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使用AVR单片机控制步进电机的软件代码

00111                 okCmd = <a class="code" href="global_8h.html#a0">TRUE</a>;
00112                 <a class="code" href="uart_8h.html#a9">uart_SendString</a>(<span class="stringliteral">"\n\r  "</span>);
00113               }
00114             }
00115           }
00116         }
00117       }
00118       <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="uart_8c.html#a1">UART_RxBuffer</a>[0] == <span class="charliteral">'a'</span>){
00119         <span class="comment">// Set acceleration.</span>
00120         <span class="keywordflow">if</span>(<a class="code" href="uart_8c.html#a1">UART_RxBuffer</a>[1] == <span class="charliteral">' '</span>){
00121           acceleration = atoi((<span class="keywordtype">char</span> <span class="keyword">const</span> *)<a class="code" href="uart_8c.html#a1">UART_RxBuffer</a>+2);
00122           okCmd = <a class="code" href="global_8h.html#a0">TRUE</a>;
00123         }
00124       }
00125       <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="uart_8c.html#a1">UART_RxBuffer</a>[0] == <span class="charliteral">'d'</span>){
00126         <span class="comment">// Set deceleration.</span>
00127         <span class="keywordflow">if</span>(<a class="code" href="uart_8c.html#a1">UART_RxBuffer</a>[1] == <span class="charliteral">' '</span>){
00128           deceleration = atoi((<span class="keywordtype">char</span> <span class="keyword">const</span> *)<a class="code" href="uart_8c.html#a1">UART_RxBuffer</a>+2);
00129           okCmd = <a class="code" href="global_8h.html#a0">TRUE</a>;
00130         }
00131       }
00132       <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="uart_8c.html#a1">UART_RxBuffer</a>[0] == <span class="charliteral">'s'</span>){
00133         <span class="keywordflow">if</span>(<a class="code" href="uart_8c.html#a1">UART_RxBuffer</a>[1] == <span class="charliteral">' '</span>){
00134           speed = atoi((<span class="keywordtype">char</span> <span class="keyword">const</span> *)<a class="code" href="uart_8c.html#a1">UART_RxBuffer</a>+2);
00135           okCmd = <a class="code" href="global_8h.html#a0">TRUE</a>;
00136         }
00137       }
00138       <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="uart_8c.html#a1">UART_RxBuffer</a>[0] == 13){
00139         <a class="code" href="speed__cntr_8h.html#a12">speed_cntr_Move</a>(steps, acceleration, deceleration, speed);
00140         okCmd = <a class="code" href="global_8h.html#a0">TRUE</a>;
00141       }
00142       <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="uart_8c.html#a1">UART_RxBuffer</a>[0] == <span class="charliteral">'?'</span>){
00143         <a class="code" href="main_8c.html#a2">ShowHelp</a>();
00144         okCmd = <a class="code" href="global_8h.html#a0">TRUE</a>;
00145       }
00146 
00147       <span class="comment">// Send help if invalid command is received.</span>
00148       <span class="keywordflow">if</span>(okCmd != <a class="code" href="global_8h.html#a0">TRUE</a>)
00149         <a class="code" href="main_8c.html#a2">ShowHelp</a>();
00150 
00151       <span class="comment">// Clear RXbuffer.</span>
00152       <a class="code" href="main_8c.html#a0">status</a>.<a class="code" href="structGLOBAL__FLAGS.html#o0">cmd</a> = <a class="code" href="global_8h.html#a1">FALSE</a>;
00153       <a class="code" href="uart_8c.html#a10">uart_FlushRxBuffer</a>();
00154 
00155       <span class="keywordflow">if</span>(<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#a0">TRUE</a>){
00156         <a class="code" href="uart_8h.html#a9">uart_SendString</a>(<span class="stringliteral">"Running..."</span>);
00157         <span class="keywordflow">while</span>(<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#a0">TRUE</a>);
00158         <a class="code" href="uart_8h.html#a9">uart_SendString</a>(<span class="stringliteral">"OK\n\r"</span>);
00159       }
00160 
00161       <a class="code" href="main_8c.html#a3">ShowData</a>(<a class="code" href="sm__driver_8c.html#a5">stepPosition</a>, acceleration, deceleration, speed, steps);
00162     }<span class="comment">//end if(cmd)</span>
00163   }<span class="comment">//end while(1)</span>
00164 }
00165 
<a name="l00167"></a><a class="code" href="main_8c.html#a1">00167</a> __flash <span class="keywordtype">char</span> <a class="code" href="main_8c.html#a1">Help</a>[] = {<span class="stringliteral">"\n\r--------------------------------------------------------------\n\rAtmel AVR446 - Linear speed control of stepper motor\n\r\n\r?        - Show help\n\ra [data] - Set acceleration (range: 71 - 32000)\n\rd [data] - Set deceleration (range: 71 - 32000)\n\rs [data] - Set speed (range: 12 - motor limit)\n\rm [data] - Move [data] steps (range: -64000 - 64000)\n\rmove [steps] [accel] [decel] [speed]\n\r         - Move with all parameters given\n\r&lt;enter&gt;  - Repeat last move\n\r\n\r    acc/dec data given in 0.01*rad/sec^2 (100 = 1 rad/sec^2)\n\r    speed data given in 0.01*rad/sec (100 = 1 rad/sec)\n\r--------------------------------------------------------------\n\r"</span>};
00168 
<a name="l00173"></a><a class="code" href="main_8c.html#a2">00173</a> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a2">ShowHelp</a>(<span class="keywordtype">void</span>)
00174 {
00175   <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0;
00176   <span class="keywordflow">while</span>(<a class="code" href="main_8c.html#a1">Help</a>[i] != 0)
00177     <a class="code" href="uart_8h.html#a8">uart_SendByte</a>(<a class="code" href="main_8c.html#a1">Help</a>[i++]);
00178 }
00179 
<a name="l00190"></a><a class="code" href="main_8c.html#a3">00190</a> <span class="keywordtype">void</span> <a class="code" href="main_8c.html#a3">ShowData</a>(<span class="keywordtype">int</span> position, <span class="keywordtype">int</span> acceleration, <span class="keywordtype">int</span> deceleration, <span class="keywordtype">int</span> speed, <span class="keywordtype">int</span> steps)
00191 {
00192   <a class="code" href="uart_8h.html#a9">uart_SendString</a>(<span class="stringliteral">"\n\r  Motor pos: "</span>);
00193   <a class="code" href="uart_8h.html#a10">uart_SendInt</a>(position);
00194   <a class="code" href="uart_8h.html#a9">uart_SendString</a>(<span class="stringliteral">"    a:"</span>);
00195   <a class="code" href="uart_8h.html#a10">uart_SendInt</a>(acceleration);
00196   <a class="code" href="uart_8h.html#a9">uart_SendString</a>(<span class="stringliteral">"  d:"</span>);
00197   <a class="code" href="uart_8h.html#a10">uart_SendInt</a>(deceleration);
00198   <a class="code" href="uart_8h.html#a9">uart_SendString</a>(<span class="stringliteral">"  s:"</span>);
00199   <a class="code" href="uart_8h.html#a10">uart_SendInt</a>(speed);
00200   <a class="code" href="uart_8h.html#a9">uart_SendString</a>(<span class="stringliteral">"  m:"</span>);
00201   <a class="code" href="uart_8h.html#a10">uart_SendInt</a>(steps);
00202   <a class="code" href="uart_8h.html#a9">uart_SendString</a>(<span class="stringliteral">"\n\r&gt; "</span>);
00203 }
00204 
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