main.c

ARM7 S3C44B0X 电机转动控制实验代码

#include"uhal.h"
#include "44b.h"
#include"myuart.h"
#include"motorctrl.h"
#include"exio.h"
#include "option.h"
#include <math.h>

#define MOTOR_SEVER_FRE		1000		//20kHz
#define MOTOR_CONT				(MCLK/2/2/MOTOR_SEVER_FRE)
#define MOTOR_MID				(MOTOR_CONT/2)

#define ADCCON_FLAG		0x40
#define ADCCON_SLEEP		0x20

#define ADCCON_ADIN0		(0x0<<2)
#define ADCCON_ADIN1		(0x1<<2)
#define ADCCON_ADIN2		(0x2<<2)
#define ADCCON_ADIN3		(0x3<<2)
#define ADCCON_ADIN4		(0x4<<2)
#define ADCCON_ADIN5		(0x5<<2)
#define ADCCON_ADIN6		(0x6<<2)
#define ADCCON_ADIN7		(0x7<<2)

#define ADCCON_READ_START	0x2
#define ADCCON_ENABLE_START	0x1

void init_ADdevice()
{//初始化
	rADCPSR=20;
	rADCCON=ADCCON_SLEEP;
}

int GetADresult(int channel)
{
	rADCCON=(channel<<2)|ADCCON_ENABLE_START;
	Delay(10);
	while(!(rADCCON&ADCCON_FLAG));//转换结束
	return rADCDAT;//返回采样值
}

int Main(int argc, char **argv)
{
	int i,j,ADData,lastADData,count=0;
	char Revdata[10];
	//////////////A,		AB,	B,	BC,	C	CD,		D,	DA
	int stepdata[]={0x10,0x30,0x20,0x60,0x40,0xc0,0x80,0x90};
	
	ARMTargetInit();	//开发版初始化
	init_MotorPort();
	init_ADdevice();
	for(;;)
	{
	begin:
		Uart_Printf("\nBegin control DC motor.\t\tPress any key to control step motor.\n");
		for(;;)
		{
			ADData=GetADresult(0);
			Delay(10);
			SetPWM((ADData-512)*MOTOR_CONT/1024);
			Delay(10);
			
			if((rUTRSTAT0 & 0x1))	//有输入，则跳出
			{
				*Revdata=RdURXH0();
				goto next;
			}
		}

	next:
		SetPWM(0);
		Uart_Printf("\nBegin control step motor.\tPress any key to control DC motor.\n");
		lastADData=GetADresult(0);
		Delay(10);
		
		for(;;)
		{
	loop:	if((rUTRSTAT0 & 0x1))	//有输入，则返回
			{
				*Revdata=RdURXH0();
				goto begin;
			}
			ADData=GetADresult(0);
			if(abs(lastADData-ADData)<20) 
			{
				goto loop;
			}
			Delay(10);
			count=-(ADData-lastADData)*12;
			//(ADData-lastADData)*270/1024为ad旋钮转过的角度，360/256为步距角，
			//由于接了1/64减速器，两者之商再乘以64为步进电机相应转过的角度
			if(count>=0)
			{//转角大于零
				for(j=0;j<count/8;j++)
				{
					for(i=0;i<=7;i++)
					{
						SETEXIOBITMASK(stepdata[i], 0xf0);
						Delay(20);
					}
				}
			}
			else
			{//转角小于零
				count=-count;
				for(j=0;j<count/8;j++)
				{
					for(i=7;i>=0;i--)
					{
						SETEXIOBITMASK(stepdata[i], 0xf0);
						Delay(20);
					}
				}
			}
			lastADData=ADData;
		}
	}
	return 0;
}