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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>AVR446 - Linear speed control of stepper motor: sm_driver.c Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.3.7 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="annotated.html">Data Structures</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Data Fields</a> | <a class="qindex" href="globals.html">Globals</a> | <a class="qindex" href="pages.html">Related Pages</a></div><h1>sm_driver.c</h1><a href="sm__driver_8c.html">Go to the documentation of this file.</a><pre class="fragment"><div>00001 <span class="comment">/*This file has been prepared for Doxygen automatic documentation generation.*/</span>00024 <span class="preprocessor">#include <ioavr.h></span>00025 <span class="preprocessor">#include "<a class="code" href="global_8h.html">global.h</a>"</span>00026 <span class="preprocessor">#include "<a class="code" href="sm__driver_8h.html">sm_driver.h</a>"</span>00027 00028 <span class="comment">// Bit position for data in step table</span><a name="l00029"></a><a class="code" href="sm__driver_8c.html#a0">00029</a> <span class="preprocessor">#define BIT_A1 3</span><a name="l00030"></a><a class="code" href="sm__driver_8c.html#a1">00030</a> <span class="preprocessor"></span><span class="preprocessor">#define BIT_A2 2</span><a name="l00031"></a><a class="code" href="sm__driver_8c.html#a2">00031</a> <span class="preprocessor"></span><span class="preprocessor">#define BIT_B1 1</span><a name="l00032"></a><a class="code" href="sm__driver_8c.html#a3">00032</a> <span class="preprocessor"></span><span class="preprocessor">#define BIT_B2 0</span>00033 <span class="preprocessor"></span><a name="l00035"></a><a class="code" href="sm__driver_8c.html#a4">00035</a> __flash <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="sm__driver_8c.html#a4">steptab</a>[] = {((1<<<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (0<<<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (0<<<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (0<<<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),00036 ((1<<<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (0<<<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (1<<<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (0<<<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),00037 ((0<<<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (0<<<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (1<<<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (0<<<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),00038 ((0<<<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (1<<<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (1<<<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (0<<<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),00039 ((0<<<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (1<<<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (0<<<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (0<<<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),00040 ((0<<<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (1<<<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (0<<<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (1<<<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),00041 ((0<<<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (0<<<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (0<<<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (1<<<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),00042 ((1<<<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (0<<<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (0<<<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (1<<<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>))};00043 <a name="l00045"></a><a class="code" href="sm__driver_8c.html#a5">00045</a> <span class="keywordtype">int</span> <a class="code" href="sm__driver_8c.html#a5">stepPosition</a> = 0;00046 <a name="l00049"></a><a class="code" href="sm__driver_8h.html#a10">00049</a> <span class="keywordtype">void</span> <a class="code" href="sm__driver_8c.html#a6">sm_driver_Init_IO</a>(<span class="keywordtype">void</span>)00050 {00051 <span class="comment">// Init of IO pins</span>00052 <a