motor speedup.c

l298步进电机线性加速度,减速控制,供参考

#include	<pic.h>	
#include"main.h"
unsigned int k1_count,k2_count;
unsigned char count1;
bit k1,k2;
bit flag;
unsigned int track;
unsigned char grads;                     
persistent unsigned int  mcount=0;                //motor run total step count
 unsigned int  current_count=0;          //motor current move step count
 unsigned int  time_reload_value;      //the value reload to TIMExH and TIMExL        
 unsigned int  invariance_cnt;       //invariance speed count
 unsigned char stair=4;                  //stair count at speedup or speeddown
 unsigned char wave=10;                    //wave step count in every stair 
//0xf82f   500pps/s
//0xfcdf   1250pps/s
const  unsigned int grads_tab[5]={0xf82f,0xfa23,0xfb1d,0xfc17,0xfcdf};
struct {			   						
    unsigned            run:1;	        //run flag
    unsigned            stop:1;	        //stop 
    unsigned 	     	origin:1;		//at origin
    unsigned 	        speedup:1;		//motor is speedup
    unsigned         	speeddn:1;      //speeddown
    unsigned 	     	invariance:1;	//invariance flag   
    unsigned            forward:1;	    	
    unsigned            reverse:1;		
} sta;   
void init_timer(void)
{
//----TIME0 init-----------------
OPTION=3;
T0IE=1;
//----TIME1 init-----------------
T1CON=1;//enable TMR1 on , Prescaler Rate is 1:1
TMR1H=0xFE;    //10ms interrupt once
TMR1L=0x0B;
time_reload_value=0xf82f;
TMR1IE=1;  
PEIE=1;   //enable TMR1 interrupt
//----TIME2 init-----------------
TMR2ON=1;	
T2CON=0x7f;
TMR2IE=1;	
PEIE=1;   //enable TMR1 interrupt
PR2=38;//255;
//-------------------------------
GIE=1;        //enable all unmasked interrupts
}

void interrupt ISR (void)
{


	//==============time0  isr=========================
 if(TMR0IF)//alarm 
  	   {
	    TMR0IF=0;   TMR0=0;        //4.42ms       
    /*   if(K1==0)
              { 
              if(k1_count==30)
                { k1_count=0; k1=1; }
              else k1_count++;
              }*/
//---------------------------------------------
  if(K2==0)
              { 
              if(k2_count==20)
                {
                k2_count=0;
               //--------------
                LED1=0;
                sta.run=1;
                sta.speedup=1;
                sta.speeddn=0;
                sta.invariance=0;
                stair=4;
                wave=10;
               //--------------------
                 }
               else k2_count++;
              }
     else LED1=1;


//===========================================
     }
      
     //================time1 isr=========================   
          if(TMR1IF&TMR1IE)//process
	   {
	    TMR1IF=0;//前沿、后沿各50step*/

  if(sta.run)
    {  
      if(current_count==1000)          
	   	   {
           current_count=0;
	   	   EN=0;     CLK=0;                       
           sta.run=0;	
	       }
	    else
	       {
             CLK=!CLK; 
               EN=1; 
              current_count++;
             if(sta.speedup==1)            //speed up
             {    
               wave-=1;    /*波形数*/               
             if(wave==0)                    
                {
                stair-=1;    /*台阶数*/               
                grads++;     
                 time_reload_value=grads_tab[grads];
                wave=10;                        
                }
             if(stair==0)                      
                {
               sta.speedup=0;   
               sta.invariance=1;  
               invariance_cnt=900;     
                }
             }
	           if(sta.invariance==1)      //invariance speed
                {
             
                invariance_cnt-=1;
                if( invariance_cnt==0)
                   {
                  sta.invariance=0; 
                  sta.speeddn=1;
                    wave=10;
                    stair=4;
                    grads=4;
                   }
                 time_reload_value=0xfcdf;        // speed is 2400pps/s.
                }
         
                if(sta.speeddn==1)       // speed down
                  {
                   
                   wave-=1;                     
                   if(wave==0)                  
                    {
                     stair-=1;                    
                     grads--; 
                     time_reload_value=grads_tab[grads];
                     wave=10;                        
                    }
                  if(stair==0)                      //motor is stop
                    {
                     sta.speeddn=0;   
                    
