单片机控制步进电机-AVR详细程序

//头文件
#include<iom16v.h>
#include<macros.h>//SEI()函数_NOP()BIT();
#define uint unsigned int
#define uchar unsigned char

//步进电机接口定义
#define ENA0 (PORTA &=~BIT(0))//电机由脉冲控制
#define ENA1 (PORTA |=BIT(0))//电机掉电、自由状态
#define DIR0 (PORTA &=~BIT(1))//电机正方向转动
#define DIR1 (PORTA |=BIT(1))//电机反方向转动
#define PUL0 (PORTA &=~BIT(2))//低电位
#define PUL1 (PORTA |=BIT(2))//高电位


unsigned int n0;//脉冲计数，用来控制电机转角
uchar duan;//步进电机曲线分段控制参数
uchar kaiguanflag;//该参数为0时，步进电机的启动开关才有效


//定义MEGA16接口输入输出
void port_init(void)
{
 PORTA = 0xFF; //BIT(4)为电机启动开关  BIT(5)电机释放开关
 DDRA  = 0x0F; 
 PORTB = 0xFF; 
 DDRB  = 0xFF; 
 PORTC = 0xFF; 
 DDRC  = 0xFF; 
 PORTD = 0xFF; 
 DDRD  = 0x02;
}


//ms延时函数
void delay_1ms(void) 
{  
unsigned int i;  
for(i=1;i<(unsigned int)(11.059*143-2);i++);//定义晶振频率
}  
void delay(unsigned int n)//延时微妙级 
{  
unsigned int i; 
for(i=0;i<n;i++) 
delay_1ms(); 
}


//主程序
//曲线数组的生成后续文章会单独分析
//第一段S曲线加速30°：1转/秒启动，5转/秒结束
A[67]={0XE5CF,0XE5EF,0XE614,0XE63E,0XE66E,0XE6A4,0XE6E2,0XE728,0XE777,0XE7D0,0XE832,0XE8A0,0XE919,0XE99E,0XEA2F,0XEACB,0XEB73,0XEC25,0XECE0,0XEDA3,0XEE6C,0XEF38,0XF006,0XF0D4,0XF19E,0XF264,0XF323,0XF3D9,0XF485,0XF526,0XF5BC,0XF646,0XF6C4,0XF737,0XF79E,0XF7FB,0XF84E,0XF898,0XF8D9,0XF913,0XF946,0XF972,0XF999,0XF9BB,0XF9D9,0XF9F3,0XFA09,0XFA1C,0XFA2D,0XFA3C,0XFA49,0XFA54,0XFA5D,0XFA65,0XFA6C,0XFA72,0XFA78,0XFA7C,0XFA80,0XFA83,0XFA86,0XFA89,0XFA8B,0XFA8D,0XFA8F,0XFA90,0XFA91};

//第三段S曲线减速30°：5转/秒启动，0.5转/秒结束
B[67]={0XFA8F,0XFA8D,0XFA8B,0XFA89,0XFA87,0XFA84,0XFA81,0XFA7D,0XFA79,0XFA73,0XFA6D,0XFA67,0XFA5F,0XFA55,0XFA4A,0XFA3E,0XFA2F,0XFA1F,0XFA0B,0XF9F5,0XF9DB,0XF9BD,0XF99A,0XF972,0XF944,0XF90F,0XF8D2,0XF88C,0XF83C,0XF7E0,0XF777,0XF700,0XF678,0XF5DE,0XF531,0XF46F,0XF396,0XF2A4,0XF199,0XF073,0XEF33,0XEDD9,0XEC65,0XEAD9,0XE939,0XE786,0XE5C4,0XE3FA,0XE22A,0XE05B,0XDE91,0XDCD2,0XDB21,0XD983,0XD7FB,0XD68B,0XD534,0XD3F8,0XD2D6,0XD1CF,0XD0E1,0XD00B,0XCF4C,0XCEA2,0XCE0B,0XCD86,0XCD10};

//第四段S曲线反转加速30°：0.5转/秒启动，5转/秒结束
C[67]={0XCD86,0XCE0B,0XCEA2,0XCF4C,0XD00B,0XD0E1,0XD1CF,0XD2D6,0XD3F8,0XD534,0XD68B,0XD7FB,0XD983,0XDB21,0XDCD2,0XDE91,0XE05B,0XE22A,0XE3FA,0XE5C4,0XE786,0XE939,0XEAD9,0XEC65,0XEDD9,0XEF33,0XF073,0XF199,0XF2A4,0XF396,0XF46F,0XF531,0XF5DE,0XF678,0XF700,0XF777,0XF7E0,0XF83C,0XF88C,0XF8D2,0XF90F,0XF944,0XF972,0XF99A,0XF9BD,0XF9DB,0XF9F5,0XFA0B,0XFA1F,0XFA2F,0XFA3E,0XFA4A,0XFA55,0XFA5F,0XFA67,0XFA6D,0XFA73,0XFA79,0XFA7D,0XFA81,0XFA84,0XFA87,0XFA89,0XFA8B,0XFA8D,0XFA8F,0XFA90};

