motordlg.cpp.bak

wince开发的xbase270开发板实现电机的控制。可控制步进电机和直流电机的运转时间

// MotorDlg.cpp : implementation file
//

#include "stdafx.h"
#include "Motor.h"
#include "MotorDlg.h"
#include "Motordef.h"
#include "wait.h"
#include <pkfuncs.h> 


#ifdef _DEBUG
#define new DEBUG_NEW
#endif

volatile GPIO_REGS  *v_pGPIOReg = NULL;
#define StepBaseTime 2500

#define GPIO_81_PullHigh()	v_pGPIOReg->GPSR_z|=GPIO_81	//用于直流电机
#define GPIO_81_PullLow()	v_pGPIOReg->GPCR_z|=GPIO_81	

#define GPIO_82_PullHigh()	v_pGPIOReg->GPSR_z|=GPIO_82	//用于直流电机
#define GPIO_82_PullLow()	v_pGPIOReg->GPCR_z|=GPIO_82	

#define GPIO_83_PullHigh()	v_pGPIOReg->GPSR_z|=GPIO_83	//用于产生步进电机脉冲
#define GPIO_83_PullLow()	v_pGPIOReg->GPCR_z|=GPIO_83	

#define GPIO_84_PullHigh()	v_pGPIOReg->GPSR_z|=GPIO_84	//用于控制步进电机方向
#define GPIO_84_PullLow()	v_pGPIOReg->GPCR_z|=GPIO_84	

#define GPIO_53_PullHigh()	v_pGPIOReg->GPSR_y|=GPIO_53//用于步进电机输出使能
#define GPIO_53_PullLow()	v_pGPIOReg->GPCR_y|=GPIO_53
// CMotorDlg dialog
UINT StepMotorThread(LPVOID lpParam)	//步进电机运行线程
{
	CMotorDlg *pDlg=(CMotorDlg*)lpParam;
	CWait waitTime;
	WaitForSingleObject(pDlg->StepThreadBegin.m_hObject,INFINITE);
	GPIO_53_PullLow();
	while(1)
	{    		
		if(pDlg->m_StepMotorPositive.GetCheck())
			GPIO_84_PullLow();
		else	
			GPIO_84_PullHigh();
		if(!pDlg->m_StepContinue.GetCheck())
		{
			pDlg->m_StepRunTime--;
			if(pDlg->m_StepRunTime <=0)
				break;
		}
		int result=::WaitForSingleObject(pDlg->StepThreadEnd.m_hObject,0);
		if(result==WAIT_OBJECT_0)
			break;
		GPIO_83_PullHigh();	
		waitTime.usWait(pDlg->g_HighTimeA);
		GPIO_83_PullLow();
		waitTime.usWait(pDlg->g_LowTimeA);
	}
	GPIO_53_PullHigh();
	return 0;
}

UINT DCMotorThread(LPVOID param)//直流电机运行线程
{
	CMotorDlg *pDlg=(CMotorDlg*)param;
	::WaitForSingleObject(pDlg->DCThreadBegin.m_hObject ,INFINITE);
	while(1)
	{
		int result=::WaitForSingleObject(pDlg->DCThreadEnd.m_hObject ,0);
		if(result==WAIT_OBJECT_0)
		{
			GPIO_82_PullHigh();
			GPIO_81_PullHigh();
			break;
		}
		if(pDlg->m_DCMotorPositive.GetCheck())
		{
			GPIO_81_PullLow();
			GPIO_82_PullHigh();
		}
		else
		{
			GPIO_81_PullLow();
			GPIO_82_PullHigh();
		}

		if(!pDlg->m_DCContinue.GetCheck())
		{
			Sleep(pDlg->m_DCRunTime);
			GPIO_82_PullHigh();
			GPIO_81_PullHigh();
			break;
		}
	}
	return 0;

}

CMotorDlg::CMotorDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CMotorDlg::IDD, pParent)
	, m_DCRunTime(1000)
	, m_StepRunTime(1000)
	, m_RatioH(1)
	, m_RatioL(1)
{
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}

void CMotorDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	DDX_Text(pDX, IDC_DCTime, m_DCRunTime);
	DDX_Text(pDX, IDC_StepTime, m_StepRunTime);
	DDX_Text(pDX, IDC_StepRatioH, m_RatioH);
	DDX_Text(pDX, IDC_StepRatioL, m_RatioL);
	DDX_Control(pDX, IDC_DcMotorContinue, m_DCContinue);
	DDX_Control(pDX, IDC_StepContinue, m_StepContinue);
	DDX_Control(pDX, IDC_DCMotorPositive,m_DCMotorPositive);
	DDX_Control(pDX, IDC_StepMotorPositive,m_StepMotorPositive);
}

