两相步进电机驱动程序及原理图

/* main.c MCU:atmaga48 auther:chenjun */ //一个正弦波的1/4即一整步 #include <iom48v.h> #include <macros.h> #define uchar unsigned char #define uint unsigned int #define CLKHIGH 0x100-25 #define CLKLOW 0x100-50 extern const char CurTab256[]; //={0,4,8,12,16,20,24,28}; extern const char CurTab400[]; //={0,4,8,12,16,20,24,28}; uchar ucPhase; //步进电机相位 最低位为0时A相通电,1时/A相通电, //B相的相位确定:ucPhaseCount最低位为0,结合A相uiMinCurTotelLong/2决定B相的相位,uiStepCount*ucMinCurLong<uiCurTotelLong/2为/B,否则为B // ucPhaseCount最低位为1,uiStepCount*ucMinCurLong<uiCurTotelLong/2为B,否则为/B uchar ucMinNUM; //细分数 uchar ucMinCurLong; //每一细分电流长度 uchar ucCurTotLong; //细分电流总长 uchar ucDirect; //高为正向 uchar ucMinSwitch; //细分档位(拨码状态) uchar ucACurent; //A相电流输出 uchar ucBCurent; //B相电流输出 uchar ucEn; //使能信号 uchar ucErr; //错误标志 uint ui4CurTotelLong; //4倍细分电流长度总长 uint ui4MinNUM; uint ui4MinNUM_1; uint uiStepCount; //步进电机步数计数器 const char *pCurtable; void AVRInitialize() //初始化 { PCICR=0b00000101; //DR,OC,EN 引脚电平变化中断控制寄存器 #if(CCW) PCMSK2=0b01000000; //OC,DR #else PCMSK2=0b01010000; //OC,DR #endif PCMSK0=0b00000100; //EN // TIMSK1=0x00; //T/C1 溢出中断使能 // TCCR1A=0b00000000; //CTC MAX=OCR1A TCCR1B=0b11001111; //输入捕捉噪声抑制器,时钟由T1 引脚输入，上升沿触发,clkI/O/1 ( 无预分频) CTC #if(CCW) TIMSK0=0x01; //T/C0 溢出中断使能 TCCR0B=0x07; //时钟由T0 引脚输入，上升沿触发 #endif ADMUX=0b01100110; //通道选择,左对齐, 参考电压AVCC,AREF引脚外加滤波电容 ADCSRA=0b10000000; //ADC使能 // TIMSK2=0x00; //中断屏蔽 TCCR2B=0b10000010; //预分频 1/8 TCNT2=CLKLOW; //50us OCR2A=CLKHIGH; //50% // while((ASSR&0b00010000)==0b00010000); //T/C2 更新中 // while((ASSR&0b00001000)==0b00001000); //输出比较寄存器2 更新中,写OCR2A将引起OCR2UB置位。当OCR2A从暂存寄存器更新完毕后OCR2AUB 由硬件清零 PORTB=0b11110100; //DB7为0,CLK2为0 DDRB=0b00111010; //写1输出 PORTB=0b11110100; //DB7为0 PORTC=0x00; //DB0--DB6为0 DDRC=0xff; //定义PC口为输出 PORTC=0x00; PORTD=0b11000000; DDRD=0b10001111; //AL,OC,PU,DR,/BA,BA,/AA,AA PORTD=0b11000000; } void DataCheck() { uchar uci; ucEn=0; ucACurent=0; ucBCurent=0; if((ucMinNUM>200)||(ucMinNUM==0)||((128%ucMinNUM!=0)&&(200%ucMinNUM!=0)) ||((ucCurTotLong!=200)&&(ucCurTotLong!=128))) { ucMinNUM=1; ucCurTotLong=128; } ucMinCurLong=ucCurTotLong/ucMinNUM; ui4MinNUM=ucMinNUM<<2; ui4MinNUM_1=ui4MinNUM-1; ui4CurTotelLong=ucCurTotLong<<2; if(uiStepCount>=ui4MinNUM) { uiStepCount=0; } if((ucDirect!=1)&&(ucDirect!=0)) { ucDirect=0; } if(PIND&0b00010000) //DR { uci=1; } else { uci=0; } if(uci!=ucDirect) { TCNT1=ui4MinNUM_1-TCNT1; } if(ucCurTotLong==128) { pCurtable=CurTab256; } else { pCurtable=CurTab400; } } //选择细分数 uchar SelucMinNUM() { uchar i; i=0; i=i|(((!PORTB)&0x0c0)>>6); ADMUX=0b01100110; //通道选择,左对齐, 参考电压AVCC,AREF引脚外加滤波电容 ADCSRA|=0b01000000; //ADSC: ADC 开始转换 while(ADCSRA&0b01000000); if(ADCH<0x80) { i|=0b00000100; } ADMUX=0b01100111; //通道选择,左对齐, 参考电压AVCC,AREF引脚外加滤波电容 ADCSRA|=0b01000000; //ADSC: ADC 开始转换 while(ADCSRA&0b01000000); if(ADCH<0x80) { i|=0b00001000; } return(i); } //查表 void LookTab() { uint uii; uchar uci; //计算电流 if(ucDirect) { uii=uiStepCount; } else { uii=ui4MinNUM_1-uiStepCount; } ucPhase=0; while(uii>=ucMinNUM) { uii-=ucMinNUM; ucPhase++; //计算相位 } uci=uii; uci*=ucMinCurLong; //细分电流表位置 if(ucCurTotLong==128) { if((ucPhase==0)||(ucPhase==2)) { ucACurent=CurTab256[uci]; ucBCurent=CurTab256[uci+ucCurTotLong]; } else { ucACurent=CurTab256[ucCurTotLong+uci]; ucBCurent=CurTab256[uci]; } } else { if((ucPhase==0)||(ucPhase==2)) { ucACurent=CurTab400[uci]; ucBCurent=CurTab400[uci+ucCurTotLong]; } else { ucACurent=CurTab400[ucCurTotLong+uci]; ucBCurent=CurTab256[uci]; } } if(ucEn==0) { ucACurent=ucACurent>>2; ucBCurent=ucBCurent>>2; } } //电流输出 void OutCurrent() { PORTB&=~(1<<PB5); //DAABCS=0; ADCSR &= ~(1<<ADEN); PORTC=ucACurent; PORTB&=~(1<<PB4); //WR=0; _NOP(); PORTB|=(1<<PB4); //WR=1; PORTB|=(1<<PB5); //DAABCS=1; PORTC=ucBCurent; PORTB&=~(1<<PB4); //WR=0; NOP(); PORTB|=(1<<PB4); //WR=1; switch(ucPhase) { case 0: PORTD&=~(1<<PD1); //NAA=0; PORTD&=~(1<<PD2); //BA=0; PORTD|=(1<<PD0); //AA=1; PORTD|=(1<<PD3); //NBA=1; break; case 1: PORTD&=~(1<<PD1); //NAA=0; PORTD&=~(1<<PD3); //NBA=0; PORTD|=(1<<PD0); //AA=1; PORTD|=(1<<PD2); //BA=1; break; case 2: PORTD&=~(1<<PD0); //AA=0; PORTD&=~(1<<PD3); //NBA=0; PORTD|=(1<<PD1); //NAA=1; PORTD|=(1<<PD2); //BA=1; break; case 3: PORTD&=~(1<<PD0); //AA=0; PORTD&=~(1<<PD2); //BA=0; PORTD|=(1<<PD3); //NBA=1; PORTD|=(1<<PD1); //NAA=1; break; default: ucErr='T'; break; } } //相位保持 void PhaseInitialize() { LookTab(); //输出 OutCurrent(); TCNT1=uiStepCount; } void DataSel() { if(ucMinSwitch<8) { ucMinNUM=(1<<ucMinSwitch); ucMinCurLong=0x80>>ucMinSwitch; //1,2,4,8,16,32,64,128细分 ui4CurTotelLong=0x200; } else { switch(ucMinSwitch) { case 8: ucMinNUM=5; break; case 9: ucMinNUM=10; break; case 10: ucMinNUM=20; break; case 11: ucMinNUM=25; break; case 12: ucMinNUM=40; break; case 13: ucMinNUM=50; break; case 14: ucMinNUM=100; break; case 15: ucMinNUM=200; break; defaut: ucMinNUM=200; break; } ucMinCurLong=200/ucMinNUM; ui4CurTotelLong=800; } ui4MinNUM=ucMinNUM<<2; ui4MinNUM_1=ui4MinNUM-1; OCR1A=ui4MinNUM_1; } //****************************主程序****************************// void main() { uint i; uchar uci; for(i=0;i<60000;i++) { } AVRInitialize(); //I/O口及中断初始化 DataCheck(); PhaseInitialize(); ucMinNUM=SelucMinNUM(); //选择细分数 DataSel(); TCCR2A=0b11000011; //比较匹配发生时OC2A置位 快速 PWM TIMSK2=0b00000001; //T/C2 溢出中断使能 0b00000001 SREG=0x80; //开全局中断 while(1) { uci=SelucMinNUM(); if(ucMinSwitch!=uci) { SREG&=0x7f; //关全局中断 ucMinSwitch=uci; DataSel(); SREG|=0x80; //开全局中断 } } } //使能信号 #pragma interrupt_handler EN_INT:3 void EN_INT(void) { if(PCMSK0|0b00000100) { if(PORTB&0b00000100) { ucEn=1; TCCR1B|=0b00000111; //计数器1计数 } else { ucEn=0; TCCR1B&=0b11111000; //计数器1停止 } } PCMSK0=0xff; } //方向中断处理和过流信号 #pragma interrupt_handler DROC_INT:5 void DROC_INT(void) { //方向中断处理 if(PCMSK2|0b00010000) { if(PIND&0b00010000) { ucDirect=1; } else { ucDirect=0; } if(TCNT1!=0) { TCNT1=ui4MinNUM_1-TCNT1; } } //过流 if(PCMSK2|0b01000000) { if((PIND&0b01000000)==0) { PORTD&=~(1<<PD7); ucACurent=0; ucBCurent=0; TCCR1B&=0b11111000; //计数器1停止 TCCR2B&=0b11111000; //计数器2停止 ucErr='T'; OutCurrent(); } /* else { PORTD|=(1<<PD7); }*/ } PCMSK2=0x0ff; } /*#pragma interrupt_handler CLK2_INT:7 //定时器/ 计数器2 溢出中断 void CLK2_INT(void) { _NOP(); ucErr='T'; } */ #pragma interrupt_handler CLK2_OV:10 //定时器/ 计数器2 溢出中断 void CLK2_OV(void) { uint ui,uj; TCNT2=CLKLOW+TCNT2; //50us // if(uiStepCount!=TCNT1) { uiStepCount=TCNT1; LookTab(); OutCurrent(); } }