main.c

博创arm 3000开发板实验

/************************************************\
*	by threewater<[e-mail]>	*
*		2003.12.18			*
*						*
\***********************************************/

#include <stdio.h>
#include <unistd.h>
#include <linux/delay.h>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/ioctl.h>
#include <pthread.h>
#include "hardware.h"
#include "motor.h"
#include "exio.h"
#include "../keyboard/get_key.h"

#define ADCCON_FLAG		0x40
#define ADCCON_SLEEP		0x20

#define ADCCON_ADIN0		(0x0<<2)
#define ADCCON_ADIN1		(0x1<<2)
#define ADCCON_ADIN2		(0x2<<2)
#define ADCCON_ADIN3		(0x3<<2)
#define ADCCON_ADIN4		(0x4<<2)
#define ADCCON_ADIN5		(0x5<<2)
#define ADCCON_ADIN6		(0x6<<2)
#define ADCCON_ADIN7		(0x7<<2)

#define ADCCON_READ_START	0x2
#define ADCCON_ENABLE_START	0x1


void Delay(int t){
	//struct timespec dt={0,10000};
	//dt.tv_nsec*=t;
	//nanosleep(&dt, NULL);
	int i;
	for(;t>0;t--)
		for(i=0;i<400;i++);
}

void init_ADdevice(void)
{
	ADCPSR=20;
	ADCCON=ADCCON_SLEEP;
}

int GetADresult(int channel)
{
	ADCCON=(channel<<2)|ADCCON_ENABLE_START;
	Delay(1);
	while(!( (ADCCON) & ADCCON_FLAG));
	return ADCDAT;
}
static int stop=0;

void* comMonitor(void* data)
{
	get_key();
	stop=1;
	get_key();
	stop=2;
	return NULL;
}

#define ADMID		512
int main(void)
{	//////////////////A,  AB,  B,   BC,   C,  CD, D,    DA
	int stepdata[]={0x10,0x30,0x20,0x60,0x40,0xc0,0x80,0x90};
	int i,j,ADData,count;
	float d;
	pthread_t th_com;
	void * retval;
	kbd_init();
	//set s3c44b0 AD register and start AD
	init_ADdevice();
	init_exio();
	init_MotorPort();
	Delay(1);
                                                                                
	/* Create the threads */
	pthread_create(&th_com, NULL, comMonitor, 0);

	printf("\nBegin control DC motor.\nPress Enter to control step motor.\n");
	while( stop==0 ){
		ADData=GetADresult(0);
		Delay(10);
		SetPWM((ADData-ADMID)*MOTOR_CONT/1024);
		Delay(10);
	}
	SetPWM(0);
	Delay(1000);
	exit_MotorPort();
	printf("\nBegin control step motor.\nPress Enter to control DC motor.\n");
	i=0;
	while( stop==1 ){
		ADData=GetADresult(0);
		//printf("AD=%4.4d, i=%d\n",ADData,i);
		count=(ADData-ADMID);

		if(count>0){
			i++;
		}else if (count<0){
			i--;
			count=-count;
		}
		i&=0x7;
		SETEXIOBITMASK(stepdata[i], 0xf0);
		//Delay(3000);
		Delay(512*10/count);
	}

	/* Wait until producer and consumer finish. */
	pthread_join(th_com, &retval);

	printf("\n");
	return 0;
}