                    EN=0; CLK=0;                  
                     				//stop timer
                    }
                  }
         	       }
  
//-----------------------------------------
         }
             
      TMR1H=time_reload_value>>8;
      TMR1L=(unsigned char)time_reload_value;

            }

       
    //==================time2 isr========================
       if(TMR2IF&TMR2IE)//buzzer
	   {
	    TMR2IF=0; 
        TMR2=0; 
           if(count1==100)
              { 
             LED=!LED;
             count1=0;
            //---------------------
        /*    if(track==3)
            {
               track=0;
                LED1=0;
                sta.run=1;
                sta.speedup=1;
                sta.speeddn=0;
                sta.invariance=0;
                stair=4;
                wave=10;
            }
           else track++;*/
           //--------------------
              }
           else count1++;
      
         } 		
    //===================================================    
  }
 
void inti_io(void)
{


TRISB1=0;TRISB2=0;
TRISC5=0;
TRISB4=0;
TRISB5=0;
TRISC4=0;
 CCW =1; 
 EN  =0;  
CLK=0; 
LED1=1;
LED=0;
LED1=0;
LED=1;
LED1=1;
LED=0;
}

void key()
{
     if(K2==0)
              { 
              if(k2_count==1000)
                {
                k2_count=0;
                LED1=0;
                sta.run=1;
                sta.speedup=1;
                
                 }
               else k2_count++;
              }
     else LED1=1;
}

 /* if(k2) {
              
              LED1=0;
              EN=1; //motor begin satr
              CCW=0; 
              if(mcount==800)
                 { EN=0; mcount=0; k2=0; LED1=1; }
              else mcount++;
             }


 if(sta.run)
    {
    	if(current_count==60)                     //电机达到运行位置
	      {
           current_count=0;
	       EN=0;                                  //停止运行
           sta.run=0;LED1=1;
	      }

	 else
	     {
              CLK=!CLK;
              LED1=0;
              EN=1; 
              CCW=1;
             

               if(sta.speedup==1)                   //加速阶段
                  {
                   
                    wave-=1;                     
                    if(wave==0)                    
                      {               
                       grads++; 
                       time_reload_value=grads_tab[grads];
                       wave=4;                        
                       }
                    if(grads==4)                      
                       {
                        sta.speedup=0;   
                        sta.invariance=1; 
                        invariance_cnt=18;      
                       }
                   }
	          if(sta.invariance==1)               //恒速阶段
                    {
                     invariance_cnt-=1;
                     if( invariance_cnt==0)
                       {
                        sta.invariance=0; 
                        sta.speeddn=1;
                        wave=4;
                        grads=4;
                       }
                         time_reload_value=0xfcdf;    
                   }  
              if(sta.speeddn==1)                    // 减速阶段
                    {
                      wave-=1;                     
                      if(wave==0)                  
                      {                  
                       grads--; 
                       time_reload_value=grads_tab[grads];
                       wave=4;                        
                       }
                     if(grads==0)                       //停止运行
                      {
                       sta.speeddn=0;     
                        EN=0; LED1=1;sta.run=0;
                       CLK=0;                     				
                       }
                    }
                }
          
          }*/
   
  /* if(k1) {
              CLK=!CLK; 
              LED1=0;
              EN=1; //motor begin satr
              CCW=1; 
              if(mcount==800)
                 { EN=0; mcount=0; k1=0; LED1=1; }
              else mcount++;
              TMR1H=0xfc;
              TMR1L=0x17;
             }*/