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File: STEP508.ASM
; This assembly code is designed for the PIC12C508A microcontroller.
; It functions as a step and direction controller for a unipolar stepper motor.
; The step and direction pins are connected to GPIO-5 and GPIO-3, while the windings are controlled via GPIO-0, GPIO-1, GPIO-2, and GPIO-4.
; These outputs are driven by NPN small signal transistors or MOSFETs.
; Steps are triggered on the negative edge of the step pulse.
; CPU Configuration
; It's a 12C508A with internal RC oscillator, watchdog timer off, power-up timer on.
LISTP=12C508A
processor 12c508A
include
; Configuration bits
; __config IntRC_OSC & _WDT_OFF & _PWRTE_ON & _MCLRE_OFF
; Variable declarations
pattA equ H'0D' ; Current step pattern number (0-7) for axis A
lastA equ H'0E' ; Last state of step pin on axis A (1 = high, 0 = low)
inport equ H'11' ; Value of port A when read (stored for later access)
Temp equ H'12'
; Define step and direction pins
#DEFINE STEP inport, 5 ; Step pulse input
#DEFINE DIR inport, 3 ; Direction input
OPMASK EQU B'11000000'
IOMASK EQU B'00101000' ; All bits output (except GP3 and GP5)
; GP0, GP1, GP2, GP4 control the stepper coils
; GP3 controls direction
; GP5 controls step pulses
ORG 0
; Start of main code
; *************************************************
;
; START OF PIC12c508A CODE FOR STEP
;
; *************************************************
;
;------------------------------------------
;**** Power-on reset start point
;------------------------------------------
;*** Initialization of program
MOVWF OSCCAL
MOVLW OPMASK
OPTION
; Set GPIO for input & output
MOVLW IOMASK
TRIS GPIO
; Clear port and zero motors
MOVlw B'00000001'
MOVwf GPIO
clrflastA
clrf pattA
; Loop around for a while to let everything stabilize
MOVlw D'255'
MOVwf inport
Loop: decfsz inport, f
; goto loop
;*** Basic program loop
; Main routine - check pin states and step on negative edge
; Get port data and store, then check axis A
; A10 checks if old is 0, new is 1 (update register)
; A01 checks if old is 1, new is 0 (step and update register)
; Similarly for axis B
Main: MOVf GPIO, w
MOVwf inport
CLRWDT
A10: btfsr lastA, 0
goto A01
btfss STEP
goto A01
bsf lastA, 0
A01: btfss lastA, 0
goto B10
btfsc STEP
goto B10
bcf lastA, 0
goto stepA
B10: goto main
;------------------------------------------
;*** stepA - sub to cycle axis A one full step
; Dir of 1 is increase, else decrease
stepA: btfss DIR
decf pattA, f
btfsc DIR
incf pattA, f
; Check for pattern overflow and fix
MOVf pattA, w
XORLW '255'
MOVlw D'07'
btfsc STATUS, Z
MOVwf pattA
MOVf pattA, w
XORLW '08'
btfsc STATUS, Z
clrf pattA
; Get step pattern and send to GPIO on bits 0-1-2-4
MOVf pattA, w
Call dcode
MOVwf GPIO
goto main
;------------------------------------------
;*** stepcode - sub to generate bit pattern for number in W (!! MUST BE 0-7 !!)
; Pattern is stored in W register
dcode: addwf PCL, f ; Use below column for half-step
retlw B'00000001' ; 0
retlw B'00000010' ; 1
retlw B'00000100' ; 2
retlw B'00010000' ; 3
retlw B'00000001' ; 4
retlw B'00000010' ; 5
retlw B'00000100' ; 6
retlw B'00010000' ; 7
; Mandatory end of program command
End
; PIC16F508 Stepper Motor Program
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