//第六段S曲线反转减速30°：5转/秒启动，1转/秒结束
D[67]={0XFA90,0XFA8F,0XFA8D,0XFA8B,0XFA89,0XFA86,0XFA83,0XFA80,0XFA7C,0XFA78,0XFA72,0XFA6C,0XFA65,0XFA5D,0XFA54,0XFA49,0XFA3C,0XFA2D,0XFA1C,0XFA09,0XF9F3,0XF9D9,0XF9BB,0XF999,0XF972,0XF946,0XF913,0XF8D9,0XF898,0XF84E,0XF7FB,0XF79E,0XF737,0XF6C4,0XF646,0XF5BC,0XF526,0XF485,0XF3D9,0XF323,0XF264,0XF19E,0XF0D4,0XF006,0XEF38,0XEE6C,0XEDA3,0XECE0,0XEC25,0XEB73,0XEACB,0XEA2F,0XE99E,0XE919,0XE8A0,0XE832,0XE7D0,0XE777,0XE728,0XE6E2,0XE6A4,0XE66E,0XE63E,0XE614,0XE5EF,0XE5CF,0XE5B3};


void main(void)
{
TCCR1B=0X01;//不分频(定时小于5.9毫秒) 
TCNT1=0XE5F0;//存放初值，根据A[0]值确定
TIMSK|=0x00;//定时器中断关
SREG=0X80;//总中断开
port_init();//IO口初始化
DIR0;//定一个初始转向
ENA1;//上电后步进电机为自由状态
while(1)
{
//本程序将PA4口设置为一个开关，当PA4口与单片机GND连通时，电机开始启动，硬件图里面没有画出该部分
 if((PINA&0x10)==0 & kaiguanflag==0)//启动键
 {
  delay(10);//软件滤波
  if((PINA&0x10)==0 & kaiguanflag==0)
  {
  kaiguanflag=1;//防止在电机转动过程中再进入该部分程序
  n0=0;
  DIR1;//规定转向
  ENA0;//电机处于可操作状态
  TIMSK|=BIT(2);//开16位定时器1中中断，电机启动
  }
 }

//本程序将PA5口设置为一个开关，当PA5口与单片机GND连通时，电机处于掉电自由状态，防止在不用过程中电机一直带电发热，同时可以用手去转动电机，硬件图里面没有画出该部分
 if((PINA&0x20)==0)//切换步进电机可控状态
 {
  delay(10);
  if((PINA&0x20)==0)
  ENA1; 
 }
}
}

#pragma interrupt_handler time1:9//ATMEGA16定时器time1中断
void time1(void)
{
 switch(duan)//控制曲线处于哪个加速段
 {
//已第一段为例解释，后面几段原理一样
case 0: //第一段S曲线加速30°：1转/秒启动，5转/秒结束

  TCNT1=A[n0];//设置定时器初值
  PORTA ^=BIT(2);//PA2口取反，产生高低电平形成脉冲
  if((PINA & BIT(2))==0)//两次中断产生一个脉冲，取其中一次进行脉冲计数
   {
    n0++;
   	  if(n0==67)//判断是否到达指定脉冲数
	  {
		duan++;//到达脉冲个数之后，进入下一段速度
		n0=0;//清零
	  }
   	}break;
   	
case 1: //第二段匀速运动120°：5转/秒匀速
  TCNT1=0XFA99;//匀速5r/s;
  PORTA ^=BIT(2);
  if((PINA & BIT(2))==0)
   {
    n0++;
	if(n0==267)
	{
	 duan++;
	 n0=0;
	}
   }break;
   
case 2: //第三段S曲线减速30°：5转/秒启动，0.5转/秒结束
  TCNT1=B[n0];
  PORTA ^=BIT(2);
  if((PINA & BIT(2))==0)
   {
    n0++;
   	  if(n0==67)
	  {
	    duan++;
	    n0=0;
            DIR0;//开始换向
	  }
   	}break;
   	
case 3: //第四段S曲线反转加速30°：0.5转/秒启动，5转/秒结束
  TCNT1=C[n0];
  PORTA ^=BIT(2);
  if((PINA & BIT(2))==0)
   {
    n0++;
   	  if(n0==67)
	  {
	    duan++;
	    n0=0;
	  }
   	}break;
   	
case 4: //第五段匀速反转运动120°：5转/秒匀速
  TCNT1=0XFA99;//转速5r/s;
  PORTA ^=BIT(2);
  if((PINA & BIT(2))==0)
   {
    n0++;
   	  if(n0==267)
	  {
	    duan++;
	    n0=0;
	  }
   	}break;
case 5: //第六段S曲线反转减速30°：5转/秒启动，1转/秒结束
  TCNT1=D[n0];
  PORTA ^=BIT(2);
  if((PINA & BIT(2))==0)
   {
    n0++;
   	  if(n0==67)
	     {
		      duan=0;
		      kaiguanflag=0;//PA4开关标志清零，等待下一次PA4开关启动
		      TIMSK=0x00;//关闭中断，电机停止
	      }
   	}break;
 default:duan=0;kaiguanflag=0;TIMSK=0x00;break;
  } 
}