ATmega128A::StepMotor 실습과제

실습과제1

1상여자 신호 발생 실습

 

#define F_CPU 16000000UL
#include <avr/io.h>
#include <util/delay.h>

int  main(void)
{
    char out_data[4]={0x01, 0x02, 0x04, 0x08}; //1상여자
 //char out_data[4]={0x03, 0x06, 0x0c, 0x09}; //2상여자

    unsigned int i=0,j=0;

    DDRA |=0x0F;

    while(1)
 {
  j = (i++)%4;
     PORTA = out_data[j];
     _delay_ms(2);

    }

    return 0;

}

 

 

 

실습과제2

2상여자 신호 발생 실습

 

 

#define F_CPU 16000000UL
#include <avr/io.h>
#include <util/delay.h>

 

int main()
{
 char out_data[4]={0x03, 0x06, 0x0c, 0x09}; //2상여자
 //char out_data[4]={0x09,0x0c,0x06,0x03};
 int i=0,j=0;
 DDRA |=0x0f;
 
 while(1)
 {
  j=(i--)%4;
  PORTA=out_data[j];
  _delay_ms(2);
  
 }
 return 0;
 
}

 

 

실습과제3

1-2상여자 신호 발생 실습

 

#define F_CPU 16000000UL
#include <avr/io.h>
#include <util/delay.h>

int main()
{

 char out_data[8]={0x01, 0x03, 0x02, 0x06, 0x04, 0x0C, 0x08, 0x09}; //1-2상여자
 unsigned int i=0,j=0;
 
 DDRA |=0x0F;

 while(1){
  
  j = i++%8;
  PORTA = out_data[j];

  _delay_ms(2);
 }
 
 return 0;
}

 

 

 

 

실습과제4

각도제어 실습

 

 

#define F_CPU 16000000UL
#include <avr/io.h>
#include <util/delay.h>
//#include "usart.h"

int main()
{
 char out_data[4]={0x01,0x02,0x04,0x08};
 int i=0,j=0;
 DDRA|=0x0f;
 while(i<100)
 {
  j=i++%4;
  PORTA=out_data[j];
  _delay_ms(2);
  
 }
 return 0;
}

 

실습과제5

하이퍼터미널에서 회전각도, 방향을 입력 받아 스텝모터를 구동시키는 프로그램을 작성하시오.

 

#define F_CPU 16000000UL
#include <avr/io.h>
#include <util/delay.h>
#include "usart.h"

int gets_num(char *pnum);

int main()
{
 char str[20]={0,};
 int data=0;
 char cw[4]={0x01,0x02,0x04,0x08};
 char ccw[4]={0x08,0x04,0x02,0x01};
 int i=0,j=0;
 unsigned int turn=1;
 
 
 DDRA|=0x0f; 
  
 usart0_init();
 usart0_printf("\033[H\033[J");
 
 
 while(1)
 {
  usart0_printf("input data :");
  usart0_gets(str);
  
  turn = data= gets_num(str);
  usart0_printf("%s\n",str);
  usart0_printf("%d\n",data);
  
  if(data<0) turn*=-1;
  turn = turn/1.8;
  
  while(i<turn)
  {
   j=i++%4;
   if(data>=0) PORTA=cw[j];
   else  PORTA=ccw[j];
   _delay_ms(2);
   
  }
  turn=data=0;
  i=j=0;
  usart0_init();
 }
 return 0;
}

int gets_num(char *pnum)
{
 int i = 0, cnt=0, res = 0;
 int dir=1;
 

 if(pnum[i]=='-')
 {
  dir=-1;
  cnt=1;
  
 }
 while (pnum[cnt] != '\0')   //'\r' xx-->232
 {
  res = res*10 + (pnum[cnt]-'0');
  cnt++;
 }
 
 res*=dir;
 return res;
}

 

 

 

 

 

 

실습과제6

타이머 인터럽트를 이용한 구동

 

[main.c]

 

