| ??? 01/21/07 22:39 Read: times Msg Score: +1 +1 Informative |
#131197 - Maybe this will help Responding to: ???'s previous message |
Following is some code that might help. It's incomplete and somewhat hardware-dependent, but it might give you some ideas.
-- Russ
/* ////////////////////////////////////////////////////////////////////////////
Handy Macros
//////////////////////////////////////////////////////////////////////////// */
#define set_motor(X) P1 = (P1 & 0xC0) | X /* Set the motor control lines
without messing up the other
two bits of Port 1 */
/* ////////////////////////////////////////////////////////////////////////////
Local Function Prototypes
//////////////////////////////////////////////////////////////////////////// */
void step_the_motor(signed char);
/* ////////////////////////////////////////////////////////////////////////////
Module Variables
//////////////////////////////////////////////////////////////////////////// */
/* These macros correlate the L6219 signal names with their positions within
Port 1. Note that here we call the two windings 'A' and 'B' instead of '1'
and '2' like the data sheet does. */
#define A_I0 0x01 /* Hardware dependent */
#define A_I1 0x02 /* Hardware dependent */
#define A_Ph 0x04 /* Hardware dependent */
#define B_I0 0x20 /* Hardware dependent */
#define B_I1 0x10 /* Hardware dependent */
#define B_Ph 0x08 /* Hardware dependent */
/* These macros give names to the various possible settings of the current
control signals. The numbers in the names indicate percent of full
current. */
#define A_0 (A_I0 | A_I1)
#define A_33 A_I1
#define A_67 A_I0
#define A_100 0
#define B_0 (B_I0 | B_I1)
#define B_33 B_I1
#define B_67 B_I0
#define B_100 0
/* These macros give names to the directions of current flow in the two
windings. */
#define A_PLUS A_Ph
#define A_MINUS 0
#define B_PLUS B_Ph
#define B_MINUS 0
/* This table specifies the sequencing of the I/O lines needed to make the
motor move. See the data sheet for the L6219 motor driver for details. */
#if STEP_FULL /* Full stepping with 100% current */
static code char sequence[] = {
A_MINUS | A_100 | B_MINUS | B_100,
A_PLUS | A_100 | B_MINUS | B_100,
A_PLUS | A_100 | B_PLUS | B_100,
A_MINUS | A_100 | B_PLUS | B_100
};
#endif
#if STEP_HALF /* Half stepping with 67% current */
static code char sequence[] = {
A_MINUS | A_0 | B_PLUS | B_67,
A_PLUS | A_67 | B_PLUS | B_67,
A_PLUS | A_67 | B_PLUS | B_0,
A_PLUS | A_67 | B_MINUS | B_67,
A_PLUS | A_0 | B_MINUS | B_67,
A_MINUS | A_67 | B_MINUS | B_67,
A_MINUS | A_67 | B_MINUS | B_0,
A_MINUS | A_67 | B_PLUS | B_67
};
#endif
#if STEP_QUARTER /* Quarter stepping with 67% current */
static code char sequence[] = {
A_MINUS | A_0 | B_PLUS | B_67,
A_PLUS | A_33 | B_PLUS | B_67,
A_PLUS | A_67 | B_PLUS | B_67,
A_PLUS | A_67 | B_PLUS | B_33,
A_PLUS | A_67 | B_PLUS | B_0,
A_PLUS | A_67 | B_MINUS | B_33,
A_PLUS | A_67 | B_MINUS | B_67,
A_PLUS | A_33 | B_MINUS | B_67,
A_PLUS | A_0 | B_MINUS | B_67,
A_MINUS | A_33 | B_MINUS | B_67,
A_MINUS | A_67 | B_MINUS | B_67,
A_MINUS | A_67 | B_MINUS | B_33,
