www.pudn.com > stepper123.rar > stepper.c
/****************************************************************************/
/* */
/* FILE NAME VERSION */
/* */
/* STEPPER.C 1.0 */
/* */
/* DESCRIPTION */
/* */
/* JX44B0(S3C44B0X)步进电机实验 */
/* */
/* */
/* DATA STRUCTURES */
/* */
/* FUNCTIONS : */
/* 在JX44B0教学实验箱进行步进电机控制的实验 */
/* */
/* DEPENDENCIES */
/* JX44B0-1 */
/* JX44B0-2 */
/* JX44B0-3 */
/* */
/* */
/* NAME: */
/* REMARKS: */
/* */
/* Copyright (C) 2003 Wuhan CVTECH CO.,LTD */
/****************************************************************************/
/****************************************************************************/
/* 学习JX44B0实验箱中的步进电机控制方法： */
/****************************************************************************/
/* 包含文件 */
#include "44b.h"
#define STEP_INTERVALE 0x40
#define STEPER_VALUE_MIN 0x40
#define STEPER_VALUE_MAX 0x1000
#define STEPER_MOTOR_ENABLE 1
#define STEPER_MOTOR_DISABLE 0
#define STEPER_MOTOR_CLOCKWISE 0
#define STEPER_MOTOR_ANTICLOCKWISE 1
#define true 1
#define false 0
#define STEPER_ENABLE 0x01
#define STEPER_SINGLE 0x02
#define STEPER_REVERSE 0x04
#define MIN_STEPER_PLUSE_FREQ 0x300
#define MAX_STEPER_PLUSE_FREQ 0x100000
#define SET_STEPER_ENABLE(X) \
{ \
if(X) \
steper_control_mask |= (1<<3); \
else \
steper_control_mask &= ~(1<<3); \
*(unsigned char *)0x0a000006 = steper_control_mask; \
}
#define SET_STEPER_REVERSE(X) \
{ \
if(X)steper_control_mask |= (1<<2); \
else steper_control_mask &= ~(1<<2); \
*(unsigned char *)0x0a000006 = steper_control_mask; \
}
#define GEN_PLUSE_HIGH() {rPDATC |= (1<<11);}
#define GEN_PLUSE_LOW() {rPDATC &= (~(1<<11));}
typedef (*ISR_ROUTINE_ENTRY)(void);
char key_get_char(int row, int col);
void init_interrupt_handler(unsigned int irq_handler);
void install_isr_handler(int irq_no, void* irq_routine);
void timer1_isr(void);
void IsrIRQ() __attribute__ ((interrupt("IRQ")));
static int steper_control_mask = 0xf8;
int step_status; /* 当前步进电机的工作状态 */
int step_mode; /* 模式:单步或循环，正反转 */
int step_freq; /* 步进频率 */
/*****************************************************************************
// Function name : key_get_char
// Description : 根据键盘行列键值查询键
// 键盘定义
// 1 2 3 UP(C)
// 4 5 6 DOWN(D)
// 7 8 9 Cancel(E)
// 0 .(A) Del(B) Enter(F)
// Return type : char
// Argument : int row
// Argument : int col
*****************************************************************************/
char key_get_char(int row, int col)
{
char key;
switch( row )
{
case 0:
if((col & 0x01) == 0) key = '7';
else if((col & 0x02) == 0) key = '1';
else if((col & 0x04) == 0) key = '0';
else if((col & 0x08) == 0) key = '4';
break;
case 1:
if((col & 0x01) == 0) key = '8';
else if((col & 0x02) == 0) key = '2';
else if((col & 0x04) == 0) key = 'A';
else if((col & 0x08) == 0) key = '5';
break;
case 2:
if((col & 0x01) == 0) key = '9';
else if((col & 0x02) == 0) key = '3';
else if((col & 0x04) == 0) key = 'B';
else if((col & 0x08) == 0) key = '6';
break;
case 3:
if((col & 0x01) == 0) key = 'E';
else if((col & 0x02) == 0) key = 'C';
else if((col & 0x04) == 0) key = 'F';
else if((col & 0x08) == 0) key = 'D';
break;
default:
break;
}
return key;
}
/********************************************************************
// Function name : stepper_control
// Description : 步进电机使能控制
