pIC16f874步進(jìn)電機(jī)程序

listp=16f874
include


;--==*[CONSTANTS]*==--

#defineCOMMAND_2’B’
#defineCOMMAND_3’C’
#defineCOMMAND_4’D’


;--==*[VARIABLES]*==--
cmdNumequ0x20;commandnumber.0xFFforinvalidcommand
recByteequ0x21;receivedbyte

motorLequ0x22;motordata-lowbyte
motorHequ0x23;motordata-highbyte

byteCntequ0x24;internalcounterforbytecountingduringreception

tickLequ0x25;ticks:lowbyte
tickHequ0x26;ticks:highbyte
result1Lequ0x27;result:thisoneisneededforstorageofticks
result1Hequ0x28

winkelLequ0x29;winkel:tickcounterwithoutoverflowchecketc.
winkelHequ0x30

quadequ0x31;quadraturesignal,fordirectionstorage
oldbequ0x32;oldvalueofPORTB
newbequ0x33;newvalueofPORTB

tmr0o0equ0x34;tmr0overflowcounter0
tmr0o1equ0x35;tmr0overflowcounter1

wtemp1equ0x60;storagefortheWregister(rbif)
wtemp2equ0x61;storagefortheWregister(CCp2if)
wteMP3equ0x62;storagefortheWregister(rcif)
wtemp4equ0x63;storagefortheWregister(usarterrorroutines)


org0x00;--==*[RESETVECTOR]*==--
bmain

org0x04;--==*[INTVECTOR]*==--
bint_handler

org0x05;--==*[MAINPROGRAM]*==--
main:
;--==*[VARIABLES-initialize]*==--
MOVlw0xFF
MOVwfcmdNum
clrfmotorL
clrfmotorH
clrftickL
clrftickH
clrfresult1L
clrfresult1H
clrfwinkelL
clrfwinkelH
clrfquad
clrfoldb
clrfnewb
clrftmr0o0
clrftmr0o1

;--==*[PORTS-setupportB]*==--
clrfPORTB
bsfSTATUS,RP0;PIN4and5asinput(photo-interruptersignals)
MOVlwb’00110000’;pin1hastobeanoutput(directionsignal)
MOVwfTRISB;allotherpinsareoutputs,too(default)
bcfSTATUS,RP0

;--==*[PORTS-setupportC]*==--
clrfPORTC
bsfSTATUS,RP0
MOVlwb’11111011’;pin2asoutput(PWMsignal)
MOVwfTRISC;pins6and7havetobeinputs(default)
bcfSTATUS,RP0;allotherpinsareinputs,too(default)

;--==*[CCP1-setupPWMModule]*==--
bsfSTATUS,RP0
MOVlwd’249’;pwmperiod(calculatedwithformula)
MOVwfPR2
bcfSTATUS,RP0;dutycycle=0
clrfCCPR1L;CCPR1Lisupper8(bit:9...2)bitsofdutycycle
MOVlwb’00000101’;enabletimer2(bit:2)andsetprescaleof1:4(bit:0-1)
MOVwfT2CON;timer2isimportantforpwmoperation!
MOVlwb’00001111’;selectpwmmodeforccp1module(bit:0-3)
MOVwfCCP1CON;andresetlowertwobitsofdutycycle(bit:4-5)

;--==*[USART-setup]*==--
bsfSTATUS,RP0
MOVlw0x40;configurebaudgeneratorregister(calculatedwithformula)
MOVwfSPBRG;with:9600baud,noparity,8databits,nohandshake
MOVlwb’00100100’;enabletrasmit(bit:5)andhighspeedbaudrate(bit:2)
MOVwfTXSTA
bcfSTATUS,RP0
MOVlwb’10010000’;enableserialport(bit:7)andcontinuousreception(bit:4)
MOVwfRCSTA
clrw;w=0
MOVwfRCREG;resetUARTreceiverandfifo
MOVwfRCREG;soweCANavoidreceive/framing/overrunerrorsatthebeginning
MOVwfRCREG
MOVwfTXREG;justincase:thetxifflagisnowvalid(=1;avoidsinfiniteloopsinsendByte)

