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 -> ; ; This program is meant for controlling tow stepper-motors used ; in conjunction with TurboCNC ; ;********************************************************************** ; notes ;********************************************************************** ; ; program is made 100 cycles long, and uses all 18 io-ports. ; reset must be disabled and cal-byte written to eeprom adr 0x00 ; ; ;********************************************************************** ; port b = stepper motors ; pb0 = motor 1, coil A ; pb1 = motor 1, coil B ; pb2 = motor 1, coil C ; pb3 = motor 1, coil D ; pb4 = motor 2, coil A ; pb5 = motor 2, coil B ; pb6 = motor 2, coil C ; pb7 = motor 2, coil D ; ; port d = input ; ; pd0 = motor1 step ; pd1 = motor1 direction ; pd2 = motor2 step ; pd3 = motor2 direction ; pd4 = n/a ; pd5 = n/a ; pd6 = n/a ; pd7 = n/a ;********************************************************************** .include "tn2313def.inc" ;********************************************************************** ; register usage ;********************************************************************** ; low registers, 0-15 .def last_input = r0 .def motor1_step = r1 .def motor2_step = r2 .def motor3_step = r3 ; high registers, 16-31 .def tmp = r16 .def input = r17 .def motor1_out = r18 .def motor2_out = r19 .def motor3_out = r20 ;********************************************************************** ; ports ;********************************************************************** ; bit in register "input" .equ axis1_step = 0 .equ axis1_dir = 1 .equ axis2_step = 2 .equ axis2_dir = 3 .equ axis3_step = 4 .equ axis3_dir = 5 .equ porta_out = 0b11111000; input: pin 123 .equ portb_out = 0b11111111; ouput: 0123 4567 .equ portd_out = 0b10001111; input: pin 456, output: 0123 .equ coil_1_A = 0 .equ coil_1_B = 1 .equ coil_1_C = 2 .equ coil_1_D = 3 .equ coil_2_A = 4 .equ coil_2_B = 5 .equ coil_2_C = 6 .equ coil_2_D = 7 .equ coil_3_A = 0 .equ coil_3_B = 1 .equ coil_3_C = 2 .equ coil_3_D = 3 ;********************************************************************** ; step patterns ;********************************************************************** .equ step0 = 0b00000001 .equ step1 = 0b00000011 .equ step2 = 0b00000010 .equ step3 = 0b00000110 .equ step4 = 0b00000100 .equ step5 = 0b00001100 .equ step6 = 0b00001000 .equ step7 = 0b00001001 ;********************************************************************** ; eeprom memory ;********************************************************************** .eseg .org 0x00 eeprom_cal: .db 0x00 ;********************************************************************** ; 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: ; set calibration ; ldi tmp, eeprom_cal ; out eear, tmp ; read value ; sbi eecr, eere ; in tmp, eedr ; read done ; out osccal, tmp ; write to register ; setup stack ldi tmp,low(RAMEND); Set initial stack ptr location at ram end out SPL, tmp ; setup ports ldi tmp, 0b10000000 out mcucr, tmp ; disable pullup ldi tmp, porta_out out ddra, tmp ldi tmp, portd_out out ddrd, tmp ldi tmp, portb_out out ddrb, tmp clr tmp out portb, tmp ldi motor1_out,step0; set inital step for motors ldi motor2_out,step0 swap motor2_out ldi motor3_out,step0 ;********************************************************************** ; 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, 0b10001111; isolate pin 4 5 6 lsr tmp ; shift to bit 3 4 5 add input, tmp ; add results from portA and portD to input clr tmp sbrs input,axis1_step rjmp main2_1 sbrc last_input,axis1_step rjmp main2_2 step_1: sbrc input,axis1_dir; check direction dec motor1_step sbrs input,axis1_dir inc motor1_step mov tmp, motor1_step; copy step# to param tmp rcall step_pattern nop ; make as many cycles as step_2 with swap mov motor1_out,tmp rjmp main2_3 main2_1: nop; compensate for jump if step isn't high, 2 cycles nop main2_2: nop; compensate for step-change not run, 23 cycles nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop main2_3: sbrs input,axis2_step rjmp main3_1 sbrc last_input,axis2_step rjmp main3_2 step_2: sbrc input,axis2_dir; check direction dec motor2_step sbrs input,axis2_dir inc motor2_step mov tmp, motor2_step; copy step# to param tmp rcall step_pattern swap tmp mov motor2_out,tmp rjmp main3_3 main3_1: nop; compensate for jump if step isn't high, 2 cycles nop main3_2: nop; compensate for step-change not run, 23 cycles nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop main3_3: sbrs input,axis3_step rjmp main4_1 sbrc last_input,axis3_step rjmp main4_2 step_3: sbrc input,axis3_dir; check direction dec motor3_step sbrs input,axis3_dir inc motor3_step mov tmp, motor3_step; copy step# to param tmp rcall step_pattern nop ; make as many cycles as step_2 with swap mov motor3_out,tmp rjmp main4_3 main4_1: nop; compensate for jump if step isn't high, 2 cycles nop main4_2: nop; compensate for step-change not run, 23 cycles nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop nop main4_3: mov tmp,motor1_out add tmp,motor2_out out portb,tmp ; update output to motor 1 & 2 out portd,motor3_out; update output to motor 3 mov last_input,input; move last input for checking next run nop nop; make entire program 100 cycles long, no matter the input nop rjmp main ;********************************************************************** ; step_pattern ; ; input: tmp (previous step ;********************************************************************** step_pattern: cbr tmp, 0b11111000 ; use only 0-7 lsl tmp ; multiply with 2 ldi ZL,low(step_jump) ldi ZH,high(step_jump) add ZL,tmp ; jump to adr (step_jump + step# * 2) ijmp step_jump: ldi tmp,step0 ret ldi tmp,step1 ret ldi tmp,step2 ret ldi tmp,step3 ret ldi tmp,step4 ret ldi tmp,step5 ret ldi tmp,step6 ret ldi tmp,step7 ret |