BEGIN_MESSAGE_MAP(CMotorDlg, CDialog)
#if defined(_DEVICE_RESOLUTION_AWARE) && !defined(WIN32_PLATFORM_WFSP)
	ON_WM_SIZE()
#endif
	//}}AFX_MSG_MAP
	ON_BN_CLICKED(IDC_StepMotorStart, &CMotorDlg::OnBnClickedStepmotorstart)
	ON_BN_CLICKED(IDC_StepMotorStop, &CMotorDlg::OnBnClickedStepmotorstop)
	ON_BN_CLICKED(IDC_DCMotorStart, &CMotorDlg::OnBnClickedDcmotorstart)
	ON_BN_CLICKED(IDC_DCMotorStop, &CMotorDlg::OnBnClickedDcmotorstop)
END_MESSAGE_MAP()


// CMotorDlg message handlers

BOOL CMotorDlg::OnInitDialog()
{
	CDialog::OnInitDialog();

	// Set the icon for this dialog.  The framework does this automatically
	//  when the application's main window is not a dialog
	SetIcon(m_hIcon, TRUE);			// Set big icon
	SetIcon(m_hIcon, FALSE);		// Set small icon
	m_DCMotorPositive.SetCheck(1);
	m_StepMotorPositive.SetCheck(1);

	InitGPIO();

	// TODO: Add extra initialization here
	
	return TRUE;  // return TRUE  unless you set the focus to a control
}

#if defined(_DEVICE_RESOLUTION_AWARE) && !defined(WIN32_PLATFORM_WFSP)
void CMotorDlg::OnSize(UINT /*nType*/, int /*cx*/, int /*cy*/)
{
	DRA::RelayoutDialog(
		AfxGetInstanceHandle(), 
		this->m_hWnd, 
		DRA::GetDisplayMode() != DRA::Portrait ? 
			MAKEINTRESOURCE(IDD_MOTOR_DIALOG_WIDE) : 
			MAKEINTRESOURCE(IDD_MOTOR_DIALOG));
}
#endif


BOOL CMotorDlg::InitGPIO(void)
{
	int retvalue;
//	DWORD threadID;
	retvalue=0;
	if(!v_pGPIOReg) //
	{
		if(!(v_pGPIOReg=(volatile GPIO_REGS *)VirtualAlloc(0,0x1000,MEM_RESERVE,PAGE_NOACCESS)))
		{			
			MessageBox(TEXT("VirtualAlloc() failed!\r\n"),NULL,MB_OK); 
			 return FALSE;
		}
		else
			retvalue=VirtualCopy((PVOID)v_pGPIOReg,(PVOID)(GPIO_BASE_U_VIRTUAL>>8),0x1000,PAGE_READWRITE|PAGE_NOCACHE|PAGE_PHYSICAL); 
		if(!retvalue) 
		{
			VirtualFree((PVOID)v_pGPIOReg, 0, MEM_RELEASE);
			v_pGPIOReg = NULL;
			MessageBox(TEXT("VirtualCopy() failed!\r\n"),NULL,MB_OK); 
			return FALSE;
		} 
		else
		{
			//set GPIO pin direction 
			v_pGPIOReg->GPDR_z |= GPIO_81;
			v_pGPIOReg->GPDR_z |= GPIO_82;

			v_pGPIOReg->GPDR_z |= GPIO_83;
			v_pGPIOReg->GPDR_z |= GPIO_84;

			v_pGPIOReg->GPDR_y |=GPIO_53;

			GPIO_84_PullLow();
			GPIO_83_PullLow();
			
			GPIO_81_PullHigh();
			GPIO_82_PullHigh();	

			GPIO_53_PullHigh();	
			
			return TRUE;
		}
	}
	return TRUE;
}

void CMotorDlg::OnBnClickedStepmotorstart()
{
	UpdateData(TRUE);
	g_HighTimeA=m_RatioH*StepBaseTime/(m_RatioH+m_RatioL);
	g_LowTimeA=m_RatioL*StepBaseTime/(m_RatioH+m_RatioL);
	AfxBeginThread(StepMotorThread,this);
	StepThreadBegin.SetEvent();
}

void CMotorDlg::OnBnClickedStepmotorstop()
{
	StepThreadEnd.SetEvent();
}

void CMotorDlg::OnBnClickedDcmotorstart()
{
	UpdateData(TRUE);
	AfxBeginThread(DCMotorThread,this);
	DCThreadBegin.SetEvent();
}

void CMotorDlg::OnBnClickedDcmotorstop()
{
	DCThreadEnd.SetEvent();
}