400 扩展模块: - 软件: Keil.C51.V9.01 -------------------------------------------------------------------------------------*/ #include "STC15.h" #define u8 unsigned char #define u16 unsigned int sbit StepperPin1=P1^2; sbit StepperPin2=P1^3; sbit StepperPin3=P1^4; sbit StepperPin4=P1^5; sbit Stepper2Pin1=P3^4; sbit Stepper2Pin2=P3^5; sbit Stepper2Pin3=P3^6; sbit Stepper2Pin4=P3^7; void StepmotorDelay(u8 n){ u16 i; for(;n>0;n--) for(i=2000;i>0;i--) //不要小于2000 ; } void Step(void); //---------------------------------------------------------- // 函数名称：void IniSerialPort(void) // 函数功能：串口初始化 //---------------------------------------------------------- void InitSerialPort(void) { SCON = 0x50; //8位数据，可变波特率 AUXR = 0x14; //T2为1T模式, 并启动定时器2 AUXR |= 0x01; //选择定时器2为串口1的波特率发生器 T2L = 0xB8; //设置定时初始值 T2H = 0xFF; //设置定时初始值 ES=1; //串口中断开关,采用查询法时不用打开中断 EA=1; //PS=1;//高优先级 REN=1; //串口为工作方式1，允许接收数据 } //---------------------------------------------------------- // 函数名称：void SerialPortInte(void) // 函数功能：串口中断方式接收一个字符 //---------------------------------------------------------- #define Download_command 0xf1 //功能码 void SerialPortInte(void) interrupt 4 { unsigned char dat; unsigned int ISP_i,ISP_j; if(TI==1) { TI=0; } else { RI=0; dat=SBUF; SBUF=dat; if(dat==Download_command) { for(ISP_j=1000;ISP_j>0;ISP_j--) for(ISP_i=123;ISP_i>0;ISP_i--); IAP_CONTR =0x60;//软件复位 } } } /************************主函数******************************************************/ void main() { InitSerialPort(); while(1) { Step(); StepmotorDelay(1); } } u8 StepN=1; void Step(void) //4 相8 拍 { switch(StepN){ case 1: StepperPin1=1; StepperPin2=0; StepperPin3=0; StepperPin4=0; Stepper2Pin1=1; Stepper2Pin2=0; Stepper2Pin3=0; Stepper2Pin4=0; break; case 2: StepperPin1=1; StepperPin2=1; StepperPin3=0; StepperPin4=0; Stepper2Pin1=1; Stepper2Pin2=1; Stepper2Pin3=0; Stepper2Pin4=0; break; case 3: StepperPin1=0; StepperPin2=1; StepperPin3=0; StepperPin4=0; Stepper2Pin1=0; Stepper2Pin2=1; Stepper2Pin3=0; Stepper2Pin4=0; break; case 4: StepperPin1=0; StepperPin2=1; StepperPin3=1; StepperPin4=0; Stepper2Pin1=0; Stepper2Pin2=1; Stepper2Pin3=1; Stepper2Pin4=0; break; case 5: StepperPin1=0; StepperPin2=0; StepperPin3=1; StepperPin4=0; Stepper2Pin1=0; Stepper2Pin2=0; Stepper2Pin3=1; Stepper2Pin4=0; break; case 6: StepperPin1=0; StepperPin2=0; StepperPin3=1; StepperPin4=1; Stepper2Pin1=0; Stepper2Pin2=0; Stepper2Pin3=1; Stepper2Pin4=1; break; case 7: StepperPin1=0; StepperPin2=0; StepperPin3=0; StepperPin4=1; Stepper2Pin1=0; Stepper2Pin2=0; Stepper2Pin3=0; Stepper2Pin4=1; break; case 8: StepperPin1=1; StepperPin2=0; StepperPin3=0; StepperPin4=1; Stepper2Pin1=1; Stepper2Pin2=0; Stepper2Pin3=0; Stepper2Pin4=1; StepN=0; break; default:break; } StepN++; StepmotorDelay(1); }