From: Mark Willcox
; stepr.asm, To learn stepper motor and a2d converter for a 16f873
;last edited 5/25/2000. Originated by Tony Nixon and modified by
;Mark Willcox. Step code, 3-6-C-9,is output on portB, Hex code is
;output on portC by an 8 LED bargraph display. A 50k pot is used to vary
;time delay eg, step speed.
; The wiper of the pot goes to RA0 (analog input) the high end of the pot
;goes to +Vdd and the other end of the pot goes to -Vss/ground.
; PortB is connected to a darlington pair consisting of a 2N3904 driving
;a MJE3055T. Each coil(collector) is clamped by a 1N4934 diode to common
;ground. The stepper motor is a SLO-SYN 200oz/in, 3V@4A.
; This is a fun code to play with, you can reverse direction by
;reversing the step sequence, ie, 9-C-6-3.
; Have fun and please send me any modifications that make this code
;better. Thanks again to Tony Nixon for all his help. Mark Willcox.
;
#include <p16F873.inc>
LIST p=16F873, ;R=HEX
__config _XT_OSC & _PWRTE_ON & _WDT_OFF & _LVE_OFF
errorlevel 1,-302
CBLOCK 0X20
CounterA,CounterB,store
ENDC
f EQU 1
w EQU 0
OUTPUT EQU 06
org 00h
clrf PORTA
clrf PORTB
clrf PORTC
clrf store
bsf STATUS,RP0
MOVLW B'00000001'
MOVWF TRISA ;all outputs except RA0
CLRF TRISB
CLRF TRISC
MOVLW B'00010110' ;left justified, RA0 = input
MOVWF ADCON1
MOVLW B'11010111' ;prescaler 1:256 tmr0, internal clock
MOVWF OPTION_REG
BCF STATUS,RP0
MOVLW B'01000001' ;a2d = on, ch0, fosc/8
MOVWF ADCON0
mnloop ;btfss INTCON,T0IF ;50us loop delay @ 4Mhz
;goto mnloop ;This part makes motor too slow!
BCF INTCON,T0IF
BSF ADCON0,GO_DONE ;start a2d conversion
WAITA2D NOP ;wait 4 finish
BTFSC ADCON0,GO_DONE
GOTO WAITA2D
MOVF ADRESH,w ;upper 8 bits-ignor lower 3,semi colon 4 debug
;MOVLW H'03' ;for debug only
MOVWF store ;put a/d value in reg for time delay
MOVWF PORTC ;display binary on portC
MOVLW H'03' ;step sequence
MOVWF OUTPUT ;to motor driver circuitry
CALL DELAY ;variable delay
MOVLW H'06' ;To reverse motor direction...
MOVWF OUTPUT ;9
CALL DELAY ;C
MOVLW H'0C' ;6
MOVWF OUTPUT ;3
CALL DELAY
MOVLW H'09'
MOVWF OUTPUT
CALL DELAY
GOTO mnloop
DELAY movf store,w
movwf CounterB
movwf CounterA
loop nop
decfsz CounterA,f
goto loop
decfsz CounterB,f
goto loop
return
END
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