d_output.r

乐高机器人的源码,开发平台是IAR_for_AVR.

                                          *AT91C_TC0_CMR     = *AT91C_TC0_CMR | AT91C_TC_LDRA_RISING;           /* RA loading register set */\
                                          *AT91C_AIC_IDCR    = TIMER_0_ID12;				                    /* Disable interrupt */\
                                           AT91C_AIC_SVR[12] = (unsigned int)CaptureCInt; \
                                           AT91C_AIC_SMR[12] = 0x05;						                    /* Enable trigger on level */\
                                          *AT91C_AIC_ICCR    = TIMER_0_ID12;						            /* Clear interrupt register PID12*/\
                                          *AT91C_TC0_IDR     = 0xFF;						                    /* Disable all interrupt from TC0 */\
                                          *AT91C_TC0_IER     = 0x80;						                    /* Enable interrupts from external trigger */\
                                          *AT91C_AIC_IECR    = TIMER_0_ID12;				                    /* Enable interrupt from TC0 */\
                                          *AT91C_TC0_CCR     = 0x00;						                    /* Clear registers before setting */\
                                          *AT91C_TC0_CCR     = AT91C_TC_CLKEN;						            /* Enable clock */\
                                        }

__ramfunc void CaptureAInt(void)
{
  if (*AT91C_TC1_SR & AT91C_TC_MTIOA)
  {	
	if (*AT91C_PIOA_PDSR & MOTOR_A_DIR)
	{
	  MotorTachoValue[0].MotorDirection = REVERSE; //Motor is running reverse	
	  MotorTachoValue[0].TachoCountTable--;
	}
	else
	{
	  MotorTachoValue[0].MotorDirection = FORWARD; //Motor is running forward 	
	  MotorTachoValue[0].TachoCountTable++;
	}	
  }
  else
  {
  	if (*AT91C_PIOA_PDSR & MOTOR_A_DIR)
	{
	  MotorTachoValue[0].MotorDirection = FORWARD;
	  MotorTachoValue[0].TachoCountTable++;
	}
	else
	{
	  MotorTachoValue[0].MotorDirection = REVERSE;
	  MotorTachoValue[0].TachoCountTable--;
	}
  }
}

__ramfunc void CaptureBInt(void)
{
  if (*AT91C_TC2_SR & AT91C_TC_MTIOA)
  {	
	if (*AT91C_PIOA_PDSR & MOTOR_B_DIR)
	{
	  MotorTachoValue[1].MotorDirection = REVERSE; //Motor is running reverse	
	  MotorTachoValue[1].TachoCountTable--;
	}
	else
	{
	  MotorTachoValue[1].MotorDirection = FORWARD; //Motor is running forward 	
	  MotorTachoValue[1].TachoCountTable++;
	}	
  }
  else
  {
  	if (*AT91C_PIOA_PDSR & MOTOR_B_DIR)
	{
	  MotorTachoValue[1].MotorDirection = FORWARD;
	  MotorTachoValue[1].TachoCountTable++;
	}
	else
	{
	  MotorTachoValue[1].MotorDirection = REVERSE;
	  MotorTachoValue[1].TachoCountTable--;
	}
  }
}


//__ramfunc void CaptureBInt(void)
//{
//  if (((bool)(*AT91C_TC2_SR & AT91C_TC_MTIOA))==((bool)(*AT91C_PIOA_PDSR & MOTOR_B_DIR)))
//  {
//    MotorTachoValue[1].MotorDirection = REVERSE; //Motor is running reverse	
//	MotorTachoValue[1].TachoCountTable--;
//  }
//  else
//  {
//    MotorTachoValue[1].MotorDirection = FORWARD; //Motor is running reverse	
//    MotorTachoValue[1].TachoCountTable++;
//  }
//}


__ramfunc void CaptureCInt(void)
{
  if (*AT91C_TC0_SR & AT91C_TC_MTIOA)
  {
    if (*AT91C_PIOA_PDSR & MOTOR_C_DIR)
	{
	  MotorTachoValue[2].MotorDirection = REVERSE; //Motor is running reverse	
	  MotorTachoValue[2].TachoCountTable--;
	}
	else
	{
	  MotorTachoValue[2].MotorDirection = FORWARD; //Motor is running forward 	
	  MotorTachoValue[2].TachoCountTable++;
	}	
  }
  else
  {
    if (*AT91C_PIOA_PDSR & MOTOR_C_DIR)
	{
	  MotorTachoValue[2].MotorDirection = FORWARD;
	  MotorTachoValue[2].TachoCountTable++;
	}
	else
	{
	  MotorTachoValue[2].MotorDirection = REVERSE;
	  MotorTachoValue[2].TachoCountTable--;
	}
  }
}

#define   OUTPUTExit				    {\
										  *AT91C_AIC_IDCR   = TIMER_0_ID12 | TIMER_1_ID13 | TIMER_2_ID14; /* Disable interrupts for the timers */\
										  *AT91C_AIC_ICCR   = TIMER_0_ID12 | TIMER_1_ID13 | TIMER_2_ID14; /* Clear penting interrupt register for timers*/\
										  *AT91C_PMC_PCDR   = TIMER_0_ID12 | TIMER_1_ID13 | TIMER_2_ID14; /* Disable the clock for each of the timers*/\
										  *AT91C_PIOA_PER   = MOTOR_A_DIR | MOTOR_A_INT | MOTOR_B_DIR | MOTOR_B_INT | MOTOR_C_DIR | MOTOR_C_INT; /* Enable PIO on PA15, PA11, PA26, PA09, PA27 & PA08 */\
										  *AT91C_PIOA_ODR   = MOTOR_A_DIR | MOTOR_A_INT | MOTOR_B_DIR | MOTOR_B_INT | MOTOR_C_DIR | MOTOR_C_INT; /* Set to input PA15, PA11, PA26, PA09, PA27 & PA08 */\
										  *AT91C_PIOA_PPUDR = MOTOR_A_DIR | MOTOR_A_INT | MOTOR_B_DIR | MOTOR_B_INT | MOTOR_C_DIR | MOTOR_C_INT; /* Enable Pullup on PA15, PA11, PA26, PA09, PA27 & PA08 */\
										}


#define TACHOCountReset(MotorNr)		 {\
										   MotorTachoValue[MotorNr].TachoCountTable = 0;\
										   MotorTachoValue[MotorNr].TachoCountTableOld = 0;\
										 }
										
#define TACHOCaptureReadResetAll(MotorDataA,MotorDataB,MotorDataC){\
										   MotorDataA = (MotorTachoValue[MOTOR_A].TachoCountTable - MotorTachoValue[MOTOR_A].TachoCountTableOld);\
										   MotorTachoValue[MOTOR_A].TachoCountTableOld = MotorTachoValue[MOTOR_A].TachoCountTable;\
										   MotorDataB = (MotorTachoValue[MOTOR_B].TachoCountTable - MotorTachoValue[MOTOR_B].TachoCountTableOld);\
										   MotorTachoValue[MOTOR_B].TachoCountTableOld = MotorTachoValue[MOTOR_B].TachoCountTable;\
										   MotorDataC = (MotorTachoValue[MOTOR_C].TachoCountTable - MotorTachoValue[MOTOR_C].TachoCountTableOld);\
										   MotorTachoValue[MOTOR_C].TachoCountTableOld = MotorTachoValue[MOTOR_C].TachoCountTable;\
    									 }




#define GetMotorDirection(MotorNr)		 MotorTachoValue[MotorNr].MotorDirection

#endif

#ifdef    PCWIN

#endif