motor.c

基于ucosSAEj1939的汽车组合仪表,硬件是MC9S12H128

                else {
                  data =  MotorFinalStep[channel]-MotorCurStep[channel];
                  MotorSpeedIndex[channel] = abs(data)>>10;
                }
                MotorStatus[channel] = ON;

                TC0 = TCNT - 20;
                TIE |= 1;   
            }
            else if(flag == STEPLOW)
            {
                MotorFinalStep[channel] = MotorMinStep[channel];
                MotorMoveStatus[channel] = CONST;
                if(resetback0) {
                  MotorSpeedIndex[channel] = 0;
                } 
                else {
                  data =  MotorFinalStep[channel]-MotorCurStep[channel];
                  MotorSpeedIndex[channel] = abs(data)>>10;
                }
                MotorStatus[channel] = ON;

                TC0 = TCNT - 20;
                TIE |= 1;   
            }
            else if(flag == STEPNOT)
            {
                MotorStatus[channel] = OFF;
            }
            else
            {
            }
        }
    }

    else if(channel == TEMP)
    {
        if(MotorStatus[channel] == OFF)
        {
            flag = check_pos(channel,position);
            if(flag == OK)
            {
                MotorFinalStep[channel] = position;
                MotorMoveStatus[channel] = CONST;
                if(resetback0) {
                  MotorSpeedIndex[channel] = 0;
                } 
                else {
                  data =  MotorFinalStep[channel]-MotorCurStep[channel];
                  MotorSpeedIndex[channel] = abs(data)>>10;
                }
                MotorStatus[channel] = ON;

                TC1 = TCNT - 20;
                TIE |= 2;
            }
            else if(flag == STEPHIG)
            {
                MotorFinalStep[channel] = MotorMaxStep[channel];
                MotorMoveStatus[channel] = CONST;
                if(resetback0) {
                  MotorSpeedIndex[channel] = 0;
                } 
                else {
                  data =  MotorFinalStep[channel]-MotorCurStep[channel];
                  MotorSpeedIndex[channel] = abs(data)>>10;
                }
                MotorStatus[channel] = ON;

                TC1 = TCNT - 20;
                TIE |= 2;   
            }
            else if(flag == STEPLOW)
            {
                MotorFinalStep[channel] = MotorMinStep[channel];
                MotorMoveStatus[channel] = CONST;
                if(resetback0) {
                  MotorSpeedIndex[channel] = 0;
                } 
                else {
                  data =  MotorFinalStep[channel]-MotorCurStep[channel];
                  MotorSpeedIndex[channel] = abs(data)>>10;
                }
                MotorStatus[channel] = ON;

                TC1 = TCNT - 20;
                TIE |= 2;   
            }
            else if(flag == STEPNOT)
            {
                MotorStatus[channel] = OFF;
            }
            else
            {
            }   
        }			 
    }
    else
    {}

    if((flag==OK) || (flag==STEPHIG) || (flag==STEPLOW))
    {
    	return OK;
    }
    else
    {
    	return NOTOK;
    }
}

/****************************************************************************************
@函数名称       : void motor_update(char channel, char dir);                       
@参数           : char channel, char dir
@返回值         : NONE
@描述           : 更新步数
@最后编辑时间   : 2006-02-23
@版本           : V1.0
@修改                   
*****************************************************************************************/
void motor_update(char channel, char dir)
{
    volatile unsigned char  ctemp,*motor_channel;
    int     temp,itemp;
    
    itemp=MotorFinalStep[channel]-MotorCurStep[channel];
    
    if (itemp!=0)
    {
        if (itemp<0)  MotorCurStep[channel]--;
        else if (itemp>0)  MotorCurStep[channel]++;
    
        motor_channel = &MCDC0 + channel*2;

        temp = MotorCurStep[channel];
		
        asm {
            ldd     temp;
            ldx     #6
            idiv
            stab    ctemp
        }
        
        if(dir == CLOCKWISE)
        { 
               if(ctemp==0)
                {
                    MCCTL1_RECIRC = 0;
                    *motor_channel &= ~S0_DTC;         //;Duty cycle channel 0 
                    *(motor_channel+1) = 64;
                    						 
                    MCCTL1_RECIRC = 0;
                    *(motor_channel+2) &= ~S1_DTC;     //;Duty cycle channel 1 
                    *(motor_channel+3) =0;
                }
                else if(ctemp==1)
                {
                    MCCTL1_RECIRC = 0;
                    *motor_channel &= ~S0_DTC;        //;Duty cycle channel 0 
                    *(motor_channel+1) = 64;
                    
                    *(motor_channel+2) &= ~S1_DTC;    //;Duty cycle channel 1 
                		*(motor_channel+3) = 64;
                }
                else if(ctemp==2)
                {  
                    MCCTL1_RECIRC = 0;
                    *motor_channel &= ~S0_DTC;        //;Duty cycle channel 0 
                    *(motor_channel+1) = 0;
                    
