ATMEGA16 written by AVR stdio controls the forward and reverse rotation and speed of the stepper motor

ATMEGA16 written by AVR stdio controls the forward and reverse rotation and speed of the stepper motor. It is free for everyone to refer to and criticize.

It is suitable for beginners. There are seven buttons in total. Three buttons control three speeds of forward rotation, three buttons control three speeds of reverse rotation, and one button controls stop.

This program controls the stepper motor and is connected to the stepper motor driver, so there is only one pulse. If you want to connect the stepper motor directly, you only need to make a slight change.

Main program preview:

#define F_CPU 800000UL

#include

#include

#define INT8U unsigned int

#define INT16U unsigned int

const INT8U FFW[]={0x01,0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x01,0x00}; // output 8 pulses from port p0 in one beat

//Button definition

#define K1_DOWN()((PIND &_BV(PD0)) == 0x00) //K1: forward speed 1

#define K2_DOWN()((PIND &_BV(PD1)) == 0x00) //K2: forward speed 2

#define K3_DOWN()((PIND &_BV(PD2)) == 0x00) //K3: forward speed 3

#define K4_DOWN()((PIND &_BV(PD3)) == 0x00) //K4: stop

#define K5_DOWN()((PIND &_BV(PD4)) == 0x00) //K5: reverse speed 1

#define K6_DOWN()((PIND &_BV(PD5)) == 0x00) //K6: reverse speed 2

#define K7_DOWN()((PIND &_BV(PD6)) == 0x00) //K7: reverse speed 3

void STEP_MOTOR_FWRUN_1(INT8U n)

{

   INT8U i,j;

   for(i=0;i   {

     for(j=0;j<16;j++)//loop output 16*8 beats

     { 

        //if (K1_DOWN())break;

                 if (K2_DOWN())break;

                 if (K3_DOWN())break;

       if (K4_DOWN())return; //When K4 is pressed midway, the motor stops rotating

             if (K5_DOWN())break;

                 if (K6_DOWN())break;

                 if (K7_DOWN())break;

          PORTB=FFW[j];

          _delay_us(50);

}

PORTB=0x01; //After the last circle, the output is 0x01 and the motor returns to the starting point

}

}

void STEP_MOTOR_FWRUN_2(INT8U n)

{

   INT8U i,j;

   for(i=0;i   {

     for(j=0;j<16;j++)

     { 

       if (K1_DOWN())break;

                // if (K2_DOWN())break;

                 if (K3_DOWN())break;

       if (K4_DOWN())return; //When K4 is pressed midway, the motor stops rotating

             if (K5_DOWN())break;

                 if (K6_DOWN())break;

                 if (K7_DOWN())break;

          PORTB=FFW[j];

          _delay_us(150);

}

PORTB=0x01; //After the last circle, the output is 0x01 and the motor returns to the starting point

}

}

void STEP_MOTOR_FWRUN_3(INT8U n)

{

   INT8U i,j;

   for(i=0;i   {

     for(j=0;j<16;j++)

     { 

       if (K1_DOWN())break;

                 if (K2_DOWN())break;

                // if (K3_DOWN())break;

       if (K4_DOWN())return; //When K4 is pressed midway, the motor stops rotating

             if (K5_DOWN())break;

                 if (K6_DOWN())break;

                 if (K7_DOWN())break;

          PORTB=FFW[j];

          _delay_us(300);

}

PORTB=0x01; //After the last circle, the output is 0x01 and the motor returns to the starting point

}

}

void STEP_MOTOR_CWRUN_5(INT8U n)

{

   INT8U i,j;

   for(i=0;i   {

     for(j=0;j<16;j++)

     { 

      if (K1_DOWN())break;

                 if (K2_DOWN())break;

                 if (K3_DOWN())break;

       if (K4_DOWN())return; //When K4 is pressed midway, the motor stops rotating

            // if (K5_DOWN())break;

                 if (K6_DOWN())break;

                 if (K7_DOWN())break;

           PORTB=FFW[j];

          _delay_us(300);

}

PORTB=0x01; //After the last circle, the output is 0x01 and the motor returns to the starting point

}

}

void STEP_MOTOR_CWRUN_6(INT8U n)

