一个用51单片机控制步进电机的例子，很全面，带有proteus仿真及原理图和源程序：
仿真工程文件及所有完整程序等资料下载地址：
/bbs/dpj-56304-1.html
单片机源程序：
#include <AT89X51.h>
#include <stdio.h>
#include <math.h>
#define uc unsigned char
#define ui unsigned int
#define LCDPAGE 0xB8 //设置页指令。
#define LCDLINE 0x40 //设置列指令。
sbit E= P3^5;
sbit RW=P3^4;
sbit RS=P3^2;
sbit L=P3^1; //左半平面
sbit R=P3^0; //右半平面
sbit Busy=P2^7;// //忙 判断位
uc scan_key1,scan_key2; //按键功能选择，00 停止，01 正转 10 反转
uc step1;step2;
staticstep_index;
ui count1,count2; //定时
uc butter; //按键
staticspeed;//速度参数
//;本文件为16×16点阵中文字库文件,字的横向8点构成一字节,左边点在字节的高
//位,字符点阵四角按左上角→右上角→左下角→右下角取字
//;如你想在以后继续用HZDotReader打开文件,追加汉字点阵数据,请不要修改或增删所有注释
uc code JIANG[]=
{
//;江 CBDAD
0x10,0x60,0x01,0xC6,0x30,0x00,0x04,0x04,
0x04,0xFC,0x04,0x04,0x04,0x04,0x00,0x00,
0x04,0x04,0x7E,0x01,0x20,0x20,0x20,0x20,
0x20,0x3F,0x20,0x20,0x20,0x20,0x20,0x00,
};
uc code XI[]=
{
//;西 CCEF7
0x02,0xF2,0x12,0x12,0x12,0xFE,0x12,0x12,
0x12,0xFE,0x12,0x12,0x12,0xF2,0x02,0x00,
0x00,0x7F,0x28,0x24,0x22,0x21,0x20,0x20,
0x20,0x21,0x22,0x22,0x22,0x7F,0x00,0x00,
};
uc code LI[]=
{
//;理 CC0ED
0x44,0x44,0xFC,0x44,0x44,0x00,0xFE,0x92,
0x92,0xFE,0x92,0x92,0x92,0xFE,0x00,0x00,
0x10,0x10,0x0F,0x08,0x48,0x40,0x45,0x44,
0x44,0x7F,0x44,0x44,0x44,0x45,0x40,0x00,
};
uc GONG[]=
{
//;工 CB9A4
0x00,0x00,0x02,0x02,0x02,0x02,0x02,0xFE,
0x02,0x02,0x02,0x02,0x02,0x02,0x00,0x00,
0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x3F,
0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x00,
};
uc code DA[]=
{
//;大 CB4F3
0x20,0x20,0x20,0x20,0x20,0x20,0xA0,0x7F,
0xA0,0x20,0x20,0x20,0x20,0x30,0x20,0x00,
0x00,0x40,0x40,0x20,0x10,0x0C,0x03,0x00,
0x01,0x06,0x08,0x10,0x20,0x60,0x20,0x00
};
uc XUE[]=
{
//;学 CD1A7
0x40,0x30,0x10,0x12,0x5C,0x54,0x50,0x51,
0x5E,0xD4,0x50,0x18,0x57,0x32,0x10,0x00,
0x00,0x02,0x02,0x02,0x02,0x02,0x42,0x82,
0x7F,0x02,0x02,0x02,0x02,0x02,0x02,0x00,
};
uc code ZI[]= //自动化
{
0x00,0x00,0x00,0xF8,0x48,0x48,0x4C,0x4B,
0x4A,0x48,0x48,0x48,0xF8,0x00,0x00,0x00,
0x00,0x00,0x00,0xFF,0x44,0x44,0x44,0x44,
0x44,0x44,0x44,0x44,0xFF,0x00,0x00,0x00,
};
uc code DONG[]=
{
0x20,0x24,0x24,0xE4,0x24,0x24,0x24,0x20,
0x10,0x10,0xFF,0x10,0x10,0xF0,0x00,0x00,
0x08,0x1C,0x0B,0x08,0x0C,0x05,0x4E,0x24,
0x10,0x0C,0x03,0x20,0x40,0x3F,0x00,0x00,
};
uc code HUA[]=
{
0x80,0x40,0x20,0xF8,0x07,0x02,0x00,0x00,
0xFF,0xC0,0x60,0x30,0x1C,0x08,0x00,0x00,
0x00,0x00,0x00,0x7F,0x00,0x04,0x02,0x01,
0x3F,0x40,0x40,0x40,0x40,0x78,0x00,0x00,
};
uc code CHANG[]= //常
{
0x20,0x18,0x08,0x09,0xEE,0xAA,0xA8,0xAF,
0xA8,0xA8,0xEC,0x0B,0x2A,0x18,0x08,0x00,
0x00,0x00,0x3E,0x02,0x02,0x02,0x02,0xFF,
0x02,0x02,0x12,0x22,0x1E,0x00,0x00,0x00,
};
uc code YUN[]= //运
{
0x40,0x41,0xCE,0x04,0x00,0x20,0x22,0xA2,
