speed__cntr_8c-source.html

使用AVR单片机控制步进电机的软件代码

<a name="l00164"></a><a class="code" href="speed__cntr_8c.html#a3">00164</a> <span class="preprocessor"></span>__interrupt <span class="keywordtype">void</span> <a class="code" href="speed__cntr_8c.html#a3">speed_cntr_TIMER1_COMPA_interrupt</a>( <span class="keywordtype">void</span> )
00165 {
00166   <span class="comment">// Holds next delay period.</span>
00167   <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> new_step_delay;
00168   <span class="comment">// Remember the last step delay used when accelrating.</span>
00169   <span class="keyword">static</span> <span class="keywordtype">int</span> last_accel_delay;
00170   <span class="comment">// Counting steps when moving.</span>
00171   <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> step_count = 0;
00172   <span class="comment">// Keep track of remainder from new_step-delay calculation to incrase accurancy</span>
00173   <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rest = 0;
00174 
00175   OCR1A = <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o6">step_delay</a>;
00176 
00177   <span class="keywordflow">switch</span>(<a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o5">run_state</a>) {
00178     <span class="keywordflow">case</span> <a class="code" href="speed__cntr_8h.html#a7">STOP</a>:
00179       step_count = 0;
00180       rest = 0;
00181       <span class="comment">// Stop Timer/Counter 1.</span>
00182       TCCR1B &amp;= ~((1&lt;&lt;CS12)|(1&lt;&lt;CS11)|(1&lt;&lt;CS10));
00183       <a class="code" href="main_8c.html#a0">status</a>.<a class="code" href="structGLOBAL__FLAGS.html#o2">running</a> = <a class="code" href="global_8h.html#a1">FALSE</a>;
00184       <span class="keywordflow">break</span>;
00185 
00186     <span class="keywordflow">case</span> <a class="code" href="speed__cntr_8h.html#a8">ACCEL</a>:
00187       <a class="code" href="sm__driver_8h.html#a11">sm_driver_StepCounter</a>(<a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o3">dir</a>);
00188       step_count++;
00189       <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o0">accel_count</a>++;
00190       new_step_delay = <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o6">step_delay</a> - (((2 * (<span class="keywordtype">long</span>)<a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o6">step_delay</a>) + rest)/(4 * <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o0">accel_count</a> + 1));
00191       rest = ((2 * (<span class="keywordtype">long</span>)<a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o6">step_delay</a>)+rest)%(4 * <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o0">accel_count</a> + 1);
00192       <span class="comment">// Chech if we should start decelration.</span>
00193       <span class="keywordflow">if</span>(step_count &gt;= <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o1">decel_start</a>) {
00194         <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o0">accel_count</a> = <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o2">decel_val</a>;
00195         <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o5">run_state</a> = <a class="code" href="speed__cntr_8h.html#a9">DECEL</a>;
00196       }
00197       <span class="comment">// Chech if we hitted max speed.</span>
00198       <span class="keywordflow">else</span> <span class="keywordflow">if</span>(new_step_delay &lt;= <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o4">min_delay</a>) {
00199         last_accel_delay = new_step_delay;
00200         new_step_delay = <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o4">min_delay</a>;
00201         rest = 0;
00202         <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o5">run_state</a> = <a class="code" href="speed__cntr_8h.html#a10">RUN</a>;
00203       }
00204       <span class="keywordflow">break</span>;
00205 
00206     <span class="keywordflow">case</span> <a class="code" href="speed__cntr_8h.html#a10">RUN</a>:
00207       <a class="code" href="sm__driver_8h.html#a11">sm_driver_StepCounter</a>(<a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o3">dir</a>);
00208       step_count++;
00209       new_step_delay = <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o4">min_delay</a>;
00210       <span class="comment">// Chech if we should start decelration.</span>
00211       <span class="keywordflow">if</span>(step_count &gt;= <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o1">decel_start</a>) {
00212         <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o0">accel_count</a> = <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o2">decel_val</a>;
00213         <span class="comment">// Start decelration with same delay as accel ended with.</span>
00214         new_step_delay = last_accel_delay;
00215         <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o5">run_state</a> = <a class="code" href="speed__cntr_8h.html#a9">DECEL</a>;
00216       }
00217       <span class="keywordflow">break</span>;
00218 
00219     <span class="keywordflow">case</span> <a class="code" href="speed__cntr_8h.html#a9">DECEL</a>:
00220       <a class="code" href="sm__driver_8h.html#a11">sm_driver_StepCounter</a>(<a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o3">dir</a>);
00221       step_count++;
00222       <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o0">accel_count</a>++;
00223       new_step_delay = <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o6">step_delay</a> - (((2 * (<span class="keywordtype">long</span>)<a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o6">step_delay</a>) + rest)/(4 * <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o0">accel_count</a> + 1));
00224       rest = ((2 * (<span class="keywordtype">long</span>)<a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o6">step_delay</a>)+rest)%(4 * <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o0">accel_count</a> + 1);
00225       <span class="comment">// Check if we at last step</span>
00226       <span class="keywordflow">if</span>(<a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o0">accel_count</a> &gt;= 0){
00227         <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o5">run_state</a> = <a class="code" href="speed__cntr_8h.html#a7">STOP</a>;
00228       }
00229       <span class="keywordflow">break</span>;
00230   }
00231   <a class="code" href="speed__cntr_8c.html#a0">srd</a>.<a class="code" href="structspeedRampData.html#o6">step_delay</a> = new_step_delay;
00232 }
00233 
00244 <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> sqrt(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> x)
00245 {
00246   <span class="keyword">register</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> xr;  <span class="comment">// result register</span>
00247   <span class="keyword">register</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> q2;  <span class="comment">// scan-bit register</span>
00248   <span class="keyword">register</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> f;   <span class="comment">// flag (one bit)</span>
00249 
00250   xr = 0;                     <span class="comment">// clear result</span>
00251   q2 = 0x40000000L;           <span class="comment">// higest possible result bit</span>
00252   <span class="keywordflow">do</span>
00253   {
00254     <span class="keywordflow">if</span>((xr + q2) &lt;= x)
00255     {
00256       x -= xr + q2;
00257       f = 1;                  <span class="comment">// set flag</span>
00258     }
00259     <span class="keywordflow">else</span>{
00260       f = 0;                  <span class="comment">// clear flag</span>
00261     }
00262     xr &gt;&gt;= 1;
00263     <span class="keywordflow">if</span>(f){
00264       xr += q2;               <span class="comment">// test flag</span>
00265     }
00266   } <span class="keywordflow">while</span>(q2 &gt;&gt;= 2);          <span class="comment">// shift twice</span>
00267   <span class="keywordflow">if</span>(xr &lt; x){
00268     <span class="keywordflow">return</span> xr +1;             <span class="comment">// add for rounding</span>
00269   }
00270   <span class="keywordflow">else</span>{
00271     <span class="keywordflow">return</span> xr;
00272   }
00273 }
00274 
<a name="l00281"></a><a class="code" href="speed__cntr_8h.html#a15">00281</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="speed__cntr_8h.html#a15">min</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> x, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> y)
00282 {
00283   <span class="keywordflow">if</span>(x &lt; y){
00284     <span class="keywordflow">return</span> x;
00285   }
00286   <span class="keywordflow">else</span>{
00287     <span class="keywordflow">return</span> y;
00288   }
00289 }
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