#include "motor.h"
#include "usart.h"

int main()
{

 int pps=0, step=0;

 usart0_init();
 mtr0_init();
 usart0_printf("\033[H\033[J");
 
 
 while(1)
 {
  usart0_printf("input pps :");

  pps = usart0_getintnum();

  usart0_printf("input step :");

  step = usart0_getintnum();

  //if(step>=0) PORTA=cw[j];
  //else  PORTA=ccw[j];

  mtr0_tc0(pps, step);
  usart0_printf("pps:%d, ocr0:%d\n ",pps, OCR0);

 }

 return 0;

}

 

 

 

[motor.h]

 

#ifndef _MOTOR_H_
#define _MOTOR_H_

#define F_CPU 16000000UL
#include <avr/io.h>
#include <util/delay.h>
#include "usart.h"

void mtr0_init();
void mtr0_tc0(int pps, int step);
int gets_num(char *pnum);

 

 

 

[motor.c]

 

#include "motor.h"
static char cw[4]={0x01,0x02,0x04,0x08};
static char ccw[4]={0x08,0x04,0x02,0x01};
int angle=0;
static int i=0;
int cw0=1;
int ocr0=0;

void mtr0_init()
{
 DDRA |= 0x0F; //OC0,PB0출력설정
 ASSR =0x00;
 TCCR0 = 0x1F; //0001_1111 CTC, OC0토글출력,1024분주
 OCR0 = 0x07; //
 TCNT0 = 0x00;
 TIFR &= 0xFD;
}

ISR(TIMER0_COMP_vect)
{
 int  j=0;
 j = (i++)%4;
 if(cw0)  PORTA=cw[j];
 else  PORTA=ccw[j];

 if(i>=angle)
 {
  TIMSK &= 0xFD;
  i=0;
 }

}

void mtr0_tc0(int pps, int step)
{
 cli();
 
 angle = step/1.8;
 
 
 if(!step || !pps){ TIMSK &= 0xFD; } //비활성화
 TIMSK |= 0x02;

 if(step<0){cw0=0; step=-step;}
 else cw0=1;

 ocr0 = (7.18125/((double)pps/1000)-1);
 if(ocr0<0 || ocr0>256){ TIMSK &= 0xFD; }
 OCR0= ocr0;

 sei();

}

 

 

 

 

 

 

실습과제7

모터 2대 구동(위치제어)

 

[main.c]

 

#include "motor.h"

 

int main()
{
 int step1=0, step2=0;

 usart0_init();
 mtr0_init();
 mtr2_init();

 usart0_printf("\033[H\033[J");

 while(1)
 {

  usart0_printf("input step1:");
  step1=usart0_getintnum();

  usart0_printf("input step2:");
  step2=usart0_getintnum();

  

  mtr0_tc0(step1);
  mtr2_tc0(step2);

 }

 return 0;

 
}

 

[motor.h]

 

#ifndef _MOTOR_H_
#define _MOTOR_H_

#define F_CPU 16000000UL
#include <avr/io.h>
#include <util/delay.h>
#include "usart.h"

//실습과제7
void mtr0_init();
void mtr2_init();
void mtr0_tc0(int step);
void mtr2_tc0(int step);

#endif

 

 

 

[motor.c]

 

 

#include "motor.h"

int cw0=1;
int cw2=1;
static char cw[4]={0x01, 0x02, 0x04, 0x08};
static char ccw[4]={0x08, 0x04, 0x02, 0x01};
static int i0=0;
static int i2=0;
int angle1, angle2;

void mtr0_init()
{

 DDRA |= 0x0F;
 ASSR =0x00;
 TCCR0 = 0x1F;
 OCR0 = 0x22;
 TCNT0 = 0x00;
 TIFR &= 0xFD;

}

void mtr2_init()
{

 DDRB |= 0x0F;
 ASSR =0x00;
 TCCR2 = 0x1D;
 OCR2 = 0x22;
 TCNT2 = 0x00;
 TIFR &= 0x7F;

