;********************************************************

;
; Stepper Motor controller
;
; Author : Seiichi Inoue
;********************************************************
list p=pic16f84a
include p16f84a.inc
__config _hs_osc & _wdt_off & _pwrte_on & _cp_off
errorlevel -302 ;Eliminate bank warning
;**************** Label Definition ********************
cblock h'0c'
mode ;Operation mode
;0=stop 1=right 2=left
count1 ;Wait counter
count2 ;Wait counter(for 1msec)
endc
rb0 equ 0 ;RB0 of PORTB
rb1 equ 1 ;RB1 of PORTB
rb2 equ 2 ;RB2 of PORTB
rb5 equ 5 ;RB5 of PORTB
rb7 equ 7 ;RB7 of PORTB
;**************** Program Start ***********************
org 0 ;Reset Vector
goto init
org 4 ;Interrupt Vector
clrf intcon ;Clear Interruption reg
;**************** Initial Process *********************
init
bsf status,rp0 ;Change to Bank1
clrf trisa ;Set PORTA all OUT
movlw b'00100111' ;RB0,1,2.5=IN RB7=OUT
movwf trisb ;Set PORTB
movlw b'10000000' ;RBPU=1 Pull up not use
movwf option_reg ;Set OPTION_REG
bcf status,rp0 ;Change to Bank0
clrf mode ;Set mode = stop
clrf count1 ;Clear counter
clrf count2 ;Clear counter
movlw b'00000101' ;Set PORTA initial value
movwf porta ;Write PORTA
bsf portb,rb7 ;Set RB7 = 1
btfsc portb,rb5 ;RB5 = 0 ?
goto $-1 ;No. Wait
start
;************* Check switch condition *****************
btfsc portb,rb1 ;RB1(stop key) = ON ?
goto check1 ;No. Next
clrf mode ;Yes. Set stop mode
goto drive ;No. Jump to motor drive
check1
btfsc portb,rb2 ;RB2(right key) = ON ?
goto check2 ;No. Next
movlw d'1' ;Yes. Set right mode
movwf mode ;Save mode
goto drive ;No. Jump to motor drive
check2
btfsc portb,rb0 ;RB0(left key) = ON ?
goto drive ;No. Jump to motor drive
movlw d'2' ;Yes. Set left mode
movwf mode ;Save mode
;******************** Motor drive *********************
drive
movf mode,w ;Read mode
bz start ;mode = stop
bsf portb,rb7 ;Set RB7 = 1
btfsc portb,rb5 ;RB5 = 0 ?
goto $-1 ;No. Wait
movlw d'5' ;Set loop count(5msec)
movwf count1 ;Save loop count
loop call timer ;Wait 1msec
decfsz count1,f ;count - 1 = 0 ?
goto loop ;No. Continue
bcf portb,rb7 ;Set RB7 = 0
btfss portb,rb5 ;RB5 = 1 ?
goto $-1 ;No. Wait
movf porta,w ;Read PORTA
sublw b'000000101' ;Check motor position
bnz drive2 ;Unmatch
movf mode,w ;Read mode
sublw d'1' ;Right ?
bz drive1 ;Yes. Right
movlw b'00001001' ;No. Set Left data
goto drive_end ;Jump to PORTA write
drive1
movlw b'00000110' ;Set Right data
goto drive_end ;Jump to PORTA write
;-------
drive2
movf porta,w ;Read PORTA
sublw b'000000110' ;Check motor position
bnz drive4 ;Unmatch
movf mode,w ;Read mode
sublw d'1' ;Right ?
bz drive3 ;Yes. Right
movlw b'00000101' ;No. Set Left data
goto drive_end ;Jump to PORTA write
drive3
movlw b'00001010' ;Set Right data
goto drive_end ;Jump to PORTA write
;-------
drive4
movf porta,w ;Read PORTA
sublw b'000001010' ;Check motor position
bnz drive6 ;Unmatch
movf mode,w ;Read mode
sublw d'1' ;Right ?
bz drive5 ;Yes. Right
movlw b'00000110' ;No. Set Left data
goto drive_end ;Jump to PORTA write
drive5
movlw b'00001001' ;Set Right data
goto drive_end ;Jump to PORTA write
;-------
drive6
movf porta,w ;Read PORTA
sublw b'000001001' ;Check motor position
bnz drive8 ;Unmatch
movf mode,w ;Read mode
sublw d'1' ;Right ?
bz drive7 ;Yes. Right
movlw b'00001010' ;No. Set Left data
goto drive_end ;Jump to PORTA write
drive7
movlw b'00000101' ;Set Right data
goto drive_end ;Jump to PORTA write
;-------
drive8
movlw b'00000101' ;Compulsion setting
drive_end
movwf porta ;Write PORTA
goto start ;Jump to start
;************* 1msec Timer Subroutine *****************
timer
movlw d'200' ;Set loop count
movwf count2 ;Save loop count
tmlp nop ;Time adjust
nop ;Time adjust
decfsz count2,f ;count - 1 = 0 ?
goto tmlp ;No. Continue
return ;Yes. Count end
;********************************************************
; END of Stepper Motor controller
;********************************************************
end