motor.c

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#include "2407c.h"                    
#include "scancode.h"

//#define	TIM		*(int *)0x24
//#define	PRD     *(int *)0x25
//#define	TCR		*(int *)0x26
//#define	IMR		*(int *)0x0
//#define	IFR		*(int *)0x1		
//#define	PMST	*(int *)0x1d	
//#define SPSA0 *(unsigned int *)0x38
//#define SPSD0 *(unsigned int *)0x39
//#define SPSA1 *(unsigned int *)0x48
//#define SPSD1 *(unsigned int *)0x49

#define T46uS		0x0d40
void gp_init(void);
void Delay(unsigned int nTime);
void interrupt time(void);
char ConvertScanToChar(unsigned char cScanCode);
//unsigned int T46uS;
ioport unsigned int port8000;	
ioport unsigned int port8001;	
ioport unsigned int port8002;	
ioport unsigned int port8007;	
unsigned int uWork,nCount;
unsigned int pwm1[8]={ 0x8e,0x8c,0x8d,0x89,0x8b,0x83,0x87,0x86 };
unsigned int pwm2[8]={ 0x86,0x87,0x83,0x8b,0x89,0x8d,0x8c,0x8e };
int nAddStep,nStep;

main()
{
	unsigned int nScanCode,uWork1,i;
	unsigned char cKey;
	
	asm(" setc INTM");  /* 关中断，进行关键设置时不允许发生中断，以免干扰 */
//	T46uS=0xd40;
	(*EVAIFRA)=0x80;
	*WDCR=0x6f;
	*WDKEY=0x5555;
	*WDKEY=0xaaaa;		/* 关闭看门狗中断 */

	*SCSR1=0x81fe;    	/* 设置DSP运行频率40m */
	(*MCRB)=0;

	nStep=0; nAddStep=1;
	port8000=0;		// 初始化ICETEK-CTR
	port8000=0x80;
	port8000=0x0;
	port8007=0;			// 关闭东西方向的交通灯
	port8007=0x40;	// 关闭南北方向的交通灯
	uWork1=port8002;
//	*MCRC=0x3030;	// PE.4,PE.5,PF.4,PF.5 set as IO
//	SPSA1=1;	// set McBSP1's SPCR2
//	uWork=SPSD1;
//	uWork&=0xfffe;	// set XRST=0
//	SPSD1=uWork;
//	SPSA1=0x0e;	// set McBSP1's PCR1
//	uWork=SPSD1;
//	uWork|=0x2400;	// set XIOEN=1 FSXM=1, Enable IO,FSR for output
//	SPSD1=uWork;
//	SPSA0=0;	// set McBSP0's SPCR1
//	uWork=SPSD0;
///	uWork&=0xfffe;	// set RRST=0
//	SPSD0=uWork;
//	SPSA0=0x0e;	// set McBSP0's PCR1
//	uWork=SPSD0;
//	uWork|=0x1101;	// set RIOEN=1 FSXM=1, Enable IO,CLKR for output,set Motor's direction to 1
//	SPSD0=uWork;
//	uWork1= PMST; 		      
//	PMST = uWork1&0xff;
	port8007=0x0c3;
	gp_init();   
	*IMR=0x3;
	*IFR=0xffff;    
	asm("	clrc	INTM");
	while ( 1 )
	{
		if ( nCount>16 )
		{
			
			nCount=0;
			nScanCode=port8001;
			nScanCode&=0x0ff;
			uWork=port8002;
			port8007=0x0c0;
			if ( nScanCode!=0 )
			{
				if ( nScanCode==SCANCODE_Enter )	break;
				else
				{
					cKey=ConvertScanToChar(nScanCode);
				}
				cKey=ConvertScanToChar(nScanCode);
				if ( cKey!=0 )
				{
					if ( cKey=='4' )	nAddStep=1;
					else if ( cKey=='6' )	nAddStep=-1;
				}
			}
		}
	}
}               

void Delay(unsigned int nDelay)
{
	int i,j,k=0;
	for ( i=0;i<nDelay;i++ )
		for ( j=0;j<64;j++ )
			k++;
}

void interrupt gptime1(void)
{
   uWork=(*PIVR);
   switch(uWork)
   {  
   		case 0x27:
   		{
			(*EVAIFRA)=0x80;
		port8007=pwm2[nStep];
		nStep+=nAddStep;
		if ( nStep<0 )	nStep=7;
		else if ( nStep>7 )	nStep=0;
		nCount++;
   		   	break;
   		}
   }

}
void gp_init(void)
{
   *EVAIMRA = 0x80;
   *EVAIFRA = 0xffff;
   *GPTCONA = 0x0100;
   *T1PR    = T46uS*9/5; 
   *T1CNT   = 0;
   *T1CON   = 0x1340;
}

char ConvertScanToChar(unsigned char cScanCode)
{
	char cReturn;
	
	cReturn=0;
	switch ( cScanCode )
	{
		case SCANCODE_0: cReturn='0'; break;
		case SCANCODE_1: cReturn='1'; break;
		case SCANCODE_2: cReturn='2'; break;
		case SCANCODE_3: cReturn='3'; break;
		case SCANCODE_4: cReturn='4'; break;
		case SCANCODE_5: cReturn='5'; break;
		case SCANCODE_6: cReturn='6'; break;
		case SCANCODE_7: cReturn='7'; break;
		case SCANCODE_8: cReturn='8'; break;
		case SCANCODE_9: cReturn='9'; break;
	}
	 
	return cReturn;
}