// Return type : void
// Argument : int benable
// STEPER_MOTOR_ENABLE -- stepper enable
// STEPER_MOTOR_DISABLE -- stepper disable
*********************************************************************/
void stepper_control(int benable)
{
if(benable == STEPER_MOTOR_ENABLE)
{
steper_control_mask |= (1<<3);
*(unsigned char *)0x0a000006 = steper_control_mask;
}
else
{
steper_control_mask &= (~(1<<3));
*(unsigned char *)0x0a000006 = steper_control_mask;
}
}
/********************************************************************
// Function name : stepper_set_direct
// Description : 步进电机方向控制
// Return type : void
// Argument : int direct
// STEPER_MOTOR_CLOCKWISE -- clockwise direction
// STEPER_MOTOR_ANTICLOCKWISE -- anticlockwise direction
*********************************************************************/
void stepper_set_direct(int direct)
{
if(direct == STEPER_MOTOR_CLOCKWISE)
{
steper_control_mask |= (1<<2);
*(unsigned char *)0x0a000006 = steper_control_mask;
}
else
{
steper_control_mask &= (~(1<<2));
*(unsigned char *)0x0a000006 = steper_control_mask;
}
}
/*****************************************************************************
// Function name : delay
// Description : 延时子程序
// Return type : void
// Argument : count,延时的数值
*****************************************************************************/
#define delay(count) {int cnt; for(cnt = 0; cnt <= count; cnt ++);};
/*****************************************************************************
// Function name : Main
// Description : 步进电机驱动程序
// 键盘定义
// 1(正反转) 2(使能) 3 UP(加速)
// 4 5 6 DOWN(减速)
// 7 8 9 Cancel(退出)
// 0 . Del Enter
// Return type : void
// Argument : void
*****************************************************************************/
void Main(void)
{
int bout = 0;
int init_rTCNTB1 = STEPER_VALUE_MIN;
int port_con_c, port_up_c;
int row;
int ascii_key, input_key0, input_key1,input_key2, key_mask = 0x0F;
unsigned char* keyboard_port_scan = (unsigned char*)0x02000000;
unsigned char* keyboard_port_value = (unsigned char*)0x02000002;
*(unsigned char *)0x0a000006 = 0xf8;
// bakup the config of port c
port_con_c = rPCONC;
port_up_c = rPUPC;
// config the port c
rPCONC = port_con_c | (1 << 22);
rPUPC = port_up_c | (1 << 11);
/* 设置步进电机初始工作状态 */
step_mode = step_status = 0;
/* 设置并启动定时器1 T = rTCNTB0*{prescaler value+1}*{divider value}/MCLK */
rTCFG0 = 0xff;
rTCFG1 = 0x10;
rTCNTB1 = 0x200; /* T = 0x80*{255+1}*{4}/60M = 1/(60*2^3) S */
/* 0x40 <= rTCNTB1 <= 0x1000 */
rTCON = 0x00000200;
rTCON = 0x00000900;
rINTCON = 0x7; /* Non-vect,IRQ disable,FIQ disable */
init_interrupt_handler((unsigned int)IsrIRQ);
install_isr_handler(HandleTIMER1, (void*)timer1_isr);
rINTMOD = 0x0;
rINTMSK = 0x07ffffff & ~(BIT_GLOBAL|BIT_TIMER1);
rINTCON = 0x5;
while(1)
{
for( row = 0; row < 4; row++)
{
*keyboard_port_scan = ~(0x00000001<=4)continue;
row = 0;
switch( ascii_key )
{
case 'C': // 加速
if((init_rTCNTB1 - STEP_INTERVALE) >= STEPER_VALUE_MIN)
{
init_rTCNTB1 -= STEP_INTERVALE;
}
else
{
*((unsigned char*)0x02000006) = 0x00;
*((unsigned char*)0x02000004) = 0xc0;
delay(10000);
*((unsigned char*)0x02000006) = 0xff;
init_rTCNTB1 = STEPER_VALUE_MIN;
}
rTCNTB1 = init_rTCNTB1;
break;
case 'D': // 减速
if((init_rTCNTB1 + STEP_INTERVALE) < STEPER_VALUE_MAX)
{