;--==*[TIMER0-setup]*==--
bsfSTATUS,RP0;thisistricky;prescalerhastobeassignedtotheWDT,
;incaseyouwanttoachieve1:1prescale
bcfOPTION_REG,PS0;first,setprescalerto1:2
bcfOPTION_REG,PS1
bcfOPTION_REG,PS2
bsfOPTION_REG,PSA;then,assignprescalertowdt;nowwehavea1:1prescalefortimer0:-)
bcfOPTION_REG,T0SE
bcfOPTION_REG,T0CS
bcfSTATUS,RP0

;--==*[INTERRUPTS-setup]*==--
bsfSTATUS,RP0
clrfPIE1
bsfPIE1,RCIE;enable"receivebyte"interrupt
bcfSTATUS,RP0
clrfINTCON;resetallinterruptflags
bsfINTCON,RBIE;enable"interruptonchange"interrupt
bsfINTCON,T0IE;enable"timer0overflow"interrupt
bsfINTCON,PEIE;enableperipheralinterrupts
bsfINTCON,GIE;enableglobalinterrupts

;--==*[MAINLOOP]*==--
loop:
bloop


;--==*[sendByte-ROUTINE]*==--
sendByte:;sendbyte(whichisstoredinW)
sendByte_l0:;waituntilnewdataarrivedintxreg
btfssPIR1,TXIF;(inDICatedviatransmitinterruptflagbit:txif)
bsendByte_l0
sendByte_l1:
MOVwfTXREG;sendnewdata
return


;--==*[INTERRUPTHANDLINGROUTINE]*==--
int_handler:
btfscRCSTA,OERR;overflowerroroccured,handleit
berr_Overflow
btfscRCSTA,FERR;framingerroroccured,handleit
berr_Frame
btfscPIR1,RCIF;receiveinterrupt:rcif
bint_USART_receive
btfscINTCON,RBIF;pininterrupt:rbif
bint_RB_change
btfscINTCON,T0IF;tmr0interrupt:t0if
bint_timer0_reset
retfie

int_RB_change:
incftickL,1;incrementticks(lowbyte)
btfscSTATUS,Z
incftickH,1;incrementticksonoverflow(highbyte)
incfwinkelL,1;sameastick,butwillnotbereset(eichungswert)
btfscSTATUS,Z
incfwinkelH,1
MOVwfwtemp1;saveW
MOVfwPORTB
MOVwfnewb;newb=PORTB
MOVlwb’00110000’;andmask
andwfoldb,1;resetallbitsexcept4and5
andwfnewb,1;resetallbitsexcept4and5
clrfquad;resetquadvalue
clrw;oldb==00?
subwfoldb,W
bzo00
MOVlwb’00010000’;oldb==01?
subwfoldb,W
bzo01
MOVlwb’00100000’;oldb==10?
subwfoldb,W
bzo10
bo11;else,oldb==11
o00:
MOVlwb’00010000’;newb==01?
subwfnewb,W
bnzquit
bsfquad,7;left
bquit
o01:
MOVlwb’00110000’;newb==11?
subwfnewb,W
bnzquit
bsfquad,7;left
bquit
o10:
clrw;newb==00?
subwfnewb,W
bnzquit
bsfquad,7;left
bquit
o11:
MOVlwb’00100000’;newb==10?
subwfnewb,W
bnzquit
bsfquad,7;left
quit:
MOVfwPORTB
MOVwfoldb;oldb=PORTB
MOVfwwtemp1;restoreW
bcfINTCON,RBIF;resetinterrupt(important)
retfie


int_timer0_reset:
btfsctmr0o0,7;wait128overflows
gotoa1
incftmr0o0,1
gotoa0
a1:
btfsctmr0o1,6;wait64overflows
gotoa4
incftmr0o1,1
gotoa0
a4:
btfscPORTB,7;ashorthack,sowecanmeasuretheimpulses
gotonext1;oftimer0withanoscillograph
bsfPORTB,7;signalisonbit7ofportb
gotomainl
next1:
bcfPORTB,7
mainl:
MOVwfwtemp2;saveW
MOVfwtickL;storeticksinresult1
MOVwfresult1L
MOVfwtickH
MOVwfresult1H

