main.c

基于三星44B0的步进电机的控制实验原代码

/************************************************\
*	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"
#include <fcntl.h>
#include <string.h>
#include <sys/ioctl.h>
#include "zlg7289.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

#define ZLG7289_CS				(0x20)	//GPB5
#define ZLG7289_KEY                             (0x10)  //GPG4

int sSIOCON,sITVCNT,sSBRDR;

#define ZLG7289_ENABLE()	 do{sSIOCON=SIOCON;sITVCNT=ITVCNT;sSBRDR=SBRDR;SIOCON=0x31;ITVCNT=7;SBRDR=200;PDATB&=(~ZLG7289_CS);}while(0)

#define ZLG7289_DISABLE()	do{SIOCON=sSIOCON;ITVCNT=sITVCNT;SBRDR=sSBRDR;PDATB|=ZLG7289_CS;}while(0)

#define SIOOUT()	do{PDATF&=~0x4;}while(0)
#define SIOIN() do{PDATF|=0x4;}while(0)
#define Zlg7289_Reset()	 do{write_Zlg7289(ZLG7289_CMD_RST);Delay(20);}while(0)

static void Delay(int t)
{
	int i;
	for(;t>0;t--)
		for(i=0;i<400;i++);
}

static void write_Zlg7289(char cmd)
{

	I_ISPC |= 0x10;   //中断挂起寄存器清零

	SIODAT = cmd;     //准备发送

	SIOCON |= 0x9;		 //开始位 [3] 设为1, 开始发送

	while( ! (INTPND & 0x10) ); //通过中断挂起寄存器 [4] , 判断停止

	I_ISPC |= 0x10;   //\中断挂起寄存器清零

}

static char read_Zlg7289()
{	
	SIOIN();          //通过PF2设置为输入状态

	write_Zlg7289(0);  //发送一无效诉数据

	SIOOUT();        //通过PF2设置为输出状态

	return SIODAT;    
}

int keymap[64]={ 7 , 4 , 1 , 4,'N',6,7,8,8,5,
				2,0,'/',14,15,16,9,6,3,'.',
				'*','-',23,24,'+',26,  27/*enter*/  ,28,29,30,
				31,32,33,34,35,36,37,38,39,40,
				41,42,43,44,45,46,47,48,49,50,
				51,52,53,54,55,56,57,58,59,60,
				61,62,63,64
				};

int zlg7289_getkey()
{
	int key;
	ZLG7289_ENABLE();

	write_Zlg7289(ZLG7289_CMD_RDKEY);
	key=read_Zlg7289();

	ZLG7289_DISABLE();
	
	key=keymap[key];

	
	return key;
}

static void Zlg7289_showdata(int n)
{
	int i;
	for(i=0;i<8 && n!=0 ;i++){
		write_Zlg7289(ZLG7289_CMD_DATA1|i); //
		write_Zlg7289(n%10);
		 Delay(10);
		n/=10;
	}
	for(;i<8;i++){
		write_Zlg7289(ZLG7289_CMD_DATA0|i);
		write_Zlg7289(0xf);	//don't show any word
		 Delay(10);
	}

}

void init_ADdevice(void)
{
	ADCPSR=20;
	ADCCON=ADCCON_SLEEP;
}
static int stop=0;

void* comMonitor(void* data)
{
	getchar();
	stop=1;
	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,count;
	int value=0;
	float d;
	int key;
	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);
	while( stop==0 ){
		if(!(PDATG&ZLG7289_KEY) )
		{
			key=zlg7289_getkey();
			while( !(PDATG & 0x10) );


			printf("%d\n",key);
			if(key <=9 && key >= 0)
			{
				value =value*10 +key;
			}
			printf("value=%d\n",value);
			count = value;
			if(key == 27)
				value=0;
			ZLG7289_ENABLE();	
			Zlg7289_Reset();
			Zlg7289_showdata(value);
			ZLG7289_DISABLE();
		
			if(value==0)
			{	
				printf("count=%d\n",count);
				printf("waiting...\n");
				count=count*4096/360;
				for(j=0;j<count;j++)
					{
						SETEXIOBITMASK(stepdata[j%8], 0xf0);
						Delay(20);
					}
				printf("stop!\n");
			}
			
		}
	}
	/* Wait until producer and consumer finish. */
	pthread_join(th_com, &retval);

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