एक मिनी स्टेपर मोटर सीखना

#define F_CPU 8000000UL  //    

//    L: E2; H:DF; Ex:FF; 
//    8         (     8)

#include <avr/io.h> //   

#include <util/delay.h> //   

#include <avr/interrupt.h> //   

//   

#define LED_pin PA5

#define LED_ON PORTA |=(1<<LED_pin)

#define LED_OFF PORTA &=(~(1<<LED_pin))

//     L293DD

#define PWM_1 PB2 // OC0A (EN1)

#define PWM_2 PA7 // OC0B (EN2)

#define PWM_1_value OCR0A

#define PWM_2_value OCR0B

//       L293D

#define IN1 PA0 //  PORTA

#define IN2 PA1

#define IN3 PB1 //  PORTB

#define IN4 PB0

void delay_microsecond (unsigned int delay_time) { //     
    
	//      

    for(unsigned int delay_us = 0; delay_us<delay_time; delay_us++) {
	
	    _delay_us(1);
	
	}

}

void delay_millisecond (unsigned int delay_time) { //     

    for(unsigned int delay_ms = 0; delay_ms<delay_time; delay_ms++) {
	
	    _delay_ms(1);
	
	}

}

//      

void step_1_one_phase (void) {

    PORTB &=(~((1<<IN3)|(1<<IN4)));
	
	PORTA &=(~(1<<IN2)); //   
  
    PORTA |=(1<<IN1); //    
}

void step_2_one_phase (void) {

    PORTA &=(~((1<<IN1)|(1<<IN2)));
	
	PORTB &=(~(1<<IN3));
  
    PORTB |=(1<<IN4);
  
}

void step_3_one_phase (void) {

    PORTB &=(~((1<<IN3)|(1<<IN4))); 
	 
	PORTA &=(~(1<<IN1));
  
    PORTA |=(1<<IN2);
  
	
}

void step_4_one_phase (void) {

    PORTA &=(~((1<<IN1)|(1<<IN2))); 
	
	PORTB &=(~(1<<IN4));
    
    PORTB |=(1<<IN3);
  
}

//      

void step_1_two_phase (void) {

    PORTB |=(1<<IN4);  
  
    PORTB &=(~(1<<IN3));
  
    PORTA |=(1<<IN1);
  
    PORTA &=(~(1<<IN2));
}

void step_2_two_phase (void) {

    PORTA &=(~(1<<IN2));//2
	
	PORTA |=(1<<IN1);
  
    PORTB |=(1<<IN3);
  
    PORTB &=(~(1<<IN4));
  
}

void step_3_two_phase (void) {

    PORTB |=(1<<IN3);//3
  
    PORTB &=(~(1<<IN4));
	
	PORTA &=(~(1<<IN1));
  
    PORTA |=(1<<IN2);
  
	
}

void step_4_two_phase (void) {

    PORTA |=(1<<IN2);//4
  
    PORTA &=(~(1<<IN1));
    
    PORTB |=(1<<IN4);
  
    PORTB &=(~(1<<IN3));
  
}

void stepper_OFF (void) { //   

	//    ,       ,    
	
	PORTA &=(~((1<<IN1)|(1<<IN2)));
	
	PORTB &=(~((1<<IN3)|(1<<IN4)));
	
}

unsigned char step_counter = 0; 

//      

void L293D_step (unsigned int step_quantity, unsigned char direction, unsigned int step_delay, unsigned char phase) { //      

    while(step_quantity>0) { //  ,      

        switch(direction) { //           
	
			case 'F':
				if(step_counter<3) { step_counter++; } else { step_counter=0; }
			break;
		
			case 'B':
				if(step_counter>0) { step_counter--; } else { step_counter=3; }
			break;
		
		}
		
		switch(phase) { //     
		
		    case 1: 
			
				switch(step_counter) { //   
	
					case 0:
						step_1_two_phase_DL();
					break;
		
					case 1:
						step_2_two_phase_DL();
					break;
		
					case 2:
						step_3_two_phase_DL();
					break;
		
					case 3:
						step_4_two_phase_DL();
					break;
	
