;Software License Agreement ; ;The software supplied herewith by Microchip Technology ;Incorporated (the "Company") is intended and supplied to you, the ;Company’s customer, for use solely and exclusively on Microchip ;products. The software is owned by the Company and/or its supplier, ;and is protected under applicable copyright laws. All rights are ;reserved. Any use in violation of the foregoing restrictions may ;subject the user to criminal sanctions under applicable laws, as ;well as to civil liability for the breach of the terms and ;conditions of this license. ; ;THIS SOFTWARE IS PROVIDED IN AN "AS IS" CONDITION. NO WARRANTIES, ;WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT NOT LIMITED ;TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A ;PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. THE COMPANY SHALL NOT, ;IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL OR ;CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. ;********************************************************************** ; ; Filename: Bipolar16F684.asm ; Date: 3/23/04 ; File Version: 2.00 ; ; Author: Reston Condit ; Company: Microchip Technology Inc. ; ; ;********************************************************************** ; ; Files required: ; bipolar.inc ; p16F684.inc ; ;********************************************************************** ; ; Description: ; ; This file implements a bipolar stepping motor microstepping ; algorithm for the PIC16F684. Details about this algorithm are ; found in AN906. ; ;********************************************************************** #include ; processor specific variable definitions #include bipolar.inc ; include variable definitions and defines errorlevel -302 ; suppress message 302 from list file __CONFIG _CP_OFF & _CPD_OFF & _BOD_OFF & _MCLRE_OFF & _WDT_OFF & _PWRTE_ON & _INTRC_OSC_NOCLKOUT & _FCMEN_OFF & _IESO_OFF ; '__CONFIG' directive is used to embed configuration word within .asm file. ; The lables following the directive are located in the respective .inc file. ; See data sheet for additional information on configuration word settings. ;****************************************************************************** ; Initialize ; Initialize all special function registers and variables. ; ;****************************************************************************** Initialize bsf STATUS,RP0 ; Bank 1 bsf OSCCON,4 ; Internal oscillator frequeny = 8 MHz movlw B'00001111' ; inputs: RA0,RA1,RA2,RA3 movwf TRISA movlw B'00000011' ; inputs: RC0,RC1 movwf TRISC movlw B'00000000' ; Disable weak pullups movwf WPUA movlw B'00100000' ; ADC Fosc/32 movwf ADCON1 movlw B'00000100' ; analog pin: AN2 movwf ANSEL movlw 0x3F ; TMR2 period = 0xFF movwf PR2 movlw B'00001000' ; Interrupt on pin change enabled for pin RA3 movwf IOCA bcf STATUS,RP0 ; Bank 0 movlw 0x04 ; Turn on comparators movwf CMCON0 movlw B'00001001' ; AN2 selected, A/D module turned on movwf ADCON0 movlw B'01111100' ; TMR2 on; 1:1 prescaler; 1:16 postscaler movwf T2CON movlw B'00001000' ; RAIE interrupt movwf INTCON clrf Mode ; Start in Mode 1 ModeSelect bcf State,0 ; initialize motor state clrf Index ; initialize duty cycle lookup index movlw 0x01 movwf Delay ; initialize delay movlw high ModeSelectTable ; jump to the current mode movwf PCLATH movf Mode,w andlw 0x07 addlw low ModeSelectTable btfsc STATUS,C incf PCLATH,f movwf PCL ModeSelectTable goto Mode1 ; motor off goto Mode2 ; single-step mode goto Mode3 ; half-step mode goto Mode4 ; microstep mode goto Mode5 ; position control mode nop nop nop clrf Mode goto Mode1 ; start back at mode 1 ;****************************************************************************** ; Mode1 - Motor off ; Wait here with the motor off until switch 1 is pressed. ; ;****************************************************************************** Mode1 btfss SW1 ; if button is pressed the goto debounce routine goto Debounce goto Mode1 ;****************************************************************************** ; Mode2 - Single Step Mode ; Single step the motor. ; ;****************************************************************************** Mode2 clrf CCP1CON ; Stop ECCP module clrf CCPR1L bsf STATUS,RP0 ; Bank 1 movlw 0x33 ; Disable P1A and P1B movwf TRISC movlw B'00000110' ; 1:128 prescaler for TMR0, enable weak pullups movwf OPTION_REG bcf STATUS,RP0 ; Bank 0 Mode2Start btfss SW1 ; switch 1 pressed? goto Debounce ; yes, then goto debounce routine and next mode btfss INTCON,T0IF ; timer 0 interrupt? goto Mode2StateMachine bcf INTCON,T0IF ; yes, then clear interrupt flag decfsz Delay,f ; if delay is zero then move pot value into delay goto Mode2StateMachine swapf ADRESH,w ; move pot value into Delay andlw 0x0F movwf Delay incf Delay,f bsf ADCON0,GO ; enable another analog read incf State,f ; increment motor state Mode2StateMachine movlw high Mode2JumpTable movwf PCLATH movf State,w andlw 0x03 addlw low Mode2JumpTable btfsc STATUS,C incf PCLATH,f movwf PCL Mode2JumpTable goto Mode2State0 goto Mode2State1 goto Mode2State2 goto Mode2State3 Mode2State0 ; Winding A -> (current flow direction) bcf CTRLB1 bcf CTRLA2 bcf CTRLB2 bsf CTRLA1 goto Mode2Start Mode2State1 ; Winding B -> bcf CTRLA1 bcf CTRLB2 bcf CTRLA2 bsf CTRLB1 goto Mode2Start Mode2State2 ; Winding A <- bcf CTRLB1 bcf CTRLA1 bcf CTRLB2 bsf CTRLA2 goto Mode2Start Mode2State3 ; Winding B <- bcf CTRLA1 bcf CTRLB1 bcf CTRLA2 bsf CTRLB2 goto Mode2Start ;****************************************************************************** ; Mode3 - Half-Step Mode ; Half step the motor. ; ;****************************************************************************** Mode3 clrf CCP1CON ; Stop ECCP module clrf CCPR1L bsf STATUS,RP0 ; Bank 1 movlw 0x33 ; Disable P1A and P1B movwf TRISC movlw B'00000101' ; 1:64 prescaler for TMR0, enable weak pullups movwf OPTION_REG bcf STATUS,RP0 ; Bank 0 Mode3Start btfss SW1 ; switch 1 pressed? goto Debounce ; yes, then goto bebounce routine and onto next mode btfss INTCON,T0IF ; timer 0 interrupt? goto Mode3StateMachine bcf INTCON,T0IF ; yes, then clear interrupt flag decfsz Delay,f ; if delay is zero reload delay with ADC value goto Mode3StateMachine swapf ADRESH,w ; move pot value into Delay andlw 0x0F movwf Delay incf Delay,f bsf ADCON0,GO ; enable another analog read incf State,f ; increment motor state Mode3StateMachine movlw high Mode3JumpTable movwf PCLATH movf State,w andlw 0x07 addlw low Mode3JumpTable btfsc STATUS,C incf PCLATH,f movwf PCL Mode3JumpTable goto Mode3State0 goto Mode3State1 goto Mode3State2 goto Mode3State3 goto Mode3State4 goto Mode3State5 goto Mode3State6 goto Mode3State7 Mode3State0 ; Winding A -> (current flow direction) bcf CTRLB1 bcf CTRLA2 bcf CTRLB2 bsf CTRLA1 goto Mode3Start Mode3State1 ; Winding A ->, Winding B -> bcf CTRLA2 bcf CTRLB2 bsf CTRLA1 bsf CTRLB1 goto Mode3Start Mode3State2 ; Winding B -> bcf CTRLA1 bcf CTRLB2 bcf CTRLA2 bsf CTRLB1 goto Mode3Start Mode3State3 ; Winding A <-, Winding B -> bcf CTRLA1 bcf CTRLB2 bsf CTRLB1 bsf CTRLA2 goto Mode3Start Mode3State4 ; Winding A <- bcf CTRLB1 bcf CTRLA1 bcf CTRLB2 bsf CTRLA2 goto Mode3Start Mode3State5 ; Winding A <-, Winding B <- bcf CTRLB1 bcf CTRLA1 bsf CTRLA2 bsf CTRLB2 goto Mode3Start Mode3State6 ; Winding B <- bcf CTRLA1 bcf