motor_control.c

利用freescale公司的MC9S08QE128开发的一套游戏机程序

#include "derivative.h" /* include peripheral declarations */


#define LOWER  0
#define UPPER  1
#define MIDDLE 2
#define OFF    0
#define ON     1


static byte motor_pos;


void delay(int time){
  int i;
  for(i=0;i<time;i++);
}
void LED1Dis(int isOn) 
{
  if(isOn){
  
    PTED_PTED4 = 1;
    PTEDD_PTEDD4 = 1;
  } 
  else{
    PTED_PTED4 = 0;
    PTEDD_PTEDD4 = 1;
    }
}

void LED2Dis(int isOn) 
{
  if(isOn){
  
    PTFD_PTFD1 = 1;
    PTFDD_PTFDD1 = 1;
  } 
  else{
    PTFD_PTFD1 = 0;
    PTFDD_PTFDD1 = 1;
    }
}
void motorCtrIOInit(){
  PTCD_PTCD7 = 0;
  PTDD_PTDD2 = 0; 
  PTCDD_PTCDD7 = 1;
  PTDDD_PTDDD2 = 1;
  PTCPE_PTCPE1 = 1;
  PTCDD_PTCDD1 = 0;
  
}

void motorUp() {
  motorCtrIOInit();
  
  if  (!(JudgeMotorPos() == UPPER)){
    
    PTCD_PTCD7 = 0;
    PTDD_PTDD2 = 1;
  }
}

void motorDown(){
  motorCtrIOInit();
  
  if  (!(JudgeMotorPos() == LOWER)){
    
    PTCD_PTCD7 = 1;
    PTDD_PTDD2 = 0;

  }
  
}


void motorStop(){
  
  PTCD_PTCD7 = 0;
  PTDD_PTDD2 = 0;
}

int JudgeMotorPos(){
  //judge motor pos
  PTCPE_PTCPE1 = 1;
  PTCDD_PTCDD1 = 0;

  PTCD_PTCD6 = 1;
  PTGD_PTGD7 = 1;  
  PTCDD_PTCDD6 = 1;
  PTGDD_PTGDD7 = 1;
  
  delay(0xFF);
  if(PTCD_PTCD1 == 0)
  {  
     PTCD_PTCD6 = 0;
     delay(0xFF);
     if(PTCD_PTCD1 == 0){
        motor_pos = LOWER;
        PTCD_PTCD6 = 1;
        return LOWER;
     }
     else {
        motor_pos = UPPER;
        PTCD_PTCD6 = 1;
        return UPPER;
        }
  }

  else{
    motor_pos = MIDDLE;
    return MIDDLE;
  }
}

void motorCtr() 
{ 
  motorCtrIOInit();
  // motor at upper/ lower position
  if(JudgeMotorPos() == UPPER){
    PTCD_PTCD6 = 0;
    delay(0xFF);  
    while(PTCD_PTCD1 == 1){
    }    
    PTCD_PTCD6 = 1;       
  } 
  else if(JudgeMotorPos() == MIDDLE){
    while(PTCD_PTCD1 == 1){
    }    
  }
  // motor motion from lowerPos to upperPos  
  
    delay(0xffff);
    PTGD_PTGD7 = 0;
    delay(0xff);
    while (PTCD_PTCD1 == 1){   
    } 
    PTGD_PTGD7 = 1;  
  }