setmotor.c

在博创的44B0开发板上做的一个电机控制的程序

#include <stdio.h>
#include <unistd.h>
#include <linux/delay.h>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/ioctl.h>
#include <pthread.h>
#include "hardware.h"
#include "motor.h"
#include "exio.h"
#include "motor.c"
#include "exio.c"


#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 Delay(int t){
	//struct timespec dt={0,10000};
	//dt.tv_nsec*=t;
	//nanosleep(&dt, NULL);
	int i;
	for(;t>0;t--)
		for(i=0;i<400;i++);
}

short device;

int setmotor(int data,short dev)
{	//////////////////A,  AB,  B,   BC,   C,  CD, D,    DA
	int stepdata[]={0x10,0x30,0x20,0x60,0x40,0xc0,0x80,0x90};
	int i,speed,count;
//	void *retval;
	init_exio();

        device=dev;

        //start MotorPort
	init_MotorPort();
	Delay(1);
	
        while(device==0) {
                if(k==0){
                  break;
                }
		speed=data;
		Delay(10);
		SetPWM(speed*MOTOR_CONT/1024);
		Delay(10);
	}
	SetPWM(0);
	Delay(1000);
        while(k!=0){}        
	
        /* control step motor*/
	i=0;
	while(device==1){
		count=data;
		if(count>0){
			i++;
		}else if (count<0){
			i--;
			count=-count;
		}
		i=0x7&i;
		SETEXIOBITMASK(stepdata[i], 0xf0);		
		Delay(512*10/count);
	}
        init_MotorPort();
        exit_MotorPort();
	return 0;
}