AVR drive floppy drive motor program-EEWORLD

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Times have changed and floppy drives are no longer useful, but the motor inside is quite interesting, so I took it out and studied it.

CODE:

/*Use mega32 three port lines to drive the floppy drive motor.
PA2 connects to LB1833 ENA1\2 pin;
PA1 connects to LB1833 IN1 pin;
PA0 connects to LB1833 IN2 pin.
****************************************************** /
//ICC- AVR application builder : 2005-5-20 10:40:30
// Target : M32
// Crystal: 3.6864Mhz

#include
#include

unsigned char np;

//Stepper motor operation data table
const unsigned char motortb[]={0x05,0x07,0x06,0x04,0x05,0x07,0x06,0x04};

void delay ( unsigned char t );// Subroutine for each step delay
void a_step( unsigned char d, unsigned char t );//Stepper motor takes one step d=0 forward d=1 reverse

void port_init( void )
{
PORTA = 0x00;
DDRA = 0xFF;
PORTB = 0xFF;
DDRB = 0x00;
PORTC = 0xFF;
DDRC = 0x00;
PORTD = 0xFF;
DDRD = 0x00;
}

//call this routine to initialise all peripherals
void init_devices( void )
{
//stop errant interrupts until set up
CLI(); //disable all interrupts
port_init();

MCUCR = 0x00;
GICR = 0x00;
TIMSK = 0x00; //timer interrupt sources
SEI(); //re-enable interrupts
//all peripherals are now initialised
}

void delay ( unsigned char t )// Subroutine for each step delay
{
unsigned char i;
unsigned int j;
for (i = 0 ; i < t ; i++ )
{
for ( j = 0 ;j < 800 ; j++ )
;
}
}
void a_step ( unsigned char d, unsigned char t) //Stepper motor takes one step d=0 forward d=1 reverse t // The bigger the t, the slower it goes
{
if ( d & 0x01 )
{
if ( np == 0 )
{
np = 7;
}
else
{
np--;
}
}
else
{
if ( np == 7 )
{
np = 0;
}
else
{
np++;
}
}
PORTA = motortb[np];
delay(t);
}
void a_turn (unsigned char d, unsigned char t)// The stepper motor makes one turn
{
unsigned char i;
for ( i = 0 ; i < 96 ; i++ )
{
a_step ( d, t );
}
}

void main ( void )
{
n p = 4;
while (1)
{
a_turn (1, 1);
}

}

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