求PWM控制二相步进电机程序，谢谢

yzst

求PWM控制二相步进电机程序，谢谢

laugh007smile

等待答案的出现...自己动手！

yzst

1. 
   
2. 
   

复制代码

1. #include <hidef.h> /* common defines and macros */
   
2. #include <MC9S12XS128.h> /* derivative information */
   
3. #pragma LINK_INFO DERIVATIVE "mc9s12xs128"
   
4. //unsigned char g,s,b,q;
   
5. unsigned char table[]={0xC0, 0xF9, 0xA4, 0xB0, 0x99, 0x92, 0x82, 0xF8, 0x80, 0x90,0xff };
   
6. 
   
7. void delay(unsigned int t)
   
8. { unsigned int i,j;
   
9. for(i=0;i<t;i++)
   
10. for(j=0;j<110;j++);
    
11. 
    
12. }
    
13. 
    
14. void disp(unsigned char g,unsigned char s,unsigned char b,unsigned char q)
    
15. { DDRM=0xff;
    
16. DDRH=0xff;
    
17. PTM=0b00000001;
    
18. PTH=table[g];
    
19. delay(20);
    
20. PTM=PTM<<1;
    
21. PTH=table[s];
    
22. delay(20);
    
23. PTM=PTM<<1;
    
24. PTH=table[b];
    
25. delay(20);
    
26. PTM=PTM<<1;
    
27. PTH=table[q];
    
28. delay(20);
    
29. }
    
30. 
    
31. void PLL_Init(void) //PLLCLK=2*OSCCLK*(SYNR+1)/(REFDV+1)
    
32. 
    
33. { //锁相环时钟=2*16*(2+1)/(1+1)=48MHz
    
34. 
    
35. REFDV=1; //总线时钟=48/2=24MHz
    
36. 
    
37. SYNR=2;
    
38. 
    
39. while(!(CRGFLG&0x08));
    
40. 
    
41. CLKSEL=0x80;
    
42. 
    
43. }
    
44. 
    
45. void pwminitial0()
    
46. {
    
47. PWMPOL=0X81; //通道0、7输出波形开始极性为高 output waveform which high first then low when the duty counter is reached
    
48. PWMCAE=0x80; //0左对齐输出模式、7居中对齐 output left align waveform
    
49. PWMCLK=0X81; //PWM时钟源为0 SA，7-SB SAClock SA is the clock source for PWM channel 0
    
50. PWMPRCLK=0X23; //时钟A8分频 Clock A is 24MHz/8=3MHz
    
51. PWMSCLA=0X96; //时钟SA为3MHz/300=10khz
    
52. PWMSCLB=0X96;
    
53. PWMPER0=100; //设定输出周期=通道时钟周期*20 f=100hz
    
54. PWMPER7=100;
    
55. PWMDTY0=50; //占空比初始为0 Duty is 50%,and PWM waveform's frequent is 16
    
56. PWMDTY7=50;
    
57. PWME=0X81; //通道0使能 enable pwm channel 0
    
58. 
    
59. }
    
60. 
    
61. /*void pwminitial1()
    
62. {
    
63. PWMPOL=0X02; //通道1输出波形开始极性为1 output waveform which high first then low when the duty counter is reached
    
64. PWMCAE=0x02; //居中对齐输出模式 output left align waveform
    
65. PWMCLK=0X03; //PWM时钟源为 SAClock SA is the clock source for PWM channel 1
    
66. PWMPRCLK=0X06; //时钟A8分频 Clock A is 8MHz/8=1MHz
    
67. PWMSCLA=0Xff; //时钟SA为1MHz/128/2 Clock SA is 1MHz/128/2=4KHz
    
68. 
    
69. PWMPER1=122; //设定输出周期=通道时钟周期*256
    
70. PWMDTY1=61; //占空比初始为0.5 Duty is 50%,and PWM waveform's frequent is 16
    
71. PWME=0X02; //通道1使能 enable pwm channel 0
    
72. 
    
73. }*/
    
74. void main()
    
75. {
    
76. 
    
77. pwminitial0();
    
78. DDRA=0xff;
    
79. // pwminitial1();
    
80. for(;;) {
    
81. 
    
82. PORTA_PA1=PTP_PTP7;
    
83. PORTA_PA3=PTP_PTP0;
    
84. PORTA_PA4=0;
    
85. PORTA_PA5=0;
    
86. PORTA_PA6=0;
    
87. PORTA_PA7=0;
    
88. PORTA_PA0=1;
    
89. 
    
90. // PORTA=PTP;
    
91. 
    
92. if(PORTA_PA3==0&&PORTA_PA1==1)
    
93. disp(1,10,10,10) ;
    
94. else if(PORTA_PA3==0&&PORTA_PA1==0)
    
95. disp(10,2,10,10) ;
    
96. 
    
97. else if(PORTA_PA3==1&&PORTA_PA1==0)
    
98. disp(10,10,3,10) ;
    
99. 
    
100. else//(PTP_PTP0==1&&PTP_PTP1==1)
     
101. disp(10,10,10,4) ;
     
102. 
     
103. }
     
104. /* please make sure that you never leave this function */
     
105. }

复制代码

jiao19880804

谢谢

632693521

谢谢yzst 了

zhijin323

谢谢

wsxb

谢谢大侠

反对幂指三

谢啦！

断翅at雄鹰

谢谢 我也非常需要啊

萍1185279685

#include <hidef.h>      /* common defines and macros */
#include <mc9s12xs128.h>     /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12xs128"

void initpll(void)//40MHz，外部时钟为16MHz
{
     CLKSEL_PLLSEL=0;
     PLLCTL_PLLON=0;
     SYNR=0xc0 | 0x07;//PLLCLK =2*OSCCLK*(SYNR + 1)/(REFDV + 1)
     REFDV=0x80 | 0x01;
     PLLCTL_PLLON=1;
     asm  NOP;
     asm  NOP;
     asm  NOP;
     while((CRGFLG&0X08)==0);//时钟校正同步
     CLKSEL_PLLSEL=1;
}

void main(void)
  {   initpll();
      PWME=0x00;
      PWMCTL=0X10;    //01连起来供给舵机
      PWMCAE=0X00;
      PWMPOL=0XFF;    //先输出高电平
      PWMCLK=0X03;    //01选择SA时钟,23选择B,45选择A
      PWMPRCLK=0X55;  //对A时钟进行32分频,B时钟进行32分频 A=2M B=2M
      PWMSCLA= 4;     //SA=2M/(2*4)=250K
      PWMPER01=5000;  // 周期为 250K/5000=50HZ  舵机
      PWMDTY01=430;  //  舵机的中间位置440，增大往右530转差不多40度，减小往左380转差不多 舵机从最左到最右的时间为160MS
      PWMPER3=200;    //  周期为 2M/200=10KHZ   电机左 正转
      PWMPER2=200;
      PWMDTY2=50;    //  左电机
     PWMDTY3=0;          //电机左  正转
      PWMPER4=200 ;
      PWMPER5=200;    //  占空比为 0% 左电机
      PWMDTY5=0;    //   电机右 正转
      PWMDTY4=100;      ///电机右  反转
      //PWMDTY4=0 ;  
      //占空比为 0% 右电机
      PWME=0XFF;   //通道使能
   
   
  EnableInterrupts;
  for(;;) {} /* wait forever */
  /* please make sure that you never leave this function */
}