init_rTCNTB1 += STEP_INTERVALE;
}
else
{
*((unsigned char*)0x02000006) = 0x00;
*((unsigned char*)0x02000004) = 0x80;
delay(10000);
*((unsigned char*)0x02000006) = 0xff;
init_rTCNTB1 = STEPER_VALUE_MAX;
}
rTCNTB1 = init_rTCNTB1;
break;
case '1': // 正反转控制
step_mode ^= STEPER_REVERSE;
break;
case '2': // 使能控制
step_mode ^= STEPER_MOTOR_ENABLE;
break;
case 'E': // 退出
case 'e': // 退出
bout = 1;
break;
default:
bout = bout;
break;
}
if(bout)break;
}
//
rTCON = 0x00000000;
SET_STEPER_ENABLE(false);
rPCONC = (1 << 22);
while(1); /* dead here */
}
/*****************************************************************************
// Function name : rtc_tick_isr
// Description : TICK中断处理程序
// Return type : int
// Argument : void
*****************************************************************************/
void timer1_isr(void)
{
rI_ISPC=BIT_TIMER1;
if((step_mode^step_status)&STEPER_ENABLE)
{
/* 使能控制 */
if(step_mode&STEPER_ENABLE)
{
/* 启动电机*/
SET_STEPER_ENABLE(true);
step_status |= STEPER_ENABLE;
}
else
{
/* 关闭电机*/
SET_STEPER_ENABLE(false);
step_status &= ~STEPER_ENABLE;
return;
}
}
if((step_mode^step_status)&STEPER_REVERSE)
{
/* 翻转控制 */
if(step_mode&STEPER_REVERSE)
{
SET_STEPER_REVERSE(true);
step_status |= STEPER_REVERSE;
}
else
{
SET_STEPER_REVERSE(false);
step_status &= ~STEPER_REVERSE;
}
}
/* 电机转动一次 */
GEN_PLUSE_LOW();
GEN_PLUSE_HIGH();
if(step_mode&STEPER_SINGLE)
{
/* 设置关闭标志，在下一个周期关闭电机*/
step_mode &= ~STEPER_ENABLE;
}
}
/*****************************************************************************
// Function name : IsrIRQ
// Description : 非矢量方式下中断的查表处理
// 中断地址表位于0x0c7fff00开始的256字节
// Return type : void
// Argument : void
*****************************************************************************/
void IsrIRQ()
{
int count = 0;
unsigned int isr_pending;
unsigned int isr_mask = 0x00000001;
unsigned int isr_mask_set = rINTMSK;
ISR_ROUTINE_ENTRY isr_routine_entry = (ISR_ROUTINE_ENTRY)0x0;
__asm__ (
"STMFD SP!, {r1,r4-r8} @ SAVE r1,r4-r10 \n"
"nop \n");
isr_pending = (rINTPND & ~isr_mask_set);
while(isr_mask)
{
if(isr_pending&isr_mask)
{
isr_routine_entry = (ISR_ROUTINE_ENTRY)(*(int*)(HandleADC+count));
break;
}
count+=4;
isr_mask <<= 1;
}
if(isr_routine_entry) (*isr_routine_entry)();
__asm__ (
"LDMFD SP!, {r1,r4-r8} @ RESTORE r1,r4-r10 \n"
"nop \n");
}
/*****************************************************************************
// Function name : init_interrupt_handler
// Description : 非矢量方式下中断向量表初始化处理
// Return type : void
// Argument : irq_handler
// 中断处理函数入口
*****************************************************************************/
void init_interrupt_handler(unsigned int irq_handler)
{
int i;
rINTPND = 0x00000000; /* 清除所有未决的中断 */
rI_ISPC = 0x03FFFFFF;
for( i = 0; i < 256; i+=4) /* 清除中断表 */
*(unsigned int*)(_ISR_STARTADDRESS+i) = 0;
*(unsigned int*)(HandleIRQ) = irq_handler; /* 设置IRQ模式处理函数 */
}
/*****************************************************************************
// Function name : install_isr_handler
// Description : 非矢量方式下中断向量的安装
// Return type : void
// Argument : irq_no, 中断号
// irq_routine, 中断处理函数地址
*****************************************************************************/
void install_isr_handler(int irq_no, void* irq_routine)
{
*(unsigned int*)(irq_no) = (unsigned int)irq_routine;
}