A_MINUS | A_67 | B_MINUS | B_0,
A_MINUS | A_67 | B_PLUS | B_33,
A_MINUS | A_67 | B_PLUS | B_67,
A_MINUS | A_33 | B_PLUS | B_67
};
#endif
#if STEP_SIXTH /* Sixth stepping with 100% current */
static code char sequence[] = {
A_MINUS | A_0 | B_PLUS | B_100,
A_PLUS | A_33 | B_PLUS | B_100,
A_PLUS | A_67 | B_PLUS | B_100,
A_PLUS | A_100 | B_PLUS | B_100,
A_PLUS | A_100 | B_PLUS | B_67,
A_PLUS | A_100 | B_PLUS | B_33,
A_PLUS | A_100 | B_PLUS | B_0,
A_PLUS | A_100 | B_MINUS | B_33,
A_PLUS | A_100 | B_MINUS | B_67,
A_PLUS | A_100 | B_MINUS | B_100,
A_PLUS | A_67 | B_MINUS | B_100,
A_PLUS | A_33 | B_MINUS | B_100,
A_PLUS | A_0 | B_MINUS | B_100,
A_MINUS | A_33 | B_MINUS | B_100,
A_MINUS | A_67 | B_MINUS | B_100,
A_MINUS | A_100 | B_MINUS | B_100,
A_MINUS | A_100 | B_MINUS | B_67,
A_MINUS | A_100 | B_MINUS | B_33,
A_MINUS | A_100 | B_MINUS | B_0,
A_MINUS | A_100 | B_PLUS | B_33,
A_MINUS | A_100 | B_PLUS | B_67,
A_MINUS | A_100 | B_PLUS | B_100,
A_MINUS | A_33 | B_PLUS | B_100,
A_MINUS | A_67 | B_PLUS | B_100
};
#endif
/* ////////////////////////////////////////////////////////////////////////////
step_the_motor()
///////////////////////////////////////////////////////////////////////////////
DESCRIPTION: This function moves the motor by one step in the specified
direction.
NOTE: A "step" is a full motor step (1.8°) if STEP_FULL is 1, or a
half step (0.9°) if STEP_HALF is 1, or a quarter step (0.45°)
if STEP_QUARTER is 1.
REVISIONS: 31 Jul 06 - RAC - Genesis
//////////////////////////////////////////////////////////////////////////// */
void step_the_motor(signed char inc) {
static signed char index; /* Sequence table index */
index += inc; /* Bump sequence table index */
#if STEP_FULL
index &= 0x03; /* Wrap at end of table */
#endif
#if STEP_HALF
index &= 0x07; /* Wrap at end of table */
#endif
#if STEP_QUARTER
index &= 0x0F; /* Wrap at end of table */
#endif
#if STEP_SIXTH
if (index > 23) index = 0; /* Wrap at end of table */
if (index < 0) index = 23; /* Wrap at end of table */
#endif
set_motor(sequence[index]); /* Apply new pattern */
} /* End step_the_motor() */
|
| Topic | Author | Date |
| 8051 & L6219 (Stepper Motor Driver) | 01/01/70 00:00 | |
| CNCZone | 01/01/70 00:00 | |
| Maybe this will help | 01/01/70 00:00 | |
| this helps a lot | 01/01/70 00:00 | |
| Think Search and Replace | 01/01/70 00:00 | |
| static | 01/01/70 00:00 | |
| static about 'static' and 'code' | 01/01/70 00:00 | |
| That's modularity for you! | 01/01/70 00:00 | |
| Different Reason | 01/01/70 00:00 | |
| Concepts | 01/01/70 00:00 | |
| Imprecise comment | 01/01/70 00:00 | |
| Another imprecise comment | 01/01/70 00:00 | |
| Ah... That is the catch :) | 01/01/70 00:00 | |
| Better | 01/01/70 00:00 | |
| Yup | 01/01/70 00:00 | |
| Works Beautifully | 01/01/70 00:00 | |
| Another happy ending | 01/01/70 00:00 | |
| One more problem - Direction | 01/01/70 00:00 | |
| Extra Table Shouldn't Be Necessary | 01/01/70 00:00 | |
| thats what i thought too | 01/01/70 00:00 | |
nevermind i screwed up... | 01/01/70 00:00 | |
| Visit Jones on Stepping Motors | 01/01/70 00:00 |