class="code" href="sm__driver_8h.html#a3">SM_PORT</a> &= ~((1<<<a class="code" href="sm__driver_8h.html#a5">A1</a>) | (1<<<a class="code" href="sm__driver_8h.html#a6">A2</a>) | (1<<<a class="code" href="sm__driver_8h.html#a7">B1</a>) | (1<<<a class="code" href="sm__driver_8h.html#a8">B2</a>)); <span class="comment">// Set output pin registers to zero</span>00053 <a class="code" href="sm__driver_8h.html#a4">SM_DRIVE</a> |= ((1<<<a class="code" href="sm__driver_8h.html#a5">A1</a>) | (1<<<a class="code" href="sm__driver_8h.html#a6">A2</a>) | (1<<<a class="code" href="sm__driver_8h.html#a7">B1</a>) | (1<<<a class="code" href="sm__driver_8h.html#a8">B2</a>)); <span class="comment">// Set output pin direction registers to output</span>00054 }00055 <a name="l00066"></a><a class="code" href="sm__driver_8h.html#a11">00066</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="sm__driver_8h.html#a11">sm_driver_StepCounter</a>(<span class="keywordtype">signed</span> <span class="keywordtype">char</span> inc)00067 {00068 <span class="comment">// Counts 0-1-...-6-7 in halfstep, 0-2-4-6 in fullstep</span>00069 <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> counter = 0;00070 <span class="comment">// Update</span>00071 <span class="keywordflow">if</span>(inc == <a class="code" href="sm__driver_8h.html#a1">CCW</a>){00072 <a class="code" href="sm__driver_8c.html#a5">stepPosition</a>--;00073 }00074 <span class="keywordflow">else</span>{00075 <a class="code" href="sm__driver_8c.html#a5">stepPosition</a>++;00076 }00077 00078 <span class="preprocessor">#ifdef HALFSTEPS</span>00079 <span class="preprocessor"></span> <span class="keywordflow">if</span>(inc){00080 counter++;00081 }00082 <span class="keywordflow">else</span>{00083 counter--;00084 }00085 <span class="preprocessor">#else</span>00086 <span class="preprocessor"></span> <span class="keywordflow">if</span>(inc){00087 counter += 2;00088 }00089 <span class="keywordflow">else</span>{00090 counter -= 2;00091 }00092 <span class="preprocessor">#endif</span>00093 <span class="preprocessor"></span>00094 <span class="comment">// Stay within the steptab</span>00095 counter &= 0x07;00096 <a class="code" href="sm__driver_8h.html#a12">sm_driver_StepOutput</a>(counter);00097 <span class="keywordflow">return</span>(counter);00098 }00099 <a name="l00108"></a><a class="code" href="sm__driver_8h.html#a12">00108</a> <span class="keywordtype">void</span> <a class="code" href="sm__driver_8h.html#a12">sm_driver_StepOutput</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> pos)00109 {00110 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> temp = <a class="code" href="sm__driver_8c.html#a4">steptab</a>[pos];00111 00112 <span class="comment">/*</span>00113 <span class="comment"> // Output bit by bit</span>00114 <span class="comment"> if(temp&(1<<BIT_A1))</span>00115 <span class="comment"> SM_PORT |= (1<<A1);</span>00116 <span class="comment"> else</span>00117 <span class="comment"> SM_PORT &= ~(1<<A1);</span>00118 <span class="comment"></span>00119 <span class="comment"> if(temp&(1<<BIT_A2))</span>00120 <span class="comment"> SM_PORT |= (1<<A2);</span>00121 <span class="comment"> else</span>00122 <span class="comment"> SM_PORT &= ~(1<<A2);</span>00123 <span class="comment"></span>00124 <span class="comment"> if(temp&(1<<BIT_B1))</span>00125 <span class="comment"> SM_PORT |= (1<<B1);</span>00126 <span class="comment"> else</span>00127 <span class="comment"> SM_PORT &= ~(1<<B1);</span>00128 <span class="comment"></span>00129 <span class="comment"> if(temp&(1<<BIT_B2))</span>00130 <span class="comment"> SM_PORT |= (1<<B2);</span>00131 <span class="comment"> else</span>00132 <span class="comment"> SM_PORT &= ~(1<<B2);</span>00133 <span class="comment"> */</span>00134 00135 <span class="comment">// Output the fast way</span>00136 <a class="code" href="sm__driver_8h.html#a3">SM_PORT</a> |= ((temp<<4)&0xF0);00137 <a class="code" href="sm__driver_8h.html#a3">SM_PORT</a> &= ((temp<<4)|0x0F);00138 }</div></pre><hr size="1"><address style="align: right;"><small>Generated on Mon May 8 15:05:03 2006 for AVR446 - Linear speed control of stepper motor by<a href="http://www.doxygen.org/index.html"><img src="doxygen.png" alt="doxygen" align="middle" border=0 ></a> 1.3.7 </small></address></body></html>⌨️ 快捷键说明
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