Stepper Motor Help

Discussion in 'Homework Help' started by ty4reel, Apr 24, 2008.

  1. ty4reel

    Thread Starter New Member

    Mar 27, 2008
    I'm having trouble getting my stepper motor to step clockwise. Can someone help me with my code to see what I'm missing?

    #include <mc9s12dp256.h>

    //structure definition, type definition, initialize struct - rotation sequence
    struct rotate{ // holds a rotation sequence (multiple rotations)
    int num_steps; // 100 = 100 steps (360 degrees if stepangle = 3.6 degrees)
    int direction; // 1=CW, 0=CCW
    typedef struct rotate rot_type;

    rot_type sequence[2] = { // this table defines the 2 rotations in the sequence
    {100,1}, // 100 steps CW
    {50,0} // 50 steps CCW

    //structure definition, type definition, initialize struct - coil patterns
    struct state{ // a linked structure (one structure for each state)
    unsigned char patrn; // coil pattern
    struct state *Next[2]; // holds next state if direction = 0,1
    typedef struct state state_type;
    // state 0 is defined by the 0th structure in fsm, state 1 by the 1st, etc.
    #define S0 &fsm[0]
    #define S1 &fsm[1]
    #define S2 &fsm[2]
    #define S3 &fsm[3]

    state_type fsm[4] = { // motor specific -- a structure containing 4 structures
    {0x33,{S1,S3}}, // coil pattern and next state when current state is S0
    {0x66,{S2,S0}}, // ditto when current state is S1, etc..

    //function prototypes
    void delayv(void);
    void load_swi_addr(void);

    void main(){
    int i, steps;
    state_type *ptr; // setup a pointer to a state-type data structure...
    ptr = S0; // ...and initialize it to point to state S0 in fsm
    load_swi_addr( );
    DDRB |= 0xF0; // PB7-PB4 output
    for(i=0;i<2;i++){ // 2 rotations in the sequence
    steps = sequence.num_steps;
    PORTB = ptr->patrn;//send out coil pattern of state pointed to by ptr
    ptr = ptr->Next[sequence.direction];//pt to appropriate next state
    delayv( ); //wait before sending another pattern
    steps--; //keep rotating until all steps in current rotation are sent

    void delayv( ){ // adjust count for motor application
    unsigned int i,j;

    void load_swi_addr( ){
    asm("ldx #$ef00");
    asm("stx $3e76"); //loads the isr for swi into the pseudo-vector table
    /********* end of file ***********************/
  2. hgmjr

    Retired Moderator

    Jan 28, 2005

    Reformatted you source code to make it more readable.