}

ISR(TIMER0_COMP_vect)
{

 
 int  j=0;

 j = (i0++)%4;

 if(cw0){PORTA = cw[j];}
 else {PORTA = ccw[j];}

 if(i0>=angle1)
 {
  TIMSK &= 0xFD;
  i0=0;
 }
}

ISR(TIMER2_COMP_vect)
{

 int  j=0;

 j = (i2++)%4;

 if(cw2){PORTB = ccw[j];}
 else {PORTB = cw[j];}

 if(i2>=angle2)
 {
  TIMSK &= 0x7F; //disable
  i2=0;
 }

}

void mtr0_tc0(int step)
{

 cli();
 
 TIMSK |= 0x02;

 if(step<0){cw0=0; step=-step;}
 else{cw0=1;}

 angle1 = step/1.8;
 sei();

}

void mtr2_tc0(int step)
{

 cli();
 
 TIMSK |= 0x80;

 if(step<0){cw2=0; step=-step;}
 else{cw2=1;}

 angle2 = step/1.8;
 sei();

}

 

 

 

 

 

실습과제8

모터 2대 구동(속도제어)

 

 

[main.c]

 

#include "motor.h"
int main()
{
 int pps1=0;
 int pps2=0;
 
 usart0_init();
 mtr0_init();
 mtr2_init();
 
 
 usart0_printf("\033[H\033[J");
 while(1)
 {
  usart0_printf("input pps1:");
  pps1=usart0_getintnum();

  usart0_printf("input pps2:");
  pps2=usart0_getintnum();
  
  
  mtr0_tc0(pps1);
  mtr1_tc2(pps2);

 }
 
 return 0;
 
}

 

[motor.h]

 

#ifndef _MOTOR_H_
#define _MOTOR_H_

#define F_CPU 16000000UL
#include <avr/io.h>
#include <util/delay.h>
#include "usart.h"

void mtr0_init();
void mtr2_init();
void mtr0_tc0(int pps);
void mtr1_tc2(int pps);

#endif

 

 

 

[motor.c]

 

#include "motor.h"
int cw0=1;
int cw2=1;
static char cw[4]={0x01, 0x02, 0x04, 0x08};
static char ccw[4]={0x08, 0x04, 0x02, 0x01};
static int i0=0;
static int i2=0;
int ocr0, ocr2;

void mtr0_init()
{

 DDRA |= 0x0F;
 ASSR =0x00;
 TCCR0 = 0x1F;
 OCR0 = 0x22;
 TCNT0 = 0x00;
 TIFR &= 0xFD;

}
void mtr2_init()
{
 
 DDRB |= 0x0F;
 ASSR =0x00;
 TCCR2 = 0x1D;
 OCR2 = 0x22;
 TCNT2 = 0x00;
 TIFR &= 0x7F;
 
}

ISR(TIMER0_COMP_vect)
{

 int  j=0;

 j = (i0++)%4;

 if(cw0){PORTA = cw[j];}
 else {PORTA = ccw[j];}

}

ISR(TIMER2_COMP_vect)
{

 int  j=0;

 j = (i2++)%4;

 if(cw2){PORTB = cw[j];}
 else {PORTB = ccw[j];}

}

void mtr0_tc0(int pps)
{

 cli();
 
 TIMSK |= 0x02;

 if(pps<0){cw0=1; pps=-pps;}
 else if(pps==0){TIMSK &= 0xFD;}
 else {cw0=0;}

 ocr0 = (7.18125/((double)pps/1000)-1);
 if(ocr0<0 || ocr0>256){TIMSK &= 0xFD;}
 OCR0 = ocr0;
 sei();

}

void mtr1_tc2(int pps)
{

 cli();
 
 TIMSK |= 0x80;

 if(pps<0){cw2=1; pps=-pps;}
 else if(pps==0){TIMSK &= 0x7F;}
 else {cw2=0;}

 ocr2 = (7.18125/((double)pps/1000)-1);
 if(ocr2<0 || ocr2>256){TIMSK &= 0x7F;}
 OCR2 = ocr2;
 sei();

}