【单片机】步进电机控制

一、操作目的

了解步进电机控制的基本原理，掌握步进电机转动编程方法。

二、操作内容

读取显示器上显示的正、反转命令，转速（16级）和转动步数后执行，转动步数减为零时停止转动。了解步进电机控制的基本原理，掌握步进电机转动编程方法。

三、预备知识

步进电机驱动原理是通过它每相线圈中的电流的顺序切换来使电机作步进式旋转，驱动电路由脉冲信号来控制，所以调节脉冲信号的频率便可改变步进电机的转速，微电脑控制步进电机最适合。

四、操作接线图

五、程序框图

六、程序清单

	ORG 0000H
	MOV P2,#0FFH
	MOV 7EH,#11H
	MOV 7DH,#10H
	MOV 7CH,#10H
	MOV 7BH,#10H
	MOV 7AH,#10H
	MOV 79H,#10H
	MOV A,#89H
	MOV DPTR,#0FF23H
	MOVX @DPTR,A
	mov r0,#59h
	mov a,#7eh
	movx @r0,a
DOJ0:		
	MOV SP,#53H
DOJ6:		
	LCALL X2					；调键扫显示子程序
	JNC DOJ5                   	；功能键转
	LCALL X3                    ；调数字键处理子程序
	MOV R1,#7EH
	SJMP DOJ6
DOJ5:		
	CJNE A,#16H,DOJ6            ；不是执行键转
	MOV A,7AH
	SWAP A
	ORL A,79H
	MOV R6,A                    ；低字节步距数送R6
	MOV A,7CH
	SWAP A
	ORL A,7BH
	MOV R7,A                     ；高字节步距数据送R7
	MOV A,7EH
	CJNE A,#00H,DOJ2             ；判转动方向
DOJ1:
	MOV P1,#03H                  ；顺时针转动
	LCALL DEL0Y
	LCALL GGJ0
	MOV P1,#06H	
	LCALL DEL0Y
	LCALL GGJ0
	MOV P1,#0CH
	LCALL DEL0Y
	LCALL GGJ0
	MOV P1,#09H
	LCALL DEL0Y
	LCALL GGJ0
	SJMP DOJ1
DOJ2:
	MOV P1,#09H						；逆时针转动
	LCALL DEL0Y
	LCALL GGJ0
	MOV P1,#0CH
	LCALL DEL0Y
	LCALL GGJ0
	MOV P1,#06H
	LCALL DEL0Y
	LCALL GGJ0
	MOV P1,#03H
	LCALL DEL0Y
	LCALL GGJ0
	SJMP DOJ2
DEL0Y: 	
	MOV A,7DH					；根据(7D)内容改变延时时间
	SWAP A
	MOV R2,A
	MOV R5,#80H
DEL1Y: 	
	DJNZ R5,DEL1Y
	LCALL SSEE
	DJNZ R2,DEL1Y
	RET
GGJ0:		
	CJNE R7,#00H,GGJ1             ；步距数为0停止
	CJNE R6,#00H,GGJ1             ；不为0，减1后显示
	AJMP DOJ4	
GGJ1:		
	DJNZ R6,DOJ3
	CJNE R7,#00H,DDJ8
DOJ4:		
	LCALL DOJ7
	SJMP DOJ4
DDJ8:		
	DJNZ R7,DOJ3
	AJMP DOJ4
DOJ3:		
	LCALL DOJ7
	RET
DOJ7:		
	MOV R0,#79H
	MOV A,R6
	LCALL PTDS5
	MOV A,R7
	LCALL PTDS5
	LCALL SSEE                     ；显示
	RET
PTDS5: 	
	MOV R1,A
	ACALL PTDS6
	MOV A,R1
	SWAP A
PTDS6: 	
	ANL A,#0FH
	MOV @R0,A
	INC R0
	RET
	ORG 1D00H
X3:		
	MOV R4,A
	MOV R0,#59H
	MOVX A,@R0
	MOV R1,A
	MOV A,R4
	MOV @R1,A
	CLR A
	POP DPH
	POP DPL
	MOVC A,@A+DPTR
	INC DPTR
	CJNE A,01H,X30
	CLR A
	MOVC A,@A+DPTR
X31:		
	MOVX @R0,A
	INC DPTR
	PUSH DPL
	PUSH DPH
	RET
X30:		
	DEC R1
	MOV A,R1
	SJMP X31
X2: 		
	MOV R6,#50H
X0: 		
	ACALL XLE
	JNB ACC.5,XX0
	DJNZ R6,X0
	MOV R6,#20H
	MOV R0,#59H
	MOVX A,@R0
	MOV R0,A
	MOV A,@R0
	MOV R7,A
	MOV A,#10H
	MOV @R0,A
X1: 		
	ACALL XLE
	JNB ACC.5,XX1
	DJNZ R6,X1
	MOV A,R7
	MOV @R0,A
	SJMP X2
XX1:		
	MOV R6,A
	MOV A,R7
	MOV @R0,A
	MOV A,R6
XX0:		
	RET
XLE:		
	ACALL DIS
	ACALL KEY
	MOV R4,A
	MOV R1,#48H
	MOVX A,@R1
	MOV R2,A
	INC R1
	MOVX A,@R1
	MOV R3,A
	MOV A,R4
	XRL A,R3
	MOV R3,04H
	MOV R4,02H
	JZ X10
	MOV R2,#88H
	MOV R4,#88H
X10:		
	DEC R4
	MOV A,R4
	XRL A,#82H
	JZ X11
	MOV A,R4
	XRL A,#0EH
	JZ X11
	MOV A,R4
	ORL A,R4
	JZ X12
	MOV R4,#20H
	DEC R2
	SJMP X13
X12:		
	MOV R4,#0FH
x11:		
	MOV R2,04H
	MOV R4,03H
X13:		
	MOV R1,#48H
	MOV A,R2
	MOVX @R1,A
	INC R1
	MOV A,R3
	MOVX @R1,A
	MOV A,R4
	RET
LS3:		
	DB 07H,04H,08H,05H,09H,06H,0AH
	DB 0BH,01H,00H,02H,0FH,03H,0EH
	DB 0CH,0DH
DIS:		
	PUSH DPH
	PUSH DPL
	SETB RS1
	MOV R0,#7EH
	MOV R2,#20H
	MOV R3,#00H
	MOV DPTR,#LS0
LS2:		
	MOV A,@R0
	MOVC A,@A+DPTR
	MOV R1,#21H
	MOVX  @R1,A
	MOV A,R2
	CPL A
	DEC R1
	MOVX @R1,A
	CPL A
	DEC R0
LS1:		
	DJNZ R3,LS1
	CLR C
	RRC A
	MOV R2,A
	JNZ LS2
	INC R1
	MOV A,#0FFH
	MOVX @R1,A
	CLR RS1
	POP DPL
	POP DPH
	RET
LS0:		
	DB  0C0H,0F9H,0A4H,0B0H,99H,92H
	DB  82H,0F8H,80H,90H,88H,83H,0C6H
	DB  0A1H,86H,8EH,0FFH,0CH,89H,7FH,0BFH
KEY:		
	SETB RS1
	MOV R2,#0FEH
	MOV R3,#08H
	MOV R0,#00H
LP1:		
	MOV A,R2
	MOV R1,#20H
	MOVX @R1,A
	RL A
	MOV R2,A
	MOV R1,#22H
	MOVX A,@R1
	CPL A
	ANL A,#0FH
	JNZ LP0
	INC R0
	DJNZ R3,LP1
	MOV A,#20H							;19H
	SJMP XP3
XP33:		
	MOV A,#20H
XP3:		
	CLR RS1
	RET
LP0:		
	CPL A
	JB ACC.0,XP0
	MOV A,#00H
	SJMP LPP
XP0:		
	JB ACC.1,XP1
	MOV A,#08H
	SJMP LPP
XP1:		
	JB ACC.2,XP2
	MOV A,#10H
	SJMP LPP
XP2:	
	JB ACC.3,XP33
	MOV A,#18H
LPP:		
	ADD A,R0
	CLR RS1
	CJNE A,#10H,LX0
LX0:
	JNC XP35
	MOV DPTR,#LS3
	MOVC A,@A+DPTR
XP35:	
	RET
	ORG 0D50H
SSEE:	
	SETB RS1
	MOV R5,#05H
SSE2:		
	MOV 30H,#20H
	MOV 31H,#7EH
	MOV R7,#06H
SSE1:		
	MOV R1,#20H
	MOV A,30H
	CPL A
	MOVX @R1,A
	MOV R0,31H
	MOV A,@R0
	MOV DPTR,#DDFF
	MOVC A,@A+DPTR
	MOV R1,#21H
	MOVX @R1,A
	MOV A,30H
	RR A
	MOV 30H,A
	DEC 31H
	MOV A,#0FFH
	MOVX  @R1,A
	DJNZ R7,SSE1
	DJNZ R5,SSE2
	CLR RS1
	RET
DDFF: 		
	DB 0C0H,0F9H,0A4H,0B0H,99H,92H,82H,0F8H,80H,90H
	DB 88H,83H,0C6H,0A1H,86H,8EH,0FFH,0CH,89H,0DEH
	END	

