sm__driver_8c.html

使用AVR单片机控制步进电机的软件代码

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<p>
Move the stepper motor one step. 
<p>
Makes the stepcounter inc/dec one value and outputs this to the steppermotor. This function works like a stepper motor controller, a call to the function is the stepping pulse, and parameter 'inc' is the direction signal.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td></td><td valign=top><em>inc</em>&nbsp;</td><td>Direction to move. </td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>Stepcounter value. </dd></dl>

<p>
Definition at line <a class="el" href="sm__driver_8c-source.html#l00066">66</a> of file <a class="el" href="sm__driver_8c-source.html">sm_driver.c</a>.
<p>
References <a class="el" href="sm__driver_8h-source.html#l00026">CCW</a>, <a class="el" href="sm__driver_8c-source.html#l00108">sm_driver_StepOutput()</a>, and <a class="el" href="sm__driver_8c-source.html#l00045">stepPosition</a>.
<p>
Referenced by <a class="el" href="speed__cntr_8c-source.html#l00164">speed_cntr_TIMER1_COMPA_interrupt()</a>.
<p>
<pre class="fragment"><div>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 &amp;= 0x07;
00096   <a class="code" href="sm__driver_8h.html#a12">sm_driver_StepOutput</a>(counter);
00097   <span class="keywordflow">return</span>(counter);
00098 }
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Here is the call graph for this function:<p><center><img src="sm__driver_8c_a7_cgraph.png" border="0" usemap="#sm__driver_8c_a7_cgraph_map" alt=""></center>
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<a class="anchor" name="a8" doxytag="sm_driver.c::sm_driver_StepOutput" ></a><p>
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          <td class="md" nowrap valign="top"> void sm_driver_StepOutput           </td>
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          <td class="md" nowrap valign="top">unsigned char&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>pos</em>          </td>
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<p>
Convert the stepcounter value to signals for the stepper motor. 
<p>
Uses the stepcounter value as index in steptab to get correct steppermotor control signals. Converts these signals to work with the stepper driver hardware.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td></td><td valign=top><em>pos</em>&nbsp;</td><td>Stepcounter value. </td></tr>
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</dl>

<p>
Definition at line <a class="el" href="sm__driver_8c-source.html#l00108">108</a> of file <a class="el" href="sm__driver_8c-source.html">sm_driver.c</a>.
<p>
References <a class="el" href="sm__driver_8h-source.html#l00041">SM_PORT</a>, and <a class="el" href="sm__driver_8c-source.html#l00035">steptab</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00042">Init()</a>, and <a class="el" href="sm__driver_8c-source.html#l00066">sm_driver_StepCounter()</a>.
<p>
<pre class="fragment"><div>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&amp;(1&lt;&lt;BIT_A1))</span>
00115 <span class="comment">    SM_PORT |= (1&lt;&lt;A1);</span>
00116 <span class="comment">  else</span>
00117 <span class="comment">    SM_PORT &amp;= ~(1&lt;&lt;A1);</span>
00118 <span class="comment"></span>
00119 <span class="comment">  if(temp&amp;(1&lt;&lt;BIT_A2))</span>
00120 <span class="comment">    SM_PORT |= (1&lt;&lt;A2);</span>
00121 <span class="comment">  else</span>
00122 <span class="comment">    SM_PORT &amp;= ~(1&lt;&lt;A2);</span>
00123 <span class="comment"></span>
00124 <span class="comment">  if(temp&amp;(1&lt;&lt;BIT_B1))</span>
00125 <span class="comment">    SM_PORT |= (1&lt;&lt;B1);</span>
00126 <span class="comment">  else</span>
00127 <span class="comment">    SM_PORT &amp;= ~(1&lt;&lt;B1);</span>
00128 <span class="comment"></span>
00129 <span class="comment">  if(temp&amp;(1&lt;&lt;BIT_B2))</span>
00130 <span class="comment">    SM_PORT |= (1&lt;&lt;B2);</span>
00131 <span class="comment">  else</span>
00132 <span class="comment">    SM_PORT &amp;= ~(1&lt;&lt;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&lt;&lt;4)&amp;0xF0);
00137   <a class="code" href="sm__driver_8h.html#a3">SM_PORT</a> &amp;= ((temp&lt;&lt;4)|0x0F);
00138 }
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<hr><h2>Variable Documentation</h2>
<a class="anchor" name="a5" doxytag="sm_driver.c::stepPosition" ></a><p>
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          <td class="md" nowrap valign="top"> int <a class="el" href="sm__driver_8h.html#a9">stepPosition</a> = 0          </td>
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<p>
Position of stepper motor. 
<p>

<p>
Definition at line <a class="el" href="sm__driver_8c-source.html#l00045">45</a> of file <a class="el" href="sm__driver_8c-source.html">sm_driver.c</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00062">main()</a>, and <a class="el" href="sm__driver_8c-source.html#l00066">sm_driver_StepCounter()</a>.    </td>
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<a class="anchor" name="a4" doxytag="sm_driver.c::steptab" ></a><p>
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          <td class="md" nowrap valign="top"> __flash unsigned char <a class="el" href="sm__driver_8c.html#a4">steptab</a>[]          </td>
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<p>
<b>Initial value:</b><pre class="fragment"><div> {((1&lt;&lt;<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),
                                   ((1&lt;&lt;<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),
                                   ((0&lt;&lt;<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),
                                   ((0&lt;&lt;<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),
                                   ((0&lt;&lt;<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),
                                   ((0&lt;&lt;<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),
                                   ((0&lt;&lt;<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>)),
                                   ((1&lt;&lt;<a class="code" href="sm__driver_8c.html#a0">BIT_A1</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a1">BIT_A2</a>) | (0&lt;&lt;<a class="code" href="sm__driver_8c.html#a2">BIT_B1</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8c.html#a3">BIT_B2</a>))}
</div></pre>Table with control signals for stepper motor. 
<p>

<p>
Definition at line <a class="el" href="sm__driver_8c-source.html#l00035">35</a> of file <a class="el" href="sm__driver_8c-source.html">sm_driver.c</a>.
<p>
Referenced by <a class="el" href="sm__driver_8c-source.html#l00108">sm_driver_StepOutput()</a>.    </td>
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<hr size="1"><address style="align: right;"><small>Generated on Mon May 8 15:05:04 2006 for AVR446 - Linear speed control of stepper motor by
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