motor.c

DSP原程序 有多个数据包 下载学习之用

#define	TIM		*(int *)0x24
#define	PRD     *(int *)0x25
#define	TCR		*(int *)0x26
#define	IMR		*(int *)0x0
#define	IFR		*(int *)0x1		
#define	PMST	*(int *)0x1d	
#define SPSA0 *(unsigned int *)0x38
#define SPSD0 *(unsigned int *)0x39
#define SPSA1 *(unsigned int *)0x48
#define SPSD1 *(unsigned int *)0x49
#define T46uS		0x0d00
//#define T46uS		0x0d40

void Delay(unsigned int nTime);
void interrupt time(void);
char ConvertScanToChar(unsigned char cScanCode);

ioport unsigned char port8001;	
unsigned int uWork,nCount;

main()
{
	unsigned int nSpeed,nScanCode,uWork1;
	unsigned char cKey;
	int i,j;

	SPSA1=1;	// set McBSP1's SPCR2
	uWork=SPSD1;
	uWork&=0xfffe;	// set XRST=0
	SPSD1=uWork;
	SPSA1=0x0e;	// set McBSP1's PCR1
	uWork=SPSD1;
	uWork|=0x2400;	// set XIOEN=1 FSXM=1, Enable IO,FSR for output
	SPSD1=uWork;
	SPSA0=0;	// set McBSP0's SPCR1
	uWork=SPSD0;
	uWork&=0xfffe;	// set RRST=0
	SPSD0=uWork;
	SPSA0=0x0e;	// set McBSP0's PCR1
	uWork=SPSD0;
	uWork|=0x1101;	// set RIOEN=1 FSXM=1, Enable IO,CLKR for output,set Motor's direction to 1
	SPSD0=uWork;
	uWork1= PMST; 		      
	PMST = uWork1&0xff;
	IMR = 0x8;
	TCR = 0x412;
	TIM = 0;
	PRD = T46uS;
	nSpeed=T46uS;
	TCR = 0x422;
	IFR = 0x100;
	asm("	rsbx	INTM");
	for ( i=0;i<10240;i++ )
		for ( j=0;j<1024;j++ )
		{
			nScanCode=port8001;
			nScanCode&=0x0ff;
			if ( nScanCode!=0 )
			{
				cKey=ConvertScanToChar(nScanCode);
				if ( cKey=='A' )
				{
	  				TCR = 0x412;
					SPSA0=0;	
					uWork1=SPSD0;
					uWork1&=0xfffe;	
					SPSD0=uWork1;
					SPSA0=0x0e;
					uWork1=SPSD0;
					uWork1|=0x1101;	//set Motor's direction to 1
					SPSD0=uWork1;
					Delay(512);
					PRD=nSpeed; 
	 			 	TCR = 0x422;
				}
				else if ( cKey=='B' )
				{
	  				TCR = 0x412;
					SPSA0=0;	
					uWork1=SPSD0;
					uWork1&=0xfffe;	
					SPSD0=uWork1;
					SPSA0=0x0e;
					uWork1=SPSD0;
					uWork1|=0x1100;	//set Motor's direction to 0
					uWork1&=0xfffe;
					SPSD0=0x1100;//uWork1;
					Delay(512);
					PRD=nSpeed; 
	  				TCR = 0x422;
				}
			}
	}
}               

void Delay(unsigned int nDelay)
{
	int i,j,k=0;
	for ( i=0;i<nDelay;i++ )
		for ( j=0;j<64;j++ )
			k++;
}

void interrupt time(void)
{
		SPSA1=1;	// set McBSP1's SPCR2
		uWork=SPSD1;
		uWork&=0xfffe;	// set XRST=0
		SPSD1=uWork;
		SPSA1=0x0e;	// set McBSP1's PCR1
		uWork=SPSD1;
		uWork|=0x2400;	// set XIOEN=1 FSXM=1, Enable IO,FSR for output
		uWork^=0x4;	// FSRP=^FSRP
		SPSD1=uWork;
		nCount++;
}

char KeyLUT[16]={ 'A','B','C','D', 
  			      'E','F','G','H',
				  'I','J','K','L',
				  'M','N','O','P'
				};
char ConvertScanToChar(unsigned char cScanCode)
{
	int nWork;
	unsigned int uWork1,uWork2;
	 
	uWork1=uWork2=cScanCode;
	uWork1>>=4;
	uWork2&=0x0f;
	switch ( uWork1 )
	{
		case 1: nWork=0; break;
		case 2: nWork=4; break;
		case 4: nWork=8; break;
		case 8: nWork=12; break;
	}
	switch ( uWork2 )
	{
		case 1: nWork+=3; break;
		case 2: nWork+=2; break;
		case 4: nWork+=1; break;
	}
	return KeyLUT[nWork];
}