0x62,0x22,0xA2,0x22,0x22,0x22,0x20,0x00,
0x40,0x20,0x1F,0x20,0x28,0x4C,0x4A,0x49,
0x48,0x4C,0x44,0x45,0x5E,0x4C,0x40,0x00,
};
uc code XING[]=//行
{
0x10,0x08,0x84,0xC6,0x73,0x22,0x40,0x44,
0x44,0x44,0xC4,0x44,0x44,0x44,0x40,0x00,
0x02,0x01,0x00,0xFF,0x00,0x00,0x00,0x00,
0x40,0x80,0x7F,0x00,0x00,0x00,0x00,0x00,
};
uc code ZHENG[ ] =
{
/*正 CD5FD */
0x00,0x02,0x02,0xC2,0x02,0x02,0x02,0x02,
0xFE,0x82,0x82,0x82,0x82,0x82,0x02,0x00,
0x20,0x20,0x20,0x3F,0x20,0x20,0x20,0x20,
0x3F,0x20,0x20,0x20,0x20,0x20,0x20,0x00,
};
uc code ZHUAN[ ] =
{
/*转 CD7AA */
0xC8,0xA8,0x9C,0xEB,0x88,0x88,0x88,0x40,
0x48,0xF8,0x4F,0x48,0x48,0x48,0x40,0x00,
0x08,0x08,0x04,0xFF,0x04,0x04,0x00,0x02,
0x0B,0x12,0x22,0xD2,0x0E,0x02,0x00,0x00,
};
uc code FAN[ ] =
{
/*反 CB7B4 */
0x00,0x00,0xFE,0x12,0x72,0x92,0x12,0x12,
0x12,0x11,0x91,0x71,0x01,0x00,0x00,0x00,
0x40,0x30,0x4F,0x40,0x20,0x21,0x12,0x0C,
0x0C,0x12,0x11,0x20,0x60,0x20,0x00,0x00,
};
uc code TING[] =
{
/*停 CCDA3 */
0x80,0x40,0x20,0xF8,0x07,0x02,0x04,0x74,
0x54,0x55,0x56,0x54,0x74,0x04,0x04,0x00,
0x00,0x00,0x00,0xFF,0x00,0x03,0x01,0x05,
0x45,0x85,0x7D,0x05,0x05,0x05,0x03,0x00,
};
uc code ZHI[ ] =
{
/*止 CD6B9 */
0x00,0x00,0x00,0x00,0xF0,0x00,0x00,0x00,
0xFF,0x40,0x40,0x40,0x40,0x40,0x00,0x00,
0x40,0x40,0x40,0x40,0x7F,0x40,0x40,0x40,
0x7F,0x40,0x40,0x40,0x40,0x40,0x40,0x00,
};
uc code JIA[]= //加
{
0x00,0x08,0x08,0x08,0xFF,0x08,0x08,0xF8,
0x00,0xF8,0x08,0x08,0x08,0xF8,0x00,0x00,
0x40,0x20,0x18,0x07,0x00,0x20,0x40,0x3F,
0x00,0x7F,0x10,0x10,0x10,0x3F,0x00,0x00,
};
uc code SU[]= //速
{
0x40,0x42,0xCC,0x00,0x04,0xE4,0x24,0x24,
0xFF,0x24,0x24,0x24,0xE4,0x04,0x00,0x00,
0x40,0x20,0x1F,0x20,0x48,0x49,0x45,0x43,
0x7F,0x41,0x43,0x45,0x4D,0x40,0x40,0x00,
};
uc code JIAN[]= //减
{
0x00,0x02,0xEC,0x00,0xF8,0x28,0x28,0x28,
0x28,0x28,0xFF,0x08,0x8A,0xEC,0x48,0x00,
0x02,0x5F,0x20,0x18,0x07,0x00,0x1F,0x49,
0x5F,0x20,0x13,0x0C,0x13,0x20,0x78,0x00,
}; //输出空白区域
uc code BAI[]=
{
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
};
uc code DI[]= //低
{
0x40,0x20,0xF0,0x0C,0x07,0x02,0xFC,0x44,
0x44,0x42,0xFE,0x43,0x43,0x42,0x40,0x00,
0x00,0x00,0x7F,0x00,0x00,0x00,0x7F,0x20,
0x10,0x28,0x43,0x0C,0x10,0x20,0x78,0x00,
};
//////////////////函数声明 **************////////
//************************************************
void iniLCD(void);
void chkbusy(void);
void wcode(uc cd) ;
void wdata(uc dat);
void disrow(uc page,uc col,uc *temp);
void display( uc page,uc col,uc *temp);
void ground(step); //转步
void run1(); //正转
void run2();
void stop();
void delay(ui time);
//************************************
//**************LCD初始化 ***************
//*********************************
void iniLCD(void) //初始化
