stepper motor driverThis is my second asm program, made for controlling three stepper-motors which I intend on using to make a cnc machine, together with the program turbocnc.
Chip controls motors with 6 input-pins, 2 for each motor. One for step, and one for direction of step, and 4 outputs per motor.
Edit: I've updated the source alot, very small easy program but does it's job very fast. Made a board in eagle which works as it should.
Chip controls motors with 6 input-pins, 2 for each motor. One for step, and one for direction of step, and 4 outputs per motor.
Edit: I've updated the source alot, very small easy program but does it's job very fast. Made a board in eagle which works as it should.
| CODE |
| ;********************************************************************** ; 3 axis stepper motor driver, by Njål Brekke aka Elenhinan ; 01/09-2005 -> 19/09-2005 ; ; This program is meant for controlling three stepper-motors used ; in conjunction with TurboCNC ; ;********************************************************************** ; notes ;********************************************************************** ; ; program is made 72 cycles long, and uses all 18 io-ports. ; reset must be disabled ; ; ;********************************************************************** ; port a: ; pa0 = motor 1, step ; pa1 = motor 1, dir ; pa2 = motor 2, step ; port b: ; pb0 = motor 1, coil 11 ; pb1 = motor 1, coil 12 ; pb2 = motor 1, coil 21 ; pb3 = motor 1, coil 22 ; pb4 = motor 2, coil 11 ; pb5 = motor 2, coil 12 ; pb6 = motor 2, coil 21 ; pb7 = motor 2, coil 22 ; ; port d: ; pd0 = motor 2 dir ; pd1 = motor 3 step ; pd2 = motor 3 dir ; pd3 = motor 3, coil 11 ; pd4 = motor 3, coil 11 ; pd5 = motor 3, coil 11 ; pd6 = motor 3, coil 11 ; pd7 = n/a ;********************************************************************** .include "tn2313def.inc" ;********************************************************************** ; register usage ;********************************************************************** ; low registers, 0-15 .def last_input = r0 .def motorA_step = r1 .def motorB_step = r2 .def motorC_step = r3 ; high registers, 16-31 .def tmp = r16 .def tmp2= r17 .def input = r18 .def motorA_out = r19 .def motorB_out = r20 .def motorC_out = r21 ;********************************************************************** ; ports ;********************************************************************** ; bit in register "input" .equ axisA_step = 2 .equ axisA_dir = 3 .equ axisB_step = 4 .equ axisB_dir = 1 .equ axisC_step = 0 .equ axisC_dir = 5 .equ porta_out = 0b11111000; input: pin 123 .equ portb_out = 0b11111111; ouput: 0123 4567 .equ portd_out = 0b11111000; input: pin 012, output: 3456 .equ porta_pup = 0b00000111 .equ portd_pup = 0b00000111 ;********************************************************************** ; bipolar step patterns ;********************************************************************** .equ stepA0 = 0b01010000 .equ stepA1 = 0b01100000 .equ stepA2 = 0b10100000 .equ stepA3 = 0b10010000 .equ stepB0 = 0b00000101 .equ stepB1 = 0b00000110 .equ stepB2 = 0b00001010 .equ stepB3 = 0b00001001 .equ stepC0 = 0b00101000 .equ stepC1 = 0b00110000 .equ stepC2 = 0b01010000 .equ stepC3 = 0b01001000 ;********************************************************************** ; program segment ;********************************************************************** .cseg .org 0x0000 rjmp start ; start/reset reti ; int0 reti ; int1 reti ; timer1 capture reti ; timer1 compare a reti ; timer1 overflow reti ; timer0 overflow reti ; usart reti ; usart reti ; usart reti ; analog comparator reti ; pin change interrupt reti ; timer1 compare b reti ; timer0 compare a reti ; timer0 compare b reti ; usi reti ; usi reti ; eeprom