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));}

struct timeval tpstart,tpend;
float  timeuse;
static timer_count = 0;

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;
        }
}

void stepper_init()
{
	port_con_c = rPCONC;
	port_up_c = rPUPC;

        // config the port c
        rPCONC  |= (1 << 22);
        rPUPC   |= (1 << 11);
}

void stepper_uninit()
{
	rPCONC = port_con_c;
	rPUPC  = port_up_c;
}
void pulse_timer(int signo)
{
        GEN_PLUSE_LOW();
        GEN_PLUSE_HIGH();
} 

void init_sigaction(void)
{
    struct sigaction act;
    act.sa_handler=pulse_timer;
    act.sa_flags=0;
    sigemptyset(&act.sa_mask);
    sigaction(SIGPROF,&act,NULL);

    /* begin get the time */
    gettimeofday(&tpstart,NULL);
}

void init_time()
{
    struct itimerval value;
    value.it_value.tv_sec=0;
    value.it_value.tv_usec=1;
    value.it_interval=value.it_value;
    setitimer(ITIMER_PROF,&value,NULL);
}

/*
 * timer application code
 * compile :
 *          $arm-elf-gcc -Wl,-elf2flt -o stepper stepper.c
 *          $cp timer /tftpboot/examples
 * run in target:
 *          #cd /var
 *          #ftp 192.168.1.180
 *          ftp>bin
 *          ftp>cd /tftpboot/examples
 *          ftp>get stepper
 *          ftp>by 
 *          #./stepper
 */
int main(int argc, char **argv)
{
    stepper_init();
    stepper_control(STEPER_MOTOR_ENABLE);
    stepper_set_direct(STEPER_MOTOR_CLOCKWISE);
    init_sigaction();
    init_time();
    while(1);
    stepper_uninit();
    exit(0);
}