{

   INT8U i,j;

   for(i=0;i   {

     for(j=0;j<16;j++)

     { 

        if (K1_DOWN())break;

                 if (K2_DOWN())break;

                 if (K3_DOWN())break;

       if (K4_DOWN())return; //When K4 is pressed midway, the motor stops rotating

             if (K5_DOWN())break;

                 //if (K6_DOWN())break;

                 if (K7_DOWN())break;

           PORTB=FFW[j]; //Forward when direction is 0

          _delay_us(150);

}

PORTB=0x01; //After the last circle, the output is 0x01 and the motor returns to the starting point

}

}

void STEP_MOTOR_CWRUN_7(INT8U n)

{

   INT8U i,j;

   for(i=0;i   {

     for(j=0;j<16;j++)

     { if (K1_DOWN())break;

                 if (K2_DOWN())break;

                 if (K3_DOWN())break;

       if (K4_DOWN())return; //When K4 is pressed midway, the motor stops rotating

             if (K5_DOWN())break;

                 if (K6_DOWN())break;

                // if (K7_DOWN())break;

           PORTB=FFW[j];

          _delay_us(50);

}

PORTB=0x01; //After the last circle, the output is 0x01 and the motor returns to the starting point

}

}

void beep()

{

        PORTC=0x40;

        _delay_ms(120);

        PORTC=0X00;

}

void initonbeep()

{

PORTC=0x40;

_delay_ms(120);

PORTC=0X00;

_delay_ms(120);

PORTC=0x40;

_delay_ms(120);

PORTC=0X00;

_delay_ms(120);

PORTC=0x40;

_delay_ms(120);

PORTC=0X00;

_delay_ms(120);

PORTC=0x40;

_delay_ms(120);

PORTC=0X00;

}

int main()

{

   INT8U r=65535;

   DDRB=0xFF;PORTB=FFW[0]; //control output

   DDRD=0X00;PORTD=0xFF; //Key input

   DDRA=0X00;PORTA=0xFF; //Direction signal

   DDRC=0XFF;PORTC=0x00; //Buzzer

   initonbeep();

   while(1)

   {

     if(K1_DOWN())

     {

                  _delay_us(200);

                  if(K1_DOWN())

     {

                 beep();

         //while(K1_DOWN()); //Wait for K1 to be released

                 PORTA=0x00; //direction signal is 0

         STEP_MOTOR_FWRUN_1(r); //Click to rotate forward r circles

      }

         }          

          if(K2_DOWN())

     {

                   _delay_us(200);

                  if(K2_DOWN())

     {

                 beep();

         //while(K1_DOWN()); //Wait for K1 to be released

                 PORTA=0x00; //direction signal is 0

         STEP_MOTOR_FWRUN_2(r); //Click to rotate forward r circles

      }

         }          

          if(K3_DOWN())

     {

                   _delay_us(200);

                  if(K3_DOWN())

     {

                 beep();

         //while(K1_DOWN()); //Wait for K1 to be released

                 PORTA=0x00; //direction signal is 0

         STEP_MOTOR_FWRUN_3(r); //Click to rotate forward r circles

      }

         }          

      if(K5_DOWN())

      {

                    _delay_us(200);

                  if(K5_DOWN())

     {

                 beep();

         //while(K2_DOWN()); //Wait for K2 to be released

         PORTA=0x01; //direction signal is 1

         STEP_MOTOR_CWRUN_5(r); //Motor reverses r turns

       }

          }           

         if(K6_DOWN())

      {

                    _delay_us(200);

                  if(K6_DOWN())

     {

                 beep();

         //while(K2_DOWN()); //Wait for K2 to be released

         PORTA=0x01; //direction signal is 1

         STEP_MOTOR_CWRUN_6(r); //Motor reverses r turns

       }

          }           

         if(K7_DOWN())

      {

                    _delay_us(200);

                  if(K7_DOWN())

     {

                 beep();

         //while(K2_DOWN()); //Wait for K2 to be released

         PORTA=0x01; //direction signal is 1

         STEP_MOTOR_CWRUN_7(r); //Motor reverses r turns

       }

          }        

     }

}