CTRLB1 bcf CTRLA2 bsf CTRLB2 goto Mode3Start Mode3State7 ; Winding A ->, Winding B <- bcf CTRLB1 bcf CTRLA2 bsf CTRLB2 bsf CTRLA1 goto Mode3Start ;****************************************************************************** ; Mode4 - High Torque Microstepping Mode ; High Torque Microstepping is achieved by pulse width modulating one winding ; using the ECCP module. The duty cycle of the module is varied according to ; a cosine lookup table. ; ;****************************************************************************** Mode4 bsf STATUS,RP0 ; Bank 1 movlw B'00000010' ; 1:8 prescaler for TMR0, enable weak pullups movwf OPTION_REG bcf STATUS,RP0 ; Bank 0 movlw B'10001101' ; Half-bridge,PWM mode movwf CCP1CON Mode4Start btfss SW1 ; switch 1 pressed? goto Debounce ; yes, then goto debounce routine and onto next mode btfsc INTCON,T0IF ; Timer 0 interrupt flay set? call Mode4IncrementState ; yes, then goto state advance routine Mode4StateMachine movlw high Mode4JumpTable movwf PCLATH movf State,w andlw 0x07 addlw low Mode4JumpTable btfsc STATUS,C incf PCLATH,f movwf PCL Mode4JumpTable goto Mode4State0 goto Mode4State1 goto Mode4State2 goto Mode4State3 goto Mode4State4 goto Mode4State5 goto Mode4State6 goto Mode4State7 Mode4State0 ; Winding A _-_->, Winding B -> (current direction and winding modulation) bsf STATUS,RP0 ; Bank 1 movlw 0x13 ; Disable P1B, Enable P1A movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA2 bcf CTRLB2 bsf CTRLA1 bsf CTRLB1 goto Mode4Start Mode4State1 ; Winding A <-_-_, Winding B -> bsf STATUS,RP0 ; Bank 1 movlw 0x13 ; Disable P1B, Enable P1A movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA1 bcf CTRLB2 bsf CTRLA2 bsf CTRLB1 goto Mode4Start Mode4State2 ; Winding A <-, Winding B _-_-> bsf STATUS,RP0 ; Bank 1 movlw 0x23 ; Disable P1A, Enable P1B movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA1 bcf CTRLB2 bsf CTRLA2 bsf CTRLB1 goto Mode4Start Mode4State3 ; Winding A <-, Winding B <-_-_ bsf STATUS,RP0 ; Bank 1 movlw 0x23 ; Disable P1A, Enable P1B movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA1 bcf CTRLB1 bsf CTRLA2 bsf CTRLB2 goto Mode4Start Mode4State4 ; Winding A <-_-_, Windng B <- bsf STATUS,RP0 ; Bank 1 movlw 0x13 ; Disable P1B, Enable P1A movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA1 bcf CTRLB1 bsf CTRLA2 bsf CTRLB2 goto Mode4Start Mode4State5 ; Winding A _-_->, Winding B <- bsf STATUS,RP0 ; Bank 1 movlw 0x13 ; Disable P1B, Enable P1A movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA2 bcf CTRLB1 bsf CTRLA1 bsf CTRLB2 goto Mode4Start Mode4State6 ; Winding A ->, Winding B <-_-_ bsf STATUS,RP0 ; Bank 1 movlw 0x23 ; Disable P1A, Enable P1B movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA2 bcf CTRLB1 bsf CTRLA1 bsf CTRLB2 goto Mode4Start Mode4State7 ; Winding A ->, Winding B _-_-> bsf STATUS,RP0 ; Bank 1 movlw 0x23 ; Disable P1A, Enable P1B movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA2 bcf CTRLB2 bsf CTRLA1 bsf CTRLB1 goto Mode4Start ;****************************************************************************** ; Mode5 - Position control with the potentiomenter ; Microstep to a position indicated by the potentiometer. ; ;****************************************************************************** Mode5 bsf STATUS,RP0 ; Bank 1 movlw B'00000001' ; 1:4 prescaler for TMR0, enable weak pullups movwf OPTION_REG bcf STATUS,RP0 ; Bank 0 movlw B'10001101' ; Half-bridge,PWM mode movwf CCP1CON movf ADRESH,w movwf PositionMotor Mode5Start btfss SW1 ; if switch is pressed goto debounce routine goto Debounce movf ADRESH,w bsf ADCON0,GO ; enable another analog read movwf PositionPot