                    *(motor_channel+2) &= ~S1_DTC;    //;Duty cycle channel 1 
                    *(motor_channel+3) = 64;
                }
                else if(ctemp==3)   
                {
                    MCCTL1_RECIRC = 1;
                    *motor_channel |= S0_DTC;         //;Duty cycle channel 0 
                    *(motor_channel+1) = 64;						
                    
                    MCCTL1_RECIRC = 1;
                    *(motor_channel+2) |= S1_DTC;     //;Duty cycle channel 1 
   									*(motor_channel+3) = 0;
                }    
                else if(ctemp==4)
                {  
                    MCCTL1_RECIRC = 1;
                    *motor_channel |= S0_DTC;         //;Duty cycle channel 0 
                    *(motor_channel+1) = 64;				
                    
                    *(motor_channel+2) |= S1_DTC;     //;Duty cycle channel 1 
                		*(motor_channel+3) = 64;
                   
                }
                else if(ctemp==5)   
                {
                    MCCTL1_RECIRC = 1;
                    *motor_channel |= S0_DTC;         //;Duty cycle channel 0 
                    *(motor_channel+1) = 0;						
                    
                    *(motor_channel+2) |= S1_DTC;     //;Duty cycle channel 1 
                		*(motor_channel+3) = 64;
                }  	 	               				 
        }
    }
    else         
    {
        MotorStatus[channel]=OFF;     
    }       
}

/****************************************************************************
*  motor_micro_update(char channel, char dir) -
*
* Description : Control motor drivers PWM value and polarity
*			  :  
* Example     : N/A  
* Input 	  : motor channel, direction
* Output	  : MotorCurStyep[?]
* Modify      : Motor driver PWM value and polarity
* Return      : N/A
****************************************************************************/
void motor_micro_update(char channel, char dir)
{
 	volatile unsigned char	ctemp,*motor_channel;
	int		temp,itemp;
	
	itemp = MotorFinalStep[channel] - MotorCurStep[channel];
	
	if (itemp!=0)
	{
	  if (itemp<0)  MotorCurStep[channel]--;
	  else if (itemp>0)  MotorCurStep[channel]++;
	
	  motor_channel= &MCDC0 + channel*2;
	
	  temp = MotorCurStep[channel];
	  asm
	  {
		ldd		temp;
		ldx		#STEP6
		idiv
		stab	ctemp
	  }                                         //取余数运算
		
	  if(dir == CLOCKWISE)
	  {
	    if((ctemp<STEP01))
	    {
  	      MCCTL1_RECIRC = 0;
          *motor_channel &= ~S0_DTC;         //;Duty cycle channel 0 
          						 
          MCCTL1_RECIRC = 1;
          *(motor_channel+2) |= S1_DTC;      //;Duty cycle channel 1 
	    } 
	    else if((ctemp>=STEP01)&&(ctemp<STEP1))
	    {
  	      MCCTL1_RECIRC = 0;
          *motor_channel &= ~S0_DTC;         //;Duty cycle channel 0 
          						 
          *(motor_channel+2) &= ~S1_DTC;     //;Duty cycle channel 1 
	    }
	    else if((ctemp>=STEP1)&&(ctemp<STEP2))
	    {
          MCCTL1_RECIRC = 0;
          *motor_channel &= ~S0_DTC;        //;Duty cycle channel 0 
          
          *(motor_channel+2) &= ~S1_DTC;    //;Duty cycle channel 1 
	    }
	    else if((ctemp>=STEP2)&&(ctemp<STEP23))
	    {  
          MCCTL1_RECIRC = 0;
          *motor_channel &= ~S0_DTC;         //;Duty cycle channel 0 
          
          *(motor_channel+2) &= ~S1_DTC;     //;Duty cycle channel 1 
	    }
	    else if((ctemp>=STEP23)&&(ctemp<STEP3))
	    {  
          MCCTL1_RECIRC = 1;
          *motor_channel |= S0_DTC;          //;Duty cycle channel 0 
          
          MCCTL1_RECIRC = 0;
          *(motor_channel+2) &= ~S1_DTC;     //;Duty cycle channel 1 
	    }																		  
	    else if((ctemp>=STEP3)&&(ctemp<STEP34))
	    {
          MCCTL1_RECIRC = 1;
          *motor_channel |= S0_DTC;          //;Duty cycle channel 0 
          
          MCCTL1_RECIRC = 0;
          *(motor_channel+2) &= ~S1_DTC;     //;Duty cycle channel 1 
	    }	
	    else if((ctemp>=STEP34)&&(ctemp<STEP4))
	    {
          MCCTL1_RECIRC = 1;
          *motor_channel |= S0_DTC;          //;Duty cycle channel 0 
          