{ L=1;R=1;
wcode(0x38);
wcode(0x0f); //开显示 设置
wcode(0xc0); //设置显示启动为第一行
wcode(0x01); //清屏
wcode(0x06); //画面不动，光标右移。
}
//******************LCD判断忙的子程序**********
//**********************************************8
void chkbusy(void) // 测LCD忙状态
{
E=1; //使能LCD
RS=0; //读写指令
RW=1; //读
P2=0xff; //读操作前先进行一次空读操作 ，接下来才能读到数据
while(!Busy); //等待，不忙退出
}
//*****************************************
//*****************写指令代码*****************
//***********************************************
void wcode(uc cd) //写指令 代码
{
chkbusy(); //写等待
P2=0xff; //使能LCD
RW=0;//读禁止
RS=0;//输出 设置
P2=cd; //写数据代码
E=1; //以下两句产生下降沿
E=0; //
}
//*******************把显示数据写到内存单元中 *****************
void wdata(uc dat)//写显示数据
{
chkbusy(); //写等待
P2=0xff;//使能LCD
RW=0; //读禁止
RS=1; //输出 设置
P2=dat; //写数据代码
E=1; //以下两句产生下降沿
E=0; //
}
//***********************************************
//****************显示LCD程序********************
//*****************可以更改程序中的64变为32就可以输出数字了**********
//****************************************************************
//*************还可以换成生成图片的形式，具体****************
///****************************************************
voiddisrow(uc page,uc col,uc *temp)
{
uc i;
if(col<64)// 左半平面
{
L=1;R=0;
wcode(LCDPAGE+page); // 写指令 页
wcode(LCDLINE+col); //写指令行
if((col+16)<64)//如果字在左半平面显示不了，转到右半平面去
{
for(i=0;i<16;i++) //写字
wdata(*(temp+i));
}
else//右半平面
{
for(i=0;i<64-col;i++) //减去左边数，从右半平面第一位开始显示
wdata(*(temp+i)); //写字 显示
L=0;R=1; //右半平面
wcode(LCDPAGE+page);// 写指令 页
wcode(LCDLINE); //写指令行
for(i=64-col;i<16;i++) //写字 右半平面
wdata(*(temp+i));
}
}
else
{
L=0;R=1;
wcode(LCDPAGE+page); // 写指令 页
wcode(LCDLINE+col-64);//写指令行
for(i=0;i<16;i++) //写字
wdata(*(temp+i));
}
}
//*********************供调用 ****子程序 *************
//****************************************
voiddisplay( uc page,uc col,uc *temp)
{
disrow( page, col, temp); //显示上半字
disrow( page+1, col, temp+16); //显示下半字
}
//***********************主***控****程********序********************
//******************************************************************
//***************程序完成于6月 1日，儿童节********************
//***************程序员：韩福伟************************************
//**********江西理工大学应用科学学院机电学部自动化******************
//******************************************************************
//*********
void main(void)
{
P2=0xff;
iniLCD(); //初始化 LCD
display(0,0x00,&JIANG); // 江
display(0,0x10,&XI); // 西
display(0,0x20,&LI); // 理
display(0,0x30,&GONG); // 工
display(0,0x40,&DA); //大
display(0,0x50,&XUE);// 学
step2=0;
step1=0;
P1=0xff;
P0=0;
EX1=1;
EA=1;//开中断
speed=;
while(1)
{
if((scan_key1==1)&(scan_key2==0))// 正转
{
display(6,0x00,&ZHENG); //LCD显示
display(6,0x10,&ZHUAN);
ground(step_index);
delay(speed);