MOVfwquad;andblendthedirectionbitonMSBofresult1
iorwfresult1H,1

clrftickH;cleartickcounter
clrftickL
clrftmr0o0;cleartimer0overflowcounters
clrftmr0o1
MOVfwwtemp2;restoreW
a0:
bcfINTCON,T0IF;resetinterrupt(important)
retfie


int_USART_receive:
MOVwfwtemp3;saveW
MOVlwCOMMAND_3;command3active?
subwfcmdNum,W
bzgetData_command3;yes,handleit
MOVfwRCREG;storereceivedbyte
clrfRCREG;it’sagoodideatoflushthebuffer
clrfRCREG;afterreceivingabyte,soit’s
clrfRCREG;forcedthatwehaveanewbyteinthebufferinthenextstep
MOVwfrecByte
MOVlwCOMMAND_2;-executecommand2?
subwfrecByte,W
bzcommand2;yes,doit
MOVlwCOMMAND_3;-executecommand3?
subwfrecByte,W
bzcommand3;yes,doit
MOVlwCOMMAND_4;-executecommand4?
subwfrecByte,W
bzcommand4;yes,doit

commandUnknown:;else,receivedbyteisunknown
bsfPORTB,0;showerroronLEDs
MOVfwwtemp3;restoreW
retfie

;--==*[COMMANDEXEC-transmitmotordataindebugmode]*==--
command2:
MOVfwresult1H
callsendByte
MOVfwresult1L
callsendByte
MOVfwwinkelH
callsendByte
MOVfwwinkelL
callsendByte
MOVfwwtemp3;restoreW
retfie

;--==*[COMMANDINIT-setupforreceivemotordata(part1/2)]*==--
command3:;command3
MOVlwCOMMAND_3
MOVwfcmdNum;cmdNumcontainsnowthecurrentcommandvalue
MOVlw.2
MOVwfbyteCnt;wewantexactly2bytesfromthepc
MOVfwwtemp3;restoreW
retfie

;--==*[COMMANDEXEC-receivemotordata(part2/2)]*==--
getData_command3:
decfbyteCnt,1;handlebytecounter
bzc3_b2;ifbytecounteris0thenitisthe2ndbyte
MOVfwRCREG;else,1stbytereceive
MOVwfmotorL;storeinmotorL
bouthere;andexit
c3_b2:
MOVfwRCREG;2ndbytereceive
MOVwfmotorH;storeinmotorH
MOVlw0xFF;resetcmdNumtoundefinedvalue(0xFF)
MOVwfcmdNum
;reconfigurePWM
MOVfwmotorH
MOVwfCCPR1L;storehighbyte(8;bits9-2)
bcfCCP1CON,CCP1Y
btfscmotorL,0;storelowbyte(2;bits0)
bsfCCP1CON,CCP1Y
bcfCCP1CON,CCP1X
btfscmotorL,1;storelowbyte(2;bits1)
bsfCCP1CON,CCP1X
btfssmotorL,2;motorL<2>bitissignificantformotordirection
bturn_left
bsfPORTB,1;turnmotorright
bouthere
turn_left:
bcfPORTB,1;turnmotorleft
outhere:
MOVfwwtemp3;restoreW
retfie


;--==*[COMMANDEXEC-transmitmotordata]*==--
command4:
MOVfwresult1H;transmithighbyte
callsendByte
MOVfwresult1L;transmitlowbyte
callsendByte
MOVfwwtemp3;restoreW
retfie


;--==*[ERRORHANDLING-fortheserialcommunication]*==--
err_Overflow:;handleoverflowerror
MOVwfwtemp4;saveW
bsfPORTB,7;showerroronleds(10)
bcfPORTB,6
bcfRCSTA,CREN;dISAblecontinuousreception
MOVfRCREG,W;flushreceivefifobuffer(3bytesdeep)
MOVfRCREG,W
MOVfRCREG,W
bsfRCSTA,CREN;reenablecontinuousreception
MOVfwwtemp4;restoreW
retfie
err_Frame:;handleframeerror
MOVwfwtemp4;saveW
bcfPORTB,7;showerroronleds(01)
bsfPORTB,6
MOVfRCREG,W;flushreceivefifobuffer(3bytesdeep)
MOVfRCREG,W
MOVfRCREG,W
MOVfwwtemp4;restoreW
retfie


end