stepper.c

该源码是创维特ARM7 JX44B0X板的例子程序

#include <stdio.h>
#include <sys/time.h>
#include <signal.h>
#include "../include/44b.h"

#define STEP_INTERVALE                          0x40
#define STEPER_VALUE_MIN                        0x40
#define STEPER_VALUE_MAX                        0x1000
                                                                                       
#define STEPER_MOTOR_ENABLE         1
#define STEPER_MOTOR_DISABLE        0
#define STEPER_MOTOR_CLOCKWISE      0
#define STEPER_MOTOR_ANTICLOCKWISE  1
                                                                                       
#define true                                            1
#define false                                           0
                                                                                       
#define STEPER_ENABLE                           0x01
#define STEPER_SINGLE                           0x02
#define STEPER_REVERSE                          0x04
                                                                                       
#define MIN_STEPER_PLUSE_FREQ           0x300
#define MAX_STEPER_PLUSE_FREQ           0x100000

#define GEN_PLUSE_HIGH()                        {rPDATC |= (1<<11);}
#define GEN_PLUSE_LOW()                         {rPDATC &= (~(1<<11));}

static int steper_control_mask = 0xf8;
int port_con_c, port_up_c;

void stepper_control(int benable)
{
	if(benable == STEPER_MOTOR_ENABLE)
        {
                steper_control_mask |= (1<<3);
                *(unsigned char *)0x0a000006 = steper_control_mask;
        }
        else
        {
                steper_control_mask &= (~(1<<3));
                *(unsigned char *)0x0a000006 = steper_control_mask;
        }
}

void stepper_set_direct(int direct)
{
        if(direct == STEPER_MOTOR_CLOCKWISE)
        {
                steper_control_mask |= (1<<2);
                *(unsigned char *)0x0a000006 = steper_control_mask;
        }
        else
        {
                steper_control_mask &= (~(1<<2));
                *(unsigned char *)0x0a000006 = steper_control_mask;
        }
}

static int pulse_direct = 1;
static int stepper_speed = 1;
void pulse_timer(int signo)
{
	if(pulse_direct <= 0)
	{
        	GEN_PLUSE_LOW();
        	GEN_PLUSE_HIGH();
		pulse_direct = stepper_speed;
	}
	
	pulse_direct --;
} 

void stepper_speedup()
{
	stepper_speed --;
	if(stepper_speed <= 0)
		stepper_speed = 1;
}
void stepper_speeddown()
{
        stepper_speed ++;
        if(stepper_speed >= 100)
                stepper_speed = 100;
}

void stepper_setspeed(int speed)
{
	if(speed <= 100 && speed >= 1)
		stepper_speed = speed;
}

void stepper_init()
{
        port_con_c = rPCONC;
        port_up_c = rPUPC;
                                                                                       
        // config the port c
        rPCONC  |= (1 << 22);
        rPUPC   |= (1 << 11);
                                                                                       
        stepper_control(STEPER_MOTOR_ENABLE);
        stepper_set_direct(STEPER_MOTOR_CLOCKWISE);
}
                                                                                       
void stepper_uninit()
{
        rPCONC = port_con_c;
        rPUPC  = port_up_c;
}