subwf PositionMotor,w ; PositionMotor - PositionPot movwf CounterH btfsc STATUS,Z ; if PostionMotor = PositionPot goto Mode5Start ; then do nothing btfss STATUS,C ; if PositionMotor > PositionPot goto Next movf CounterH,w ; then reverse movement might be needed sublw 0x0A ; filter: is difference in position greater than 10? btfsc STATUS,C goto Mode5Start ; no, then do nothing bcf FDirection ; yes, go into reverse mode goto Mode5Start2 ; go make the motor move Next ; PostionMotor < PositionPot comf CounterH,w sublw 0x0A ; filter: is difference in position greater than 10? btfsc STATUS,C goto Mode5Start ; no, then do nothing bsf FDirection ; yes, go into forward mode goto Mode5Start2 ; go make the motor move Mode5Start2 btfss SW1 ; if switch is pressed goto debounce routine goto Debounce btfsc INTCON,T0IF goto ChangeMode5State Mode5StateMachine movlw high Mode5JumpTable movwf PCLATH movf State,w andlw 0x07 addlw low Mode5JumpTable btfsc STATUS,C incf PCLATH,f movwf PCL Mode5JumpTable goto Mode5State0 goto Mode5State1 goto Mode5State2 goto Mode5State3 goto Mode5State4 goto Mode5State5 goto Mode5State6 goto Mode5State7 Mode5State0 bsf STATUS,RP0 ; Bank 1 movlw 0x13 ; Disable P1B, Enable P1A movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA2 bcf CTRLB2 bsf CTRLA1 bsf CTRLB1 goto Mode5Start2 Mode5State1 bsf STATUS,RP0 ; Bank 1 movlw 0x13 ; Disable P1B, Enable P1A movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA1 bcf CTRLB2 bsf CTRLA2 bsf CTRLB1 goto Mode5Start2 Mode5State2 bsf STATUS,RP0 ; Bank 1 movlw 0x23 ; Disable P1A, Enable P1B movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA1 bcf CTRLB2 bsf CTRLA2 bsf CTRLB1 goto Mode5Start2 Mode5State3 bsf STATUS,RP0 ; Bank 1 movlw 0x23 ; Disable P1A, Enable P1B movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA1 bcf CTRLB1 bsf CTRLA2 bsf CTRLB2 goto Mode5Start2 Mode5State4 bsf STATUS,RP0 ; Bank 1 movlw 0x13 ; Disable P1B, Enable P1A movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA1 bcf CTRLB1 bsf CTRLA2 bsf CTRLB2 goto Mode5Start2 Mode5State5 bsf STATUS,RP0 ; Bank 1 movlw 0x13 ; Disable P1B, Enable P1A movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA2 bcf CTRLB1 bsf CTRLA1 bsf CTRLB2 goto Mode5Start2 Mode5State6 bsf STATUS,RP0 ; Bank 1 movlw 0x23 ; Disable P1A, Enable P1B movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA2 bcf CTRLB1 bsf CTRLA1 bsf CTRLB2 goto Mode5Start2 Mode5State7 bsf STATUS,RP0 ; Bank 1 movlw 0x23 ; Disable P1A, Enable P1B movwf TRISC bcf STATUS,RP0 ; Bank 0 bcf CTRLA2 bcf CTRLB2 bsf CTRLA1 bsf CTRLB1 goto Mode5Start2 ;****************************************************************************** ; Mode4IncrementState ; Determine if microstepping state should be incremented for Mode 4. ; ;****************************************************************************** Mode4IncrementState bcf INTCON,T0IF ; clear interrupt flag decfsz Delay,f ; is Delay 0? return ; no, then return swapf ADRESH,w ; yes, reload with high 4-bits of ADC value andlw 0x0F movwf Delay incf Delay,f ; increment to make sure it is not-zero bsf ADCON0,GO ; enable another analog read incf Index,f ; increment duty cycle lookup register call DutyCycleLookup ; look up duty cycle value and move movwf CounterL ; move duty cycle into CCP1CON and CCPR1L swapf CounterL,w andlw 0x30 iorlw 0x8D ; keep integrity of CCP1CON, half bridge mode movwf CCP1CON ; P1A active high, P1B active low rrf CounterL,w movwf CounterH rrf CounterH,w andlw 0x30 movwf CCPR1L movf Index,w ; is it time to change stepper state? andlw 0x07 btfss STATUS,Z return ; no, then return incf State,f ; yes, then increment state return ;****************************************************************************** ; ChangeMode5State ; Increment or decrement motor state so that motor position corresponds to ; potentiometer position ;****************************************************************************** ChangeMode5State bcf INTCON,T0IF ; clear interrupt flag btfss FDirection ; what direction does the motor need to turn? goto Reverse ; reverse, then goto reverse routine Forward ; move motor clockwise incf Index,f ; increment duty cycle lookup register call DutyCycleLookup ; look up duty cycle value and move movwf CounterL ; it into CCP1CON and CCPR1L swapf CounterL,w andlw 0x30 iorlw 0x8D ; keep integrity of CCP1CON, half bridge mode movwf CCP1CON ; P1A active high, P1B active low rrf CounterL,w movwf CounterH rrf CounterH,w andlw 0x30 movwf CCPR1L movf Index,w ; is it time to change stepper state? andlw 0x07 btfss STATUS,Z goto Mode5StateMachine ; no, then just go back to state machine incf State,f ; yes, then increment state movf Index,w ; are we at the beginning of the duty cycle lookup table? andlw 0x0F btfss STATUS,Z goto Mode5StateMachine ; no, then just go back to state machine incf PositionMotor,f ; yes, then increment motor position and goto goto Mode5Start ; position compare routine Reverse ; move motor counter-clockwise movf Index,w ; is it time to change stepper state? andlw 0x07 btfsc STATUS,Z decf State,f ; yes, then decrement state incf Index,f ; increment duty cycle lookup register call DutyCycleLookup ; look up duty cycle value and move movwf CounterL ; into CCP1CON and CCPR1L swapf CounterL,w andlw 0x30 iorlw 0x8D ; keep integrity of CCP1CON, half bridge mode movwf CCP1CON ; P1A active high, P1B active low rrf CounterL,w movwf CounterH rrf CounterH,w andlw 0x30 movwf CCPR1L ; are we at the beginning of the duty cycle lookup table? movf Index,w andlw 0x0F btfss STATUS,Z goto Mode5StateMachine ; no, then just go back to state machine decf PositionMotor,f ; yes, then decrement motor position and goto goto Mode5Start ; position compare routine ;****************************************************************************** ; DutyCycleLookup ; Contains a table of Cosine values. ; ;****************************************************************************** DutyCycleLookup movlw high LookupTable movwf PCLATH movf Index,w andlw 0x0F addlw low LookupTable btfsc STATUS,C incf PCLATH,f movwf PCL LookupTable retlw .251 retlw .238 retlw .217 retlw .188 retlw .154 retlw .114 retlw .70 retlw .24 retlw .24 retlw .70 retlw .114 retlw .154 retlw .188 retlw .217 retlw .238 retlw .251 ;****************************************************************************** ; Delay10ms ; 10ms delay loop. ; ;****************************************************************************** Delay10ms clrf CounterL movlw 30 movwf CounterH Delay10msLoop decfsz CounterL,f goto Delay10msLoop decfsz CounterH,f goto Delay10msLoop return ;****************************************************************************** ; Debounce ; Debounce button press and turn off motor. ; ;****************************************************************************** Debounce clrf CCPR1L ; clear duty cycle clrf CCP1CON clrf PORTA ; turn of all control pins clrf PORTC incf Mode,f ; next mode please Debounce1 ; wait for SW1 to be unpressed for 10ms btfss SW1 ; wait here until button is released goto Debounce1 bcf INTCON,RAIF ; Once release make sure it doesn't change call Delay10ms ; for 10ms before moving to next state btfsc INTCON,RAIF goto Debounce1 goto ModeSelect ; goto mode select state machine END ; directive 'end of program'