				}
			
			break;
			
			case 2:
			
				switch(step_counter) { //   
	
					case 0:
						step_1_two_phase_DL();
					break;
		
					case 1:
						step_2_two_phase_DL();
					break;
		
					case 2:
						step_3_two_phase_DL();
					break;
		
					case 3:
						step_4_two_phase_DL();
					break;
	
				}
			
			break;
		
		}
		
    delay_millisecond(step_delay); //       
	
	step_quantity--; 
	
	} 

}


void PWM_init (void) { //   

    DDRB |=(1<<PWM_1);

    DDRA |=(1<<PWM_2);

    TCCR0A = (1<<WGM01)|(1<<WGM00)|(1<<COM0A1)|(0<<COM0A0)|(1<<COM0B1)|(0<<COM0B0); //  FAST PWM,   
	
    TCCR0B = (0<<WGM02)|(0<<CS02)|(0<<CS01)|(1<<CS00); //   8
	
    OCR0A = 255; //    (0-255)

    OCR0B = 255;

} //    

int main (void) { 

    DDRA |=(1<<LED_pin);
	
    DDRA |=(1<<IN1)|(1<<IN2);

    DDRB |=(1<<IN3)|(1<<IN4);
	
    PWM_init(); //  
	
    delay_millisecond(2000);
	
    while(1==1) { 
	   
	LED_ON;
		
        L293D_step(16,'F',100,2); //step( ,  F/B,   , / )
		
	//stepper_OFF();
		
	delay_millisecond(2000);
		
	LED_OFF;
		
	L293D_step(16,'B',100,2);
		
	//stepper_OFF();
		
	delay_millisecond(2000);
		  
    } 

} 

#define F_CPU 8000000UL  //    

//    L: E2; H:DF; Ex:FF; 
//    8         (     8)

#include <avr/io.h> //   

#include <util/delay.h> //   

#include <avr/interrupt.h> //   

//   

#define LED_pin PA5

#define LED_ON PORTA |=(1<<LED_pin)

#define LED_OFF PORTA &=(~(1<<LED_pin))

//     TMC2208

#define DIR PB2

#define EN PA6

#define STP PA7

#define EN_OFF PORTA |=(1<<EN)

#define EN_ON PORTA &=(~(1<<EN))

#define DIR_FOR PORTB |=(1<<DIR)

#define DIR_BACK PORTB &=(~(1<<DIR))

#define STP_ON PORTA |=(1<<STP)

#define STP_OFF PORTA &=(~(1<<STP))

void delay_microsecond (unsigned int delay_time) { //     
    
	//      

    for(unsigned int delay_us = 0; delay_us<delay_time; delay_us++) {
	
	    _delay_us(1);
	
	}

}

void delay_millisecond (unsigned int delay_time) { //     

    for(unsigned int delay_ms = 0; delay_ms<delay_time; delay_ms++) {
	
	    _delay_ms(1);
	
	}

}

void TMS2208_STEP (unsigned int step_quantity, unsigned char direction, unsigned int step_delay) {

    switch(direction) { //  
	
		case 'F':
			DIR_FOR;	
		break;
		
		case 'B':
			DIR_BACK;	
		break;
		
	}

    while(step_quantity>0) { //      
	
		STP_ON; //   
		
		delay_microsecond(100); //   100
		
		STP_OFF;
		
		delay_millisecond(step_delay);//   
	
	    step_quantity--;
	
	}

}

int main (void) {

        DDRA |=(1<<LED_pin);

        DDRB |=(1<<DIR);

        DDRA |=(1<<EN);

        DDRA |=(1<<STP);
	
	PWM_init(); //  
	
	delay_millisecond(2000);
	
	while(1==1) { 
	   
	   LED_ON;
	   
	   EN_ON;
	
	   TMS2208_STEP(32,'F',10); // TMS2208_STEP ( ,  F/B,   )
	   
	   delay_millisecond(2000);
	   
	   LED_OFF;
	   
	   TMS2208_STEP(32,'B',10);
	   
	   delay_millisecond(2000);
	
	   
	} 

}  

#define F_CPU 8000000UL  //    

//    L: E2; H:DF; Ex:FF; 
//    8         (     8)

#include <avr/io.h> //   

#include <util/delay.h> //   

#include <avr/interrupt.h> //   

//   

#define LED_pin PA5

#define LED_ON PORTA |=(1<<LED_pin)

