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stepper.c stepper.hex
/* * STEPPER.C * sweeping stepper's rotor cw and cww 400 steps * Copyright (c) 1999 by W.Sirichote */
££i nclude c:\mc5151io.h /* include i/o header file */ ££i nclude c:\mc5151reg.h
register unsigned char j,flag1,temp; register unsigned int cw_n,ccw_n;
unsigned char step[8]={0x80,0xc0,0x40,0x60,0x20,0x30,0x10,0x90} #define n 400
/* flag1 mask byte 0x01 run cw() 0x02 run ccw() */
main()
{ flag1=0; serinit(9600); disable(); /* no need timer interrupt */ cw_n = n; /* initial step number for cw */ flag1 |=0x01; /* initial enable cw() */
while(1){ { tick_wait(); /* wait for 10ms elapsed */
energize(); /* round-robin execution the following tasks every 10ms */ cw(); ccw(); } }
}
cw(){ if((flag1&0x01)!=0) { cw_n--; /* decrement cw step number */ if (cw_n !=0) j++; /* if not zero increment index j */ else {flag1&=~0x01; /* disable cw() execution */ ccw_n = n; /* reload step number to ccw counter */ flag1 |=0x02; /* enable cww() execution */ } }