motor.c

在CCS环境下基于TMS320C5416开发的控制交流电机工作的课程设计。

#include "scancode.h"

#define	TIM		*(int *)0x24
#define	PRD     *(int *)0x25
#define	TCR		*(int *)0x26
#define	IMR		*(int *)0x0
#define	IFR		*(int *)0x1		
#define	PMST	*(int *)0x1d	
#define SPSA0 *(unsigned int *)0x38
#define SPSD0 *(unsigned int *)0x39
#define SPSA1 *(unsigned int *)0x48
#define SPSD1 *(unsigned int *)0x49
#define REGISTERCLKMD (*(unsigned int *)0x58)
#define T46uS		0x0fff

void Delay(unsigned int nTime);
void interrupt time(void);
char ConvertScanToChar(unsigned char cScanCode);

ioport unsigned char port8000;	
ioport unsigned char port8001;	
ioport unsigned char port8002;	
ioport unsigned char port8007;	
unsigned int uWork,nCount;
unsigned int pwm1[8]={ 0x8e,0x8c,0x8d,0x89,0x8b,0x83,0x87,0x86 };
unsigned int pwm2[8]={ 0x86,0x87,0x83,0x8b,0x89,0x8d,0x8c,0x8e };
int nAddStep,nStep;

main()
{
	unsigned int nScanCode,uWork1;
	unsigned char cKey;

	REGISTERCLKMD=0;
	nStep=0; nAddStep=1;
	port8000=0;		// 初始化ICETEK-CTR
	port8000=0x80;
	port8000=0;
	port8007=0;			// 关闭东西方向的交通灯
	port8007=0x40;	// 关闭南北方向的交通灯
	port8007=0x0c2;
	uWork1=port8002;
	SPSA1=1;	// set McBSP1's SPCR2
	uWork=SPSD1;
	uWork&=0xfffe;	// set XRST=0
	SPSD1=uWork;
	SPSA1=0x0e;	// set McBSP1's PCR1
	uWork=SPSD1;
	uWork|=0x2400;	// set XIOEN=1 FSXM=1, Enable IO,FSR for output
	SPSD1=uWork;
	SPSA0=0;	// set McBSP0's SPCR1
	uWork=SPSD0;
	uWork&=0xfffe;	// set RRST=0
	SPSD0=uWork;
	SPSA0=0x0e;	// set McBSP0's PCR1
	uWork=SPSD0;
	uWork|=0x1101;	// set RIOEN=1 FSXM=1, Enable IO,CLKR for output,set Motor's direction to 1
	SPSD0=uWork;
	uWork1= PMST; 		      
	PMST = uWork1&0xff;
	IMR = 0x8;
	TCR = 0x412;
	TIM = 0;
	PRD = T46uS;
	TCR = 0x422;
	IFR = 0x100;
	asm("	rsbx	INTM");
	while ( 1 )
	{
		if ( nCount>16 )
		{
			nCount=0;
			nScanCode=port8001;
			nScanCode&=0x0ff;
			uWork=port8002;
			if ( nScanCode!=0 )
			{
				if ( nScanCode==SCANCODE_Enter )	break;
				else
				{
					cKey=ConvertScanToChar(nScanCode);
				}
				cKey=ConvertScanToChar(nScanCode);
				if ( cKey!=0 )
				{
					if ( cKey=='4' )	nAddStep=1;
					else if ( cKey=='6' )	nAddStep=-1;
				}
			}
		}
	}
	port8007=0x0c0;
}               

void Delay(unsigned int nDelay)
{
	int i,j,k=0;
	for ( i=0;i<nDelay;i++ )
		for ( j=0;j<64;j++ )
			k++;
}

void interrupt time(void)
{
		port8007=pwm2[nStep];
		nStep+=nAddStep;
		if ( nStep<0 )	nStep=7;
		else if ( nStep>7 )	nStep=0;
		nCount++;
}

char ConvertScanToChar(unsigned char cScanCode)
{
	char cReturn;
	
	cReturn=0;
	switch ( cScanCode )
	{
		case SCANCODE_0: cReturn='0'; break;
		case SCANCODE_1: cReturn='1'; break;
		case SCANCODE_2: cReturn='2'; break;
		case SCANCODE_3: cReturn='3'; break;
		case SCANCODE_4: cReturn='4'; break;
		case SCANCODE_5: cReturn='5'; break;
		case SCANCODE_6: cReturn='6'; break;
		case SCANCODE_7: cReturn='7'; break;
		case SCANCODE_8: cReturn='8'; break;
		case SCANCODE_9: cReturn='9'; break;
	}
	 
	return cReturn;
}