6-2 步进电动机实现两轴联动直线运动程序

电动机,dsPIC,自动控制,程序

《步进电动机实现两轴联动直线运动程序》

.equ __30F6010, 1

.include "C:\Program Files\Microchip\MPLAB ASM30 Suite\Support\inc\p30f6010.inc" .global __reset

.global __OC7Interrupt

.global __OC8Interrupt

config __FOSC, CSW_FSCM_OFF & XT_PLL4

config __FWDT, WDT_OFF

config __FBORPOR, PBOR_ON & BORV_27 & PWRT_16 & MCLR_EN

config __FGS, CODE_PROT_OFF

.bss

XAL: .space 2

XBL: .space 2

YAL: .space 2

YBL: .space 2

XAH: .space 2

XBH: .space 2

YAH: .space 2

YBH: .space 2

tL: .space 2

tH: .space 2 ;

K: .space 2

dXL: .space 2

dYL: .space 2

dXH: .space 2

dYH: .space 2

Tx: .space 2

Ty: .space 2

DIR: .space 2

NXL: .space 2

NXH: .space 2

NYL: .space 2

NYH: .space 2

Testx: .space 2

Testy: .space 2

.text

__reset:

mov #__SP_init, W15

mov #__SPLIM_init, W0

mov W0, SPLIM

nop

clr W0

mov W0, W14

repeat #12