motor.c

用ＴＭＳ３２０ＬＦ２４０７Ａ开发电机控制的源代码

/************************************************************************
Project name: 	motorTest.pjt
File name: 		motor.c
Author: 		胡天亮. 山东大学数控技术研究中心
				Tianliang HU, CNC research center, Shandong University
Description:	Motor control function
History:		(1)
*************************************************************************/
//Include header file
#include "motor.h"
#include "f2407_c.h"

//Extern Variable definition

//Variable definition
unsigned int motorABCtrlVal = 0;
int spiValToTrans = 0;

//function

/*--------------------------------------
Name: 			motorServeOn(int motorID)
Description:	
Input par:		motorID, to select motor to operate
Output par:		none
---------------------------------------*/
void motorServeOn(int motorID)
{
	switch(motorID)
	{
		//Serve on signal of motor A and B is logistic inverted in CPLD 
		case MOTORA_ID:
			motorABCtrlVal |= MOTORA_SERVEON;
			*MOTORAB_CTRL = motorABCtrlVal;
			break;

		case MOTORB_ID:
			motorABCtrlVal |= MOTORB_SERVEON;
			*MOTORAB_CTRL = motorABCtrlVal;
			break;

		case MOTORC_ID:
			*PBDATDIR &= MOTORC_SERVEON;
			break;

		case MOTORD_ID:
			*PFDATDIR &= MOTORD_SERVEON;
			break;
		default:
			disable();
			while(1);
	}
}

/*--------------------------------------
Name: 			motorServe(int motorID, int serveValue)
Description:	
Input par:		motorID, to select motor to operate
				serveValue, the value sent to PCM56U
Output par:		none
---------------------------------------*/
void motorServe(int motorID, int serveValue)
{
	spiValToTrans = serveValue;
	switch(motorID)
	{
		case MOTORA_ID:
			*PEDATDIR |= DA_CLKA_EN;
			spiTransForMotor();
			*PEDATDIR &= (~DA_CLKA_EN);
			break;

		case MOTORB_ID:
			*PEDATDIR |= DA_CLKB_EN;
			spiTransForMotor();
			*PEDATDIR &= (~DA_CLKB_EN);
			break;

		case MOTORC_ID:
			*PEDATDIR |= DA_CLKC_EN;
			spiTransForMotor();
			*PEDATDIR &= (~DA_CLKC_EN);
			break;

		case MOTORD_ID:
			*PEDATDIR |= DA_CLKD_EN;
			spiTransForMotor();
			*PEDATDIR &= (~DA_CLKD_EN);
			break;
		default:
			disable();
			while(1);
	}
}