uln2803步进电机的控制原理电路图和源程序.doc

uln2803步进电机的控制原理电路图和源程序 步进电机的控制原理和程序 选自北航出版 耿德根主编高速嵌入式单片机原理与应用第七章7.4.2 源程序:SLAVR742.ASM 自从六十年代初期步进电机面世以来,在过去几年它的重要性大大提高了。它用来驱动时钟和其他采用指针的仪器,打印机、绘图仪、磁盘光盘驱动器、各种自动控制阀、各种工具,还有机器人等的机械装置。关于马进电机工作原理请参考有关资料。 下面用单极1-2相激磁方法步进电机做实验,即1极、2极、1极、2极、.极以次循环,如何用单极二相激该方法控制步进电机,由读者或用户自行编制程序实验。 ;实验选用4.5V步进电机,用5V即可,实验时节省一组步进电机驱动电源; ;型号:MA82135; 相数:2相; 电压:4.5V; 电流/相:0.12A; 电阻欧姆:34/相; 重量:30g ;* ;* 步进电机控制程序(单极1-2相) * ;* * ;*SLAVR742.ASM * ;*use ULN2803 ;使用PC0-PC3 驱动步进电机 * ;*use 11-17new bord * ;* .include8515def.inc .def temp =r16 .def dt =r19 .def np =r17 .def step =r18 .def TStep =r20 .def cnt =r21 .equ turntab=0x0200 .org $0000 rjmp RESET .cseg .org 0x010 RESET: ldi temp,low(RAMEND) ;设堆栈 out SPL,temp ldi temp,high(RAMEND) out SPL+1,temp ser TEMP ;C口设置为输出 OUT ddrc,TEMP ldi zl,low(turntab*2) ;步进电机旋转资料指针 ldi zh,high(turntab*2) ldi np,4 ldi temp,$44 out portc,temp ;初始化 ldi TStep,$25 rcall delay ldi cnt,10 clt rep: ldi step,192 ldi TStep,1 ;1-255 rcall turn dec cnt brne rep loop: nop rjmp loop ;* ; t=1 uncircle turn ;T=1逆时针转 * ; t=0 circle turn ;T=0顺时针转 * ; 96 step a turn * ; TStep is time of a step ; * ;* turn: brts uncircle ;判转向 inc np ;正转 cpi np,8 brne next clr np next: push zl add zl,np lpm out portc,r0 pop zl rcall delay dec step brne turn ret uncircle: ;反转 dec np cpi np,$ff brne next ldi np,$07 rjmp next delay: push TStep ;延时子程序 del1: ldi dt,70 del2: push dt del3: dec dt brne del3 pop dt dec dt brne del2 dec TStep brne del1 pop TStep ret .org turntab ; 0 1 2 3 4 5 6 7 ;步进电机旋转资料表 .db 0x11,0x99,0x88,0xcc,0x44,0x66,0x22,0x33i nclude#define uint unsigned int#define uchar unsigned char#define ms *77/ f = 12 M#define LEDLen 4#define Dj_star() IE=0x81; pri_dj=0; #define Dj_stop() IE=0x00; pri_dj=1; P1=0xff; shache=0; delay(800ms); delay(800ms);delay(400ms); shache = 1; #define Chilun_Num 8/* 齿轮数 8 个*/#define set_display_num() LEDBuf0 = tmp / 1000; LEDBuf1 = tmp / 100 % 10; LEDBuf2 = tmp / 10 % 10; LEDBuf3 = tmp % 10; uchar LEDBufLEDLen = 0,0,0,0;void read_num (); /* 读播码盘 到 set_round_num * 8 */void display ();void delay(uint delay_time) uint i; for (i=0; i = set_round_num ) Dj_stop(); EA = 0x81;void display() uchar i; uint tmp = 0; tmp = round_num / Chilun_Num ; set_display_num(); for(i = 0; i LEDLen ; i +) P0 = 0xf0; P0 = P0 | LEDBufi ; if(i=0) led_1000 = 0; /P04 if(i=1) led_100 = 0; /P05 if(i=2) led_10 = 0; /P06 if(i=3) led_1 = 0; /P07 P0 |= 0xf0; P0 = 0xf0;void read_num() /* 读播码盘 到 set_round_num ，set_pwm_width */ uchar tmp; P2 = 0xFF; P2 = 0xEF; / 1110 1111 delay ( 1ms ); tmp = (P2 | 0xF0); P2 = 0xDF; / 1101 1111 delay ( 1ms ); tmp = (P2 | 0xF0 ) * 10 + tmp; set_round_num = tmp; P2 = 0xBF; / 1011 1111 delay ( 1ms ); tmp = (P2 | 0xF0); P2 = 0x7F; / 0111 1111 delay ( 1ms ); tmp = (P2 | 0xF0) * 10 + tmp; set_round_num = set_round_num + tmp * 100; set_round_num = set_round_num * Chilun_Num; P2 = 0xFF; P1 = 0xbF; / 0111 1111 delay ( 1ms ); tmp = (P2 | 0xF0) ; P1 = 0xFF; P2 = 0xFF; P1 &= 0x7F; / 1011 1111 delay ( 1ms ); tmp = (P2 | 0xF0) * 10 + tmp ; set_pwm_width = tmp ; P1 = 0xFF; P2 = 0xFF;void fx_run() #define f_Delay_time 180 while ( bujin_fx_stop ) /* 反向 回车 直到 传感器 动作*/ P1 = 0xf3;