12F675 eigenwijze stapmotor aansturing

/*
 * File:   Deu1.c
 * Author: deluxe
 *
 * Created on July 24, 2026, 11:03 PM
 */


// 'C' source line config statements
// PIC12F675 Configuration Bit Settings


#pragma config FOSC = INTRCIO   // Oscillator Selection bits (INTOSC oscillator: I/O function on GP4/OSC2/CLKOUT pin, I/O function on GP5/OSC1/CLKIN)
#pragma config WDTE = OFF       // Watchdog Timer Enable bit (WDT disabled)
#pragma config PWRTE = OFF      // Power-Up Timer Enable bit (PWRT disabled)
#pragma config MCLRE = OFF       // GP3/MCLR pin function select (GP3/MCLR pin function is digital I/O, MCLR internally tied to VDD)
#pragma config BOREN = OFF      // Brown-out Detect Enable bit (BOD disabled)
#pragma config CP = OFF         // Code Protection bit (Program Memory code protection is disabled)
#pragma config CPD = OFF        // Data Code Protection bit (Data memory code protection is disabled)

// #pragma config statements should precede project file includes.
// Use project enums instead of #define for ON and OFF.

#include <xc.h>
//#include <pic12f675.h>
//#include <builtins.h>
//#include <stdint.h>

/*
* GP0  --> "DIR" LV8729 (U3) / "PGD" PICkit (Pin5)
* GP1  --> "Open/Close" Switch (S1,S2) / "PGC" PICkit (Pin4)
* GP2  --> "AN2" Current Sense (R9) / Buzzer
* GP3  --> "Calibration" Switch (S3) / "VPP" PICkit (Pin1)
* GP4  --> "AN3" Potmeter (P1)
* GP5  --> "STEP" LV8729 / 
*/

//int _XTAL_FREQ=4000000;
#define _XTAL_FREQ 4000000  
    
#define Dir       GP0  // 0=openen / 1=sluiten
#define DoCycle   GP1  // open or close / 0 if button pressed
#define Buzzer    GP2  // 1 to buzz
#define Calibrate GP3  // 0 if button pressed
#define Potmeter  GP4  // 
#define Step      GP5  // Step level

char k=0;
char l=0;

void trace(char K , char L) // voor debugging / K aantal perioden / L duur
{
    TRISIO=0b00011100 ;   //GP1 temp output
    GP1=0;
    __delay_us(500);
    for (k=1;k<=K;k++)
       {
        GP1=1;
        for (l=1;l<=L;l++) __delay_us(10);
        GP1=0;
        for (l=1;l<=L;l++) __delay_us(10);
       };
    GP1=1;
    __delay_us(500);
    TRISIO=0b00011110 ;   //GP1 is weer input
}

unsigned int n=0;
const unsigned int period=2500; // in microseconds

void steps(unsigned int N)       // N aantal stappen
{
    //trace(2,10);
    for (n=1;n<=N;n++)
 {
     GP5=1;
     __delay_us(period/2);
     GP5=0;                      // met 0 eindigen zodat driver gedisabled wordt
     __delay_us(period/2);
 }
}


const char Isense =2;
const char Loper =4;
char result =0;

char meet(char bron) // 2=current / 4=loper potmeter
{
  ANSEL=0b01101100;//0 110=4MHz>16us clock 1100 AN3 and AN2 selected as analog
  if (bron==Isense) ADCON0=0b10001000;//resultaat rechts, Vdd=ref, meet AN2
  if (bron==Loper)  ADCON0=0b00001100;//resultaat links, Vdd=ref, meet AN3
  ADON=1; // Enable ADC
  __delay_us(100);                       // setup sample hold time
  GO=1;                                 // converteer
  while (GO_nDONE==1);      // wacht tot conversie klaar is / zie pic12f675.h
  if (bron==Isense){result= ADRESL;trace(1,ADRESL);}//bereik 0 tot 256*5mV/8bit
  if (bron==Loper) {result= ADRESH;trace(1,ADRESH);}//bereik 0 tot VDD=5V/8bit
  ANSEL = 0;
  return result;
}                     //wat ook kan int result = ((ADRESH<<8)+ADRESL);


void buzz(void)
{
    //trace(3,10);
    TRISIO = 0b00011010;  // GP2 tijdelijk output
    Buzzer=1;             //buzzer aan
    __delay_ms(150);      // minimum aan tijd
    Buzzer=0;             //buzzer uit
    TRISIO = 0b00011110;  // GP2 nu input om current te sensen
    __delay_ms(150);      //ingang settle time 10uF 
}


__bit GoOn ; // __bit type kun je niet initializen
             //binnen main, static gebruiken er buiten is het global

__eeprom char LLower=70;      // voor stroomuitval eindpunten behoeden
__eeprom char UUpper=180;     // ongeveer 128 apart = 1/3 omwenteling =20mm

void main(void) 
{
 
//////////////////////////////
// MCU I/O initialization
//////////////////////////////
       
// GPIO = 0b00001010 ;     //
OPTION_REG = 0b11010001; // 1101 0001 tmr0 enabled prescale 4 internal clock = 1MHz
INTCON = 0b00000000;     //0000 0000 no interupts
TRISIO = 0b00011110;     // 0001 1110 only DIR and Step are outputs
                         // during buzz GP2 is temp output
ADCON0 = 0b10001001;     // 1000 10=AN2 11=AN3 0= no start 1=AD is ON
//ANSEL  = 0b01101100 ;    // 0 110=4MHz/64=62,5kHz`16us 1100 AN3 and AN2 selected as analog
ANSEL = 0;
CMCON  = 0b00000111 ;    // zet compare analog interfere uit
  


const unsigned int Turn1Third =17*66;// vertraging x 1/3 omwenteling / van motor tot omwenteling

const char Ilimit=60;    // =60*5V/1024, 0,3V/0,5Ohm=0,6A

const char lowermin=60;
const char lowerplus=100;
const char uppermin=150;
const char upperplus=190;

char result;

char Lower; //ondereindpunt
char Upper; //boveneindpunt

  
steps(1);   // stepper driver resets to off state

Lower=LLower;
Upper=UUpper;

while(1) 
  {
    GoOn=0;
    
    //GP1=1; kunnen GP1 niet setten want het is een input
    //GP3=1;
   
    if (!GP3)       //callibratie Lower, Upper
    {
        //trace(6,10);
        __delay_ms(200);    //anti dender
        while (!GP3)     
        steps(20);  //beweeg voorzichtig naar een eindpunt, stop zelf 
        while (GP1); //wacht op cycle button om eindpunt te zetten
        result=meet(Loper);
        if ((GP0==0)&(result>=lowermin)&(result<=lowerplus)) 
           {Lower=result;LLower=result;};
        if ((GP0==1)&(result>=uppermin)&(result<=upperplus)) 
           {Upper=result;UUpper=result;};
        GP0=!GP0;         //richting verandert om tot andere eindpunt te komen
        __delay_ms(200); // anti dender GP1
    };
    
    
    while (!GP1 | GoOn)   // openen en sluiten
      {
         //trace(5,10);
         GoOn=1;     //beweeg tot cycle afgelopen is
         steps(40);  //beweeg voorzichtig 0,1s = 40 steps
        
         if (meet(Isense)>Ilimit) buzz(); //alarm bij teveel weerstand
        
         // kom je bij een eindpunt keerom en beweeg 1/3 omwenteling terug
         result=meet(Loper);
         if (result<Lower|result>Upper) {GP0=!GP0;steps(Turn1Third);GoOn=0;};//Turn1Third
      };
  }
}