          *(motor_channel+2) |= S1_DTC;      //;Duty cycle channel 1 
	    }	
	    else if((ctemp>=STEP4)&&(ctemp<STEP5))
	    {
          MCCTL1_RECIRC = 1;
          *motor_channel |= S0_DTC;          //;Duty cycle channel 0 
          
          *(motor_channel+2) |= S1_DTC;      //;Duty cycle channel 1 
	    }		
	    else if((ctemp>=STEP5)&&(ctemp<STEP56))
	    {
          MCCTL1_RECIRC = 1;
          *motor_channel |= S0_DTC;          //;Duty cycle channel 0 
          
          *(motor_channel+2) |= S1_DTC;      //;Duty cycle channel 1
	    }	
	    else if((ctemp>=STEP56)&&(ctemp<STEP6))
	    {
          MCCTL1_RECIRC = 0;
          *motor_channel &= ~S0_DTC;         //;Duty cycle channel 0 
          
          MCCTL1_RECIRC = 1;
          *(motor_channel+2) |= S1_DTC;      //;Duty cycle channel 1 
	    }							  
	  }
	  else
	  {  
	    if((ctemp<STEP01))
	    {
  	      MCCTL1_RECIRC = 0;
          *(motor_channel+2) &= ~S0_DTC;     //;Duty cycle channel 0 
          						 
          MCCTL1_RECIRC = 1;
          *motor_channel |= S1_DTC;          //;Duty cycle channel 1 
	    } 
	    else if((ctemp>=STEP01)&&(ctemp<STEP1))
	    {
  	      MCCTL1_RECIRC = 0;
          *(motor_channel+2) &= ~S0_DTC;     //;Duty cycle channel 0 
          						 
          *motor_channel &= ~S1_DTC;         //;Duty cycle channel 1 
	    }
	    else if((ctemp>=STEP1)&&(ctemp<STEP2))
	    {
          MCCTL1_RECIRC = 0;
          *(motor_channel+2) &= ~S0_DTC;     //;Duty cycle channel 0 
          
          *motor_channel &= ~S1_DTC;         //;Duty cycle channel 1 
	    }
	    else if((ctemp>=STEP2)&&(ctemp<STEP23))
	    {  
          MCCTL1_RECIRC = 0;
          *(motor_channel+2) &= ~S0_DTC;     //;Duty cycle channel 0 
          
          *motor_channel &= ~S1_DTC;         //;Duty cycle channel 1 
	    }
	    else if((ctemp>=STEP23)&&(ctemp<STEP3))
	    {  
          MCCTL1_RECIRC = 1;
          *(motor_channel+2) |= S0_DTC;      //;Duty cycle channel 0 
          
          MCCTL1_RECIRC = 0;
          *motor_channel &= ~S1_DTC;         //;Duty cycle channel 1 
	    }
	    else if((ctemp>=STEP3)&&(ctemp<STEP34))
	    {
          MCCTL1_RECIRC = 1;
          *(motor_channel+2) |= S0_DTC;      //;Duty cycle channel 0 
          
          MCCTL1_RECIRC = 0;
          *motor_channel &= ~S1_DTC;         //;Duty cycle channel 1 
	    }	
	    else if((ctemp>=STEP34)&&(ctemp<STEP4))
	    {
          MCCTL1_RECIRC = 1;
          *(motor_channel+2) |= S0_DTC;      //;Duty cycle channel 0 
          
          *motor_channel |= S1_DTC;          //;Duty cycle channel 1 
	    }	
	    else if((ctemp>=STEP4)&&(ctemp<STEP5))
	    {
          MCCTL1_RECIRC = 1;
          *(motor_channel+2) |= S0_DTC;      //;Duty cycle channel 0 
          
          *motor_channel |= S1_DTC;          //;Duty cycle channel 1 
	    }		
	    else if((ctemp>=STEP5)&&(ctemp<STEP56))
	    {
          MCCTL1_RECIRC = 1;
          *(motor_channel+2) |= S0_DTC;      //;Duty cycle channel 0 
          
          *motor_channel |= S1_DTC;          //;Duty cycle channel 1 
	    }	
	    else if((ctemp>=STEP56)&&(ctemp<STEP6))
	    {
          MCCTL1_RECIRC = 0;
          *(motor_channel+2) &= ~S0_DTC;     //;Duty cycle channel 0 
          
          MCCTL1_RECIRC = 1;
          *motor_channel |= S1_DTC;          //;Duty cycle channel 1 
	    }							  
	  }  
	  	  	
	  *(motor_channel+1) = SinTbl4[ctemp];
	  *(motor_channel+3) = CosTbl4[ctemp];

    }
    else		 
    {
	  MotorStatus[channel]=OFF;		
    }
}