/* // STEPPING MOTOR TEST // Ver No. 0.2 2023/08/25 // PIC18F25K42 // XC8 Cコンパイラー用 * *MOtor :17HS3401S *Driver : STSPIN220 * * * * */ // PIC18F27K42 Configuration Bit Settings // 'C' source line config statements // CONFIG1L #pragma config FEXTOSC = OFF // External Oscillator Selection (Oscillator not enabled) #pragma config RSTOSC = HFINTOSC_64MHZ// Reset Oscillator Selection (HFINTOSC with HFFRQ = 64 MHz and CDIV = 1:1) // CONFIG1H #pragma config CLKOUTEN = OFF // Clock out Enable bit (CLKOUT function is disabled) #pragma config PR1WAY = OFF // PRLOCKED One-Way Set Enable bit (PRLOCK bit can be set and cleared repeatedly) #pragma config CSWEN = OFF // Clock Switch Enable bit (The NOSC and NDIV bits cannot be changed by user software) #pragma config FCMEN = OFF // Fail-Safe Clock Monitor Enable bit (Fail-Safe Clock Monitor disabled) // CONFIG2L #pragma config MCLRE = INTMCLR // MCLR Enable bit (If LVP = 0, MCLR pin function is port defined function; If LVP =1, RE3 pin fuction is MCLR) #pragma config PWRTS = PWRT_64 // Power-up timer selection bits (PWRT set at 64ms) #pragma config MVECEN = ON // Multi-vector enable bit (Interrupt contoller does not use vector table to prioritze interrupts) #pragma config IVT1WAY = OFF // IVTLOCK bit One-way set enable bit (IVTLOCK bit can be cleared and set repeatedly) #pragma config LPBOREN = OFF // Low Power BOR Enable bit (ULPBOR disabled) #pragma config BOREN = SBORDIS // Brown-out Reset Enable bits (Brown-out Reset enabled , SBOREN bit is ignored) // CONFIG2H #pragma config BORV = VBOR_2P45 // Brown-out Reset Voltage Selection bits (Brown-out Reset Voltage (VBOR) set to 2.45V) #pragma config ZCD = OFF // ZCD Disable bit (ZCD disabled. ZCD can be enabled by setting the ZCDSEN bit of ZCDCON) #pragma config PPS1WAY = ON // PPSLOCK bit One-Way Set Enable bit (PPSLOCK bit can be cleared and set only once; PPS registers remain locked after one clear/set cycle) #pragma config STVREN = ON // Stack Full/Underflow Reset Enable bit (Stack full/underflow will cause Reset) #pragma config DEBUG = OFF // Debugger Enable bit (Background debugger disabled) #pragma config XINST = OFF // Extended Instruction Set Enable bit (Extended Instruction Set and Indexed Addressing Mode disabled) // CONFIG3L #pragma config WDTCPS = WDTCPS_31// WDT Period selection bits (Divider ratio 1:65536; software control of WDTPS) #pragma config WDTE = OFF // WDT operating mode (WDT Disabled; SWDTEN is ignored) // CONFIG3H #pragma config WDTCWS = WDTCWS_7// WDT Window Select bits (window always open (100%); software control; keyed access not required) #pragma config WDTCCS = SC // WDT input clock selector (Software Control) // CONFIG4L #pragma config BBSIZE = BBSIZE_512// Boot Block Size selection bits (Boot Block size is 512 words) #pragma config BBEN = OFF // Boot Block enable bit (Boot block disabled) #pragma config SAFEN = OFF // Storage Area Flash enable bit (SAF disabled) #pragma config WRTAPP = OFF // Application Block write protection bit (Application Block not write protected) // CONFIG4H #pragma config WRTB = OFF // Boot Block Write Protection bit (Boot Block not write-protected) #pragma config WRTC = OFF // Configuration Register Write Protection bit (Configuration