ready reti ; watchdog overflow ;********************************************************************** ; init ;********************************************************************** start: ; setup stack ldi tmp,low(RAMEND); Set initial stack pointer location at ram end out SPL, tmp ; setup ports ldi tmp, porta_out out ddra, tmp ldi tmp, porta_pup out porta, tmp ldi tmp, portd_out out ddrd, tmp ldi tmp, portd_pup out portd, tmp ldi tmp, portb_out out ddrb, tmp clr tmp out portb, tmp ldi motorA_out,stepA0; set inital step for motors ldi motorB_out,stepB0 ldi motorC_out,stepC0 clr tmp clr tmp2 start_end: inc tmp brvc start_end2 inc tmp2 brvc main start_end2: nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop rjmp start_end ;********************************************************************** ; main ;********************************************************************** main: ; get input from pinA(0,1,2) & pinD(4,5,6) in input,pina; read input from port A in tmp, pind; read input from port D cbr tmp, 0b11111000; isolate pin 4 5 6 swap tmp ; shift to bit 3 4 5 lsr tmp add input, tmp ; add results from portA and portD to input ;********************************************************************** stepA: sbrc input,axisA_step rjmp stepA_2 sbrs last_input,axisA_step rjmp stepA_3 stepA_1: sbrc input,axisA_dir; check direction dec motorA_step sbrs input,axisA_dir inc motorA_step mov tmp, motorA_step; copy step# to param tmp cbr tmp, 0b11111100 ; use only 0-3 lsl tmp ; multiply with 2 ldi ZL,low(stepA_jump) ldi ZH,high(stepA_jump) add ZL,tmp ; jump to adr (step_jump + step# * 2) ijmp stepA_jump: ldi motorA_out,stepA0 rjmp stepB ldi motorA_out,stepA1 rjmp stepB ldi motorA_out,stepA2 rjmp stepB ldi motorA_out,stepA3 rjmp stepB stepA_2: nop; compensate for jump if step isn't high, 2 cycles nop stepA_3: nop nop nop nop nop nop nop nop nop nop nop nop nop nop ;********************************************************************** stepB: sbrc input,axisB_step rjmp stepB_2 sbrs last_input,axisB_step rjmp stepB_3 stepB_1: sbrc input,axisB_dir; check direction dec motorB_step sbrs input,axisB_dir inc motorB_step mov tmp, motorB_step; copy step# to param tmp cbr tmp, 0b11111100 ; use only 0-3 lsl tmp ; multiply with 2 ldi ZL,low(stepB_jump) ldi ZH,high(stepB_jump) add ZL,tmp ; jump to adr (step_jump + step# * 2) ijmp stepB_jump: ldi motorB_out,stepB0 rjmp stepC ldi motorB_out,stepB1 rjmp stepC ldi motorB_out,stepB2 rjmp stepC ldi motorB_out,stepB3 rjmp stepC stepB_2: nop; compensate for jump if step isn't high, 2 cycles nop stepB_3: nop nop nop nop nop nop nop nop nop nop nop nop nop nop ;********************************************************************** stepC: sbrc input,axisC_step rjmp stepC_2 sbrs last_input,axisC_step rjmp stepC_3 stepC_1: sbrc input,axisC_dir; check direction dec motorC_step sbrs input,axisC_dir inc motorC_step mov tmp, motorC_step; copy step# to param tmp cbr tmp, 0b11111100 ; use only 0-3 lsl tmp ; multiply with 2 ldi ZL,low(stepC_jump) ldi ZH,high(stepC_jump) add ZL,tmp ; jump to adr (step_jump + step# * 2) ijmp stepC_jump: ldi motorC_out,stepC0 rjmp main_end ldi motorC_out,stepC1 rjmp main_end ldi motorC_out,stepC2 rjmp main_end ldi motorC_out,stepC3 rjmp main_end stepC_2: nop; compensate for jump if step isn't high, 2 cycles nop stepC_3: nop nop nop nop nop nop nop nop nop nop nop nop nop nop ;********************************************************************** main_end: mov tmp,motorA_out add tmp,motorB_out out portb,tmp; update output to motor 1 & 2 mov tmp,motorC_out sbr tmp,portd_pup out portd,tmp; update output to motor 3 mov last_input,input; move last input for checking next run rjmp main ;********************************************************************** |