sm__driver_8h.html

使用AVR单片机控制步进电机的软件代码

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<p>
Definition at line <a class="el" href="sm__driver_8h-source.html#l00042">42</a> of file <a class="el" href="sm__driver_8h-source.html">sm_driver.h</a>.
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Referenced by <a class="el" href="sm__driver_8c-source.html#l00049">sm_driver_Init_IO()</a>.    </td>
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<a class="anchor" name="a3" doxytag="sm_driver.h::SM_PORT" ></a><p>
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          <td class="md" nowrap valign="top"> #define SM_PORT&nbsp;&nbsp;&nbsp;PORTD          </td>
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<p>
Define IO port and pins<p>
Set the desired drive port and pins to support your device 
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Definition at line <a class="el" href="sm__driver_8h-source.html#l00041">41</a> of file <a class="el" href="sm__driver_8h-source.html">sm_driver.h</a>.
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Referenced by <a class="el" href="sm__driver_8c-source.html#l00049">sm_driver_Init_IO()</a>, and <a class="el" href="sm__driver_8c-source.html#l00108">sm_driver_StepOutput()</a>.    </td>
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<hr><h2>Function Documentation</h2>
<a class="anchor" name="a10" doxytag="sm_driver.h::sm_driver_Init_IO" ></a><p>
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          <td class="md" nowrap valign="top"> void sm_driver_Init_IO           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">void&nbsp;</td>
          <td class="mdname1" valign="top" nowrap>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
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<p>
Init of io-pins for stepper motor. 
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Definition at line <a class="el" href="sm__driver_8c-source.html#l00049">49</a> of file <a class="el" href="sm__driver_8c-source.html">sm_driver.c</a>.
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References <a class="el" href="sm__driver_8h-source.html#l00043">A1</a>, <a class="el" href="sm__driver_8h-source.html#l00044">A2</a>, <a class="el" href="sm__driver_8h-source.html#l00045">B1</a>, <a class="el" href="sm__driver_8h-source.html#l00046">B2</a>, <a class="el" href="sm__driver_8h-source.html#l00042">SM_DRIVE</a>, and <a class="el" href="sm__driver_8h-source.html#l00041">SM_PORT</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00042">Init()</a>.
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<pre class="fragment"><div>00050 {
00051   <span class="comment">// Init of IO pins</span>
00052   <a class="code" href="sm__driver_8h.html#a3">SM_PORT</a> &amp;= ~((1&lt;&lt;<a class="code" href="sm__driver_8h.html#a5">A1</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8h.html#a6">A2</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8h.html#a7">B1</a>) | (1&lt;&lt;<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&lt;&lt;<a class="code" href="sm__driver_8h.html#a5">A1</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8h.html#a6">A2</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8h.html#a7">B1</a>) | (1&lt;&lt;<a class="code" href="sm__driver_8h.html#a8">B2</a>)); <span class="comment">// Set output pin direction registers to output</span>
00054 }
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<a class="anchor" name="a11" doxytag="sm_driver.h::sm_driver_StepCounter" ></a><p>
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          <td class="md" nowrap valign="top"> unsigned char sm_driver_StepCounter           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">signed char&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>inc</em>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
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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>
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    <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>.
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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>.
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<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_8h_a11_cgraph.png" border="0" usemap="#sm__driver_8h_a11_cgraph_map" alt=""></center>
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<a class="anchor" name="a12" doxytag="sm_driver.h::sm_driver_StepOutput" ></a><p>
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          <td class="md" nowrap valign="top"> void sm_driver_StepOutput           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <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>
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    <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="a9" doxytag="sm_driver.h::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>          </td>
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Position of stepper motor. 
<p>

<p>
Definition at line <a class="el" href="sm__driver_8h-source.html#l00053">53</a> of file <a class="el" href="sm__driver_8h-source.html">sm_driver.h</a>.
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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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<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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