七、代码详解

#include <reg51.h>
#include <intrins.h>

#define uchar unsigned char
unsigned char code mon51[3] _at_ 0x3b; //保留0X3B开始三个程序空间作全速中断用
sbit P10 = P1 ^ 0;
sbit P11 = P1 ^ 1;
sbit P12 = P1 ^ 2;
sbit P13 = P1 ^ 3;

void delay(unsigned int j)
{
	while (j--)
		;
}

void main(void)
{
	uchar aa;
	P1 = 0x00; //P1口初始化

	while (1)
	{
		uchar k = 0;

		for (k = 0; k < 200; k++)
		{
			P10 = 0;
			P11 = 1;
			P12 = 1;
			P13 = 1;
			delay(250);
			P10 = 1;
			P11 = 0;
			P12 = 1;
			P13 = 1;
			delay(250);
			P10 = 1;
			P11 = 1;
			P12 = 0;
			P13 = 1;
			delay(250);
			P10 = 1;
			P11 = 1;
			P12 = 1;
			P13 = 0;
			delay(250);
		}
		for (k = 0; k < 200; k++)
		{
			P10 = 1;
			P11 = 1;
			P12 = 1;
			P13 = 0;
			delay(250);
			P10 = 1;
			P11 = 1;
			P12 = 0;
			P13 = 1;
			delay(250);
			P10 = 1;
			P11 = 0;
			P12 = 1;
			P13 = 1;
			delay(250);
			P10 = 0;
			P11 = 1;
			P12 = 1;
			P13 = 1;
			delay(250);
		}
	}
}