Исходник:
#include <pic.h>
__CONFIG(0x03F70);
#define DELAY 500
#define SWEEP 50
#define NUMSTEPS 4
volatile unsigned int RTC = 0;
volatile unsigned char ButtonPress = 0;
char step[] = {160, 96, 80, 144}; /* RB4, RB5, RB6, RB7 */
char stepPos = 0;
void interrupt tmr0_int(void)
{
if (T0IF) {
T0IF = 0;
RTC++;
if(!RA4) ButtonPress = 10;
else
if(!RA3) ButtonPress = 20;
else ButtonPress = 30;
}
}
void Dlay(unsigned int msecs)
{
unsigned int DlayEnd;
DlayEnd = RTC + msecs + 1;
while(DlayEnd != RTC);
}
/* pulse the motor with the current coil setting
* and then wait for delay mS
*/
void pulseMotor(char delay) {
PORTB = step[stepPos];
Dlay(delay);
}
/* Advance the coil settings forward by one step
* stepPos is left pointing to the *next* code to output to move forward
*/
void stepMotorForw(void) {
stepPos++;
if(stepPos == NUMSTEPS)
stepPos = 0;
}
/* Advance the motor backward by one step
* stepPos is left pointing to the *next* code to output to move backward
*/
void stepMotorBack(void) {
/* advance stepPos to before where we were */
/* do wrap around */
if(stepPos == 0) {
stepPos = NUMSTEPS-1;
} else {
stepPos--;
}
}
void
main(void)
{
char i;
OPTION = 0x0D1;
TMR0 = 0;
T0IE = 1;
GIE = 1;
CMCON = 0x007;
PORTA = 0x018;
TRISA1 = 0x0EF;
PORTB = 0x000;
TRISB = 0x00F;
while(1){
switch(ButtonPress){
case 10:
for(i=0; i < SWEEP; i++) {
pulseMotor(DELAY);
stepMotorForw();
}
break;
case 20:
for(i=0; i < SWEEP; i++) {
stepMotorBack();
pulseMotor(DELAY);
}
break;
case 30:
default:
break;
}
}
}
