Kod: Markera allt
; File STEP508.ASM
; ... for PIC12C508A microcontroller
; Program to use PIC as a step and direction controller for a unipolar
; step motor. Step and direction pins are GPIO-5, GPIO-3; GPIO_0, GPIO_1, GPIO_2, GPIO_4, are ; the windings; in order (driven by NPN small sig transistors or MOSFETS)
; Steps on negative going edge of step pulse.
; CPU configuration
; (It's a 12C508A, Internal RC oscillator,
; watchdog timer off, power-up timer on)
LIST P=12C508A
processor 12c508A
include <p12c508A.inc>
; __config _IntRC_OSC & _WDT_OFF & _PWRTE_ON & _MCLRE_OFF
; Declare variables
pattA equ H'0D' ;Current step pattern number (0-7) for axis A
lastA equ H'0E' ;Last state of step pin on axis A (1 is high, 0 is low)
inport equ H'11' ;Value of port A when read (stored for later access)
temp equ H'12'
#DEFINE STEP inport,5 ; Step pulse input
#DEFINE DIR inport,3 ; Direction Input
OPMASK EQU B'11000000'
IOMASK EQU B'00101000' ; all bits output (except GP3 and GP5)
; GP0 , GP1 , GP2 , GP4 controls The stepper Coils
; GP3 controls direction
; GP5 Controls Step Pulses
ORG 0
; start of main code
;***************************************************
;
; START OF PIC 12c508A CODE FOR STEP;
;
;***************************************************
;
;------------------------------------------
;****Power on reset startpoint
;------------------------------------------
;***Initialization of program
MOVWF OSCCAL
MOVLW OPMASK
OPTION
; Set GPIO for input & output
MOVLW IOMASK
TRIS GPIO
;Clear port and zero motors
movlw B'00000001'
movwf GPIO
clrf lastA
clrf pattA
;Loop around for a while to let everything stabilize
movlw d'255'
movwf inport
loop: decfsz inport, f
; goto loop
;***Basic program loop
;Main routine - check pin states and step on negative edge
;Get port data and store, then check axis A
;A10 checks if old is 0, new is 1 (update register)
;A01 checks if old is 1, new is 0 (step and update register)
;Similarly for axis B
main: movf GPIO, w
movwf inport
CLRWDT
A10: btfsc lastA, 0
goto A01
btfss STEP
goto A01
bsf lastA, 0
A01: btfss lastA, 0
goto B10
btfsc STEP
goto B10
bcf lastA, 0
goto stepA
B10: goto main
;------------------------------------------
;***stepA - sub to cycle axis A one Full step
; Dir of 1 is increase, else decrease
stepA: btfss DIR
decf pattA, f
btfsc DIR
incf pattA, f
;Check for pattern overflow and fix
movf pattA, w
XORLW D'255'
movlw D'07'
btfsc STATUS, Z
movwf pattA
movf pattA, w
XORLW D'08'
btfsc STATUS, Z
clrf pattA
;Get step pattern and send to GPIO on bits 0-1-2-4
movf pattA, w
call dcode
movwf GPIO
goto main
;------------------------------------------
;***stepcode - sub to generate bit pattern for number in w (!!MUST BE 0-7!!)
; pattern is stored in w register
dcode: addwf PCL, f ; Use below column for the half Step
retlw B'00000001' ;0 retlw B'00000001' ;0
retlw B'00000010' ;1 retlw B'00000011' ;1
retlw B'00000100' ;2 retlw B'00000010' ;2
retlw B'00010000' ;3 retlw B'00000110' ;3
retlw B'00000001' ;4 retlw B'00000100' ;4
retlw B'00000010' ;5 retlw B'00010100' ;5
retlw B'00000100' ;6 retlw B'00010000' ;6
retlw B'00010000' ;7 retlw B'00010001' ;7
;Mandatory end of program command
end
Kod: Markera allt
Warning[215] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 10 : Processor superseded by command line. Verify processor symbol.
Warning[215] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 11 : Processor superseded by command line. Verify processor symbol.
Error[105] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 12 : Cannot open file (Include File "p12c508A.inc" not found)
Error[113] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 48 : Symbol not previously defined (OSCCAL)
Warning[207] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 51 : Found label after column 1. (OPTION)
Warning[207] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 56 : Found label after column 1. (TRIS)
Error[122] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 56 : Illegal opcode (GPIO)
Error[113] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 65 : Symbol not previously defined (GPIO)
Error[113] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 84 : Symbol not previously defined (GPIO)
Error[113] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 116 : Symbol not previously defined (Z)
Error[113] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 116 : Symbol not previously defined (STATUS)
Error[113] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 121 : Symbol not previously defined (Z)
Error[113] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 121 : Symbol not previously defined (STATUS)
Error[113] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 128 : Symbol not previously defined (GPIO)
Error[113] C:\USERS\MARTIN\DESKTOP\EL-PROJEKT\STEP12C.ASM 138 : Symbol not previously defined (PCL)
