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Stepper Motor Controller

posted Nov 2, 2010, 3:02 PM by Bill Bai
Here's another simple program that controls a stepper motor.  

/*
Bill Bai

Stepper Motor Controller
*/

#include <avr/io.h>
#include <avr/interrupt.h>

#define CLK 20000000 //20MHz clock

//Define functions
//======================
void ioinit(void);      //Initializes IO
void stepper(void);
void init_Timer0(void);
//======================

int main (void)
{
    ioinit(); //Setup IO pins and defaults
init_Timer0();
sei();
//unsigned char step[4] = {0x09,0x0C,0x06,0x03};

    while(1)
    {
    }
   
    return(0);
}

unsigned char step = 0;
void stepper(void)
{
unsigned char step_array[8] = {0x0C,0x04,0x06,0x02,0x03,0x01,0x09,0x08};
if(step==8)
step=0;
PORTC = step_array[step];
step++;
}

unsigned int count = 0;
ISR(TIMER0_OVF_vect)
{
    if( count == 100 ) //100*1ms
{
stepper();
}
else
{
count++;
}
PORTB = PORTB ^ 0xFF;
TCNT0 = 0; //reset timer 0 counter
}

void ioinit (void)
{
    //1 = output, 0 = input
    DDRB = 0b11111111; //All outputs
    DDRC = 0b11111111; //All outputs
    DDRD = 0b11111111; //PORTD (RX on PD0)
}

//Initialize Timer0
void init_Timer0(void)
{
TCNT0 = 255;
TCCR0A = 0;
TCCR0B = 5;
TIMSK0 = 1;
}
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