#define LED_OFF PORTA &=(~(1<<LED_pin))

//     L293DD

#define PWM_1 PB2 // OC0A (EN1)

#define PWM_2 PA7 // OC0B (EN2)

#define PWM_1_value OCR0A

#define PWM_2_value OCR0B

//       L293D

#define IN1 PA0 //  PORTA

#define IN2 PA1

#define IN3 PB1 //  PORTB

#define IN4 PB0


void delay_microsecond (unsigned int delay_time) { //     
    
	//      

    for(unsigned int delay_us = 0; delay_us<delay_time; delay_us++) {
	
	    _delay_us(1);
	
	}

}

void delay_millisecond (unsigned int delay_time) { //     

    for(unsigned int delay_ms = 0; delay_ms<delay_time; delay_ms++) {
	
	    _delay_ms(1);
	
	}

}

//        

void step_1_two_phase_DL (void) { // DL - driver less
   
   //  
   OCR0A = 160;
   PORTB &=(~(1<<IN4)); 
   
   //  
   OCR0B = 160;
   PORTB &=(~(1<<IN3)); 
    
}

void step_2_two_phase_DL (void) { 
   
   //  
   OCR0A = 160;
   PORTB &=(~(1<<IN4)); 
   
   //  
   OCR0B = 95;
   PORTB |=(1<<IN3); 
    
}

void step_3_two_phase_DL (void) { 
   
   //  
   OCR0A = 95;
   PORTB |=(1<<IN4); 
   
   //  
   OCR0B = 95;
   PORTB |=(1<<IN3); 
    
}

void step_4_two_phase_DL (void) { 
   
   //  
   OCR0A = 95;
   PORTB |=(1<<IN4); 
   
   //  
   OCR0B = 160;
   PORTB &=(~(1<<IN3)); 
    
}

unsigned char step_counter = 0; 

//      

void L293D_step (unsigned int step_quantity, unsigned char direction, unsigned int step_delay, unsigned char phase) { //      

    while(step_quantity>0) { //  ,      

        switch(direction) { //           
	
			case 'F':
				if(step_counter<3) { step_counter++; } else { step_counter=0; }
			break;
		
			case 'B':
				if(step_counter>0) { step_counter--; } else { step_counter=3; }
			break;
		
		}
		
		switch(phase) { //     
		
		    case 1: 
			
				switch(step_counter) { //   
	
					case 0:
						step_1_two_phase_DL();
					break;
		
					case 1:
						step_2_two_phase_DL();
					break;
		
					case 2:
						step_3_two_phase_DL();
					break;
		
					case 3:
						step_4_two_phase_DL();
					break;
	
				}
			
			break;
			
			case 2:
			
				switch(step_counter) { //   
	
					case 0:
						step_1_two_phase_DL();
					break;
		
					case 1:
						step_2_two_phase_DL();
					break;
		
					case 2:
						step_3_two_phase_DL();
					break;
		
					case 3:
						step_4_two_phase_DL();
					break;
	
				}
			
			break;
		
		}
		
    delay_millisecond(step_delay); //       
	
	step_quantity--; 
	
	} 

}


void PWM_init (void) { //   

    DDRB |=(1<<PWM_1); 
	
    DDRA |=(1<<PWM_2);

    TCCR0A = (1<<WGM01)|(1<<WGM00)|(1<<COM0A1)|(0<<COM0A0)|(1<<COM0B1)|(0<<COM0B0); //  FAST PWM,   
	
    TCCR0B = (0<<WGM02)|(0<<CS02)|(0<<CS01)|(1<<CS00); //   8
	
    OCR0A = 160; 
	
    OCR0B = 160;

} //    

int main (void) { //  

    DDRA |=(1<<LED_pin);
	
	DDRA |=(1<<IN1)|(1<<IN2);
	
	DDRB |=(1<<IN3)|(1<<IN4);
	
	PWM_init(); //  
	
	delay_millisecond(2000);
	
	while(1==1) { //  

	    LED_ON;
		
	    L293D_step(16,'F',100,2); //step( ,  F/B,   , / )
		
            delay_millisecond(2000);
		
	    LED_OFF;
		
	    L293D_step(16,'B',100,2);
		
	    delay_millisecond(2000);
		
	
	   
	} 

}