step_index++; //大于7，从头再来
if(step_index>7)
step_index=0;
}
if((scan_key1==0)&(scan_key2==1)) //反转
{
ground(step_index);
display(6,0x00,&FAN); // LCD显示
display(6,0x10,&ZHUAN);
delay(speed);
step_index--;
if(step_index<0) //小于0，从头再来。
step_index=7;
}
if(scan_key1==0&scan_key2==0)
{
display(6,0x00,&TING); // 停止
display(6,0x10,&ZHI);
display(6,0x20,&BAI);
display(6,0x30,&BAI);
P0=0xff;
}
if(step1==1&step2==0)
{
speed=speed-100;
if(speed<200|speed==200) //小于话，说明电机的速度不能再提高了。
{ speed=200; //speed参数自己设定，以下遇到也是一样的。我只是一个乱写的值
display(6,0x20,&ZHENG); //正常运行
display(6,0x30,&CHANG);
display(6,0x40,&YUN);
display(6,0x50,&XING);
}
else//加速
{
display(6,0x20,&JIA);
display(6,0x30,&SU);
}
}
if(step1==0&step2==1)
{
speed=speed+100; //这里面的参数，论实际情况更改
if(speed>2500|speed==2500) //如果 小于了，就说明到饿低速，可以用停止按键停止。
{ speed=2500; //低速运行
display(6,0x20,&DI);
display(6,0x30,&SU);
display(6,0x40,&YUN);
display(6,0x50,&XING);
}
else
{
display(6,0x20,&JIAN);//减速
display(6,0x30,&SU);
}
}
}
}
//***************************************************
//************************* 延时子程序**************
//**************************************************
void delay(ui time) ///延时程序
{ for (count1=0;count1<time;count1++ ) //此处可以用中断进行准确定时。我只是瞎定了几个参数
for(count2=0;count2<3;count2++);
}
//*********************************************************
//******************按键处理程序****************************
//************************************************************
void key(void) interrupt 2
{
uc i;
for(i=0;i<200;i++); //延时防抖
if(P3_3==0)
{
butter=~P1;
switch(butter)
{case 0x01: scan_key1=1;scan_key2=0; break; //正常运行 ，用两个数字进行选择，是不错的办法
case 0x02: scan_key1=0;scan_key2=0;break; //停止
case 0x04: scan_key1=0 ;scan_key2=1; break; //加速
case 0x08: step1=1;step2=0;break;//减速
case 0x10: step1=0;step2=1;break; //正转
default : ; //其它值返回
}
}
P1=0XFF;
}
//**************************************************
//**********************转步************************
//**************************************************
void ground(step_index) //转步
{
switch(step_index)
{
case 0://0 // 这里就说明了同步电机是怎么转的。我本来是用了代码的，
P0_0 = 1; //但是后来考虑了一些初学者不懂同步电机到底怎么转的
P0_1 = 0; //我就换成这个了， 知道怎么转的人，就换成代码把，一样的
P0_2 = 0;
P0_3 = 0;
break;
case 1://0,1
P0_0 = 1;
P0_1 = 1;
P0_2 = 0;
P0_3 = 0;
break;
case 2://1
P0_0 = 0;
P0_1 = 1;
P0_2 = 0;
P0_3 = 0;
break;
case 3://1,2
P0_0 = 0;
P0_1 = 1;
P0_2 = 1;
P0_3 = 0;
break;
case 4://2
P0_0 = 0;
P0_1 = 0;
P0_2 = 1;
P0_3 = 0;
break;
case 5://2,3
P0_0 = 0;
P0_1 = 0;
P0_2 = 1;
P0_3 = 1;
break;
case 6://3
P0_0 = 0;
P0_1 = 0;
P0_2 = 0;
P0_3 = 1;
break;
case 7://3,0
P0_0 = 0;
P0_1 = 0;
P0_2 = 0;
P0_3 = 1;
}
}
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