registers not write-protected) #pragma config WRTD = OFF // Data EEPROM Write Protection bit (Data EEPROM not write-protected) #pragma config WRTSAF = OFF // SAF Write protection bit (SAF not Write Protected) #pragma config LVP = ON // Low Voltage Programming Enable bit (Low voltage programming enabled. MCLR/VPP pin function is MCLR. MCLRE configuration bit is ignored) // CONFIG5L #pragma config CP = OFF // PFM and Data EEPROM Code Protection bit (PFM and Data EEPROM code protection disabled) // CONFIG5H // #pragma config statements should precede project file includes. // Use project enums instead of #define for ON and OFF. #include #define _XTAL_FREQ 16000000 //16MHz #define TMR1ON T1CONbits.ON #define MODE1 LATCbits.LATC3 #define MODE2 LATAbits.LATA5 #define MODE3 LATAbits.LATA3 #define MODE4 LATAbits.LATA2 #define DIR LATAbits.LATA2 #define STEP LATAbits.LATA3 #define STBY LATAbits.LATA4 #define M_ON PORTBbits.RB5// MOTOR ON/OFF #define M_DIR PORTBbits.RB3// CW/CCW #define BLED LATCbits.LATC2 #define uchar unsigned char #define uint unsigned int #define ulint unsigned long int unsigned char T1H = 0xD8;//TMR1初期値 50Hz B1 100Hz D8 200Hz EC unsigned char T1L = 0xF0;//TMR1初期値 50Hz E0 100Hz F0 200Hz 78 unsigned int STEPNum,STEPNO,STEPing; unsigned char STEPingFlg; unsigned char CHATA = 40; uchar lastM_ON; char getM_ONSw(){ char sw,last,cnt; cnt=0; last= M_ON; //Motor ON スイッチの接続ポート while(cnt < CHATA){ __delay_us(500); sw=M_ON; if(last == sw){ // 前回の状態と比較 cnt++; //安定状態 }else{ cnt=0; //チャタリング発生中 } last=sw; // 今の状態を前回の状態とする } return sw; } void M_ONsw_check() { char sw; if (M_ON == 1) {lastM_ON = 1; return;} if (M_ON == lastM_ON) { return; } if (STEPingFlg == 1){return;} sw=getM_ONSw(); // チャタリング除去済のスイッチ状態 if( (lastM_ON !=sw) && (M_ON == 0) ){ // スイッチが押されて、かつ現在ON TMR1H = T1H;TMR1L = T1L; TMR1ON = 1; STEPing = 0; STEPingFlg = 1; } lastM_ON = 0; } //******************************************************************************* // * InterruptFunction() 割り込みの処理 * // *******************************************************************************/ //timer 1 10msec 間隔で割り込み void __interrupt(irq(IRQ_TMR1)) TMR1_ISR(void) { TMR1IF = 0; TMR1IE = 0; STEPing++; TMR1ON = 0; TMR1H = T1H;//45537;// 4MHz/2/200Hz=10000 5msec間隔 2^16-10000=55536 TMR1L = T1L;//TMR1 = 55536+1 = 0xD8F0 TMR1ON = 1; TMR1IE = 1; BLED = ~BLED; STEP = ~STEP; } void main() { OSCFRQ = 0b00000101;//16MHz OSCCON1 = 0b01100000; OSCCON2 = 0b01100010; //HFINTOSC 16MHz CDIV =1/4 = 4MHz PORTA = 0b00000000; // TRISA = 0b00000000; //RA0-7 出力設定 ANSELA = 0b00000000; //ADコンバーターなし PORTB = 0b00000000; // TRISB = 0b11111111; // RB0-RB7入力 ANSELB = 0b00000000; //ADコンバーター使用せず PORTC = 0b01000000; //ポートC　RC6=H UART TX TRISC = 0b10111000; //RCポート0-2出力 3-5.7 input ANSELC = 0b00000000; //ADコンバーター使用せず T1CON = 0b00010010; //CKPS=1/2 16bit Timer1 OFF T1CLK = 0b00000001; //FOSC/4:4MHz TMR1H = T1H;// TMR1L = T1L;// TMR1IE = 1; STBY = 0; __delay_ms(10); STBY = 0; MODE1 = 0; MODE2 = 1; MODE3 = 0; MODE4 = 1; __delay_ms(10); STBY = 1; __delay_ms(10); MODE4 = 0; GIE = 1;//全割込み許可 while (1) { STEPNum = 800;STEPNO = STEPNum * 2;//800で1回転 M_ONsw_check(); if (STEPingFlg == 1){ if (STEPNO <= STEPing) { if (STEP == 0) {TMR1ON = 0;} STEPingFlg = 0; } } DIR = M_DIR; } }