--->>>  예제  Step_Motor01.c  <<<------------------------------
#include <stdio.h>
#include <wiringPi.h>
#include <wiringPiI2C.h>

#define STEP_I2C_ADDR    0x20

#define IN_PORT0 0x00
#define IN_PORT1 0x01
#define OUT_PORT0 0x02
#define OUT_PORT1 0x03
#define POLARITY_IVE_PORT0  0x04
#define POLARITY_IVE_PORT1  0x05
#define CONFIG_PORT0     0X06
#define CONFIG_PORT1     0x07

const int aPhase_1[4] = {0x80, 0x40, 0x20, 0x10};

int fd;

int main(void)
{
if((fd=wiringPiI2CSetup(STEP_I2C_ADDR))<0)
{
return -1;
}

wiringPiI2CWriteReg16(fd, CONFIG_PORT0, 0x00);

int i;

while(1)
{
for(i=0; i<4; i++)
{
wiringPiI2CWriteReg16(fd, OUT_PORT0, aPhase_1[i]);
delay(10);
}
}
return 0;
}
---------------------------------------------------------------------------------
$ gcc  -o  Step_Motor01  Step_Motor01.c  -lwiringPi
$ sudo  ./Step_Motor01


--->>>  예제  Step_Motor02.c    <<<--------------------------------------------------------------------------
#include <stdio.h>
#include <wiringPi.h>
#include <wiringPiI2C.h>

#define STEP_I2C_ADDR 0x20

#define IN_PORT0 0x00
#define IN_PORT1 0x01
#define OUT_PORT0 0x02
#define OUT_PORT1 0x03
#define POLARITY_IVE_PORT0 0x04
#define POLARITY_IVE_PORT1 0x05
#define CONFIG_PORT0 0x06
#define CONFIG_PORT1 0x07

const int aPinSwitch[2] = {6,5};

const int aPhase_2[4] = {0xC0, 0x60, 0x30, 0x90};

const int aPhase_12[8] = {0x10, 0x30, 0x20, 0x60, 0x40, 0xC0, 0x80, 0x90};

int fd;

int interruptFlag = 0;

void changePhaseTo2(void)
{
interruptFlag = 0;
}

void changePhaseTo12(void)
{
interruptFlag = 1;
}

int main(void)
{
if((fd = wiringPiI2CSetup(STEP_I2C_ADDR))<0)
{
return -1;
}

wiringPiSetupGpio();

int i;
for(i=0; i<2; i++)
{
pinMode(aPinSwitch[i], INPUT);
}

wiringPiI2CWriteReg16(fd, CONFIG_PORT0, 0x00);

wiringPiISR(aPinSwitch[0], INT_EDGE_RISING, changePhaseTo2);
wiringPiISR(aPinSwitch[1], INT_EDGE_RISING, changePhaseTo12);


while(1)
{
if(interruptFlag ==0)
{
for(i=0; i<4; i++)
{
wiringPiI2CWriteReg16(fd, OUT_PORT0, aPhase_2[i]);
delay(10);
}
}
else
{


for(i=7; i>=0; i--)
{
wiringPiI2CWriteReg16(fd, OUT_PORT0, aPhase_12[i]);
delay(10);
}
}
}
return 0;
}
--------------------------------------------------------------------------------------------------
$ gcc  -o  Step_Motor02  Step_Motor02.c  -lwiringPi
$ sudo  ./Step_Motor02