motor_driver.h

freescale mc9s12hz256 step motor control

#define   OK     1
#define   NOTOK  0
#define   UP     1
#define   DOWN   0

#define 	STEP0				0
#define 	STEP1				24
#define 	STEP2				48
#define 	STEP3				72
#define 	STEP4				96
#define   ECLOCK      8000

#define S0_DTC		0x80	//0xc0	//0x7500
#define S1_DTC		0x80	//0xc0	//0xf500
 extern unsigned int data_receive[32]; 
extern unsigned int final_step[4],current_step[4];
extern char SinTbl4[48];
extern char CosTbl4[48];


void init_stepper1(void);
void init_stepper2(void);
void init_stepper3(void);
void init_stepper4(void);
void Motor_init(void);
void motor_micro_update(unsigned char channel);

#define motorbase		0x01C0
#define MCPERW		(*((volatile unsigned int*)(motorbase+0x02)))
#define MCPERH		(*((volatile unsigned char*)(motorbase+0x02)))
#define MCPERL		(*((volatile unsigned char*)(motorbase+0x03)))

#define MCCC8		  (*((volatile unsigned char*)(motorbase+0x18)))
#define MCCC9		  (*((volatile unsigned char*)(motorbase+0x19)))
#define MCCC10		(*((volatile unsigned char*)(motorbase+0x1a)))
#define MCCC11		(*((volatile unsigned char*)(motorbase+0x1b)))

#define MCDC0W		(*((volatile unsigned int*)(motorbase+0x20)))
#define MCDC0H		(*((volatile unsigned char*)(motorbase+0x20)))
#define MCDC0L		(*((volatile unsigned char*)(motorbase+0x21)))
#define MCDC1W		(*((volatile unsigned int*)(motorbase+0x22)))
#define MCDC1H		(*((volatile unsigned char*)(motorbase+0x22)))
#define MCDC1L		(*((volatile unsigned char*)(motorbase+0x23)))
#define MCDC2W		(*((volatile unsigned int*)(motorbase+0x24)))
#define MCDC2H		(*((volatile unsigned char*)(motorbase+0x24)))
#define MCDC2L		(*((volatile unsigned char*)(motorbase+0x25)))
#define MCDC3W		(*((volatile unsigned int*)(motorbase+0x26)))
#define MCDC3H		(*((volatile unsigned char*)(motorbase+0x26)))
#define MCDC3L		(*((volatile unsigned char*)(motorbase+0x27)))
#define MCDC4W		(*((volatile unsigned int*)(motorbase+0x28)))
#define MCDC4H		(*((volatile unsigned char*)(motorbase+0x28)))
#define MCDC4L		(*((volatile unsigned char*)(motorbase+0x29)))
#define MCDC5W		(*((volatile unsigned int*)(motorbase+0x2A)))
#define MCDC5H		(*((volatile unsigned char*)(motorbase+0x2A)))
#define MCDC5L		(*((volatile unsigned char*)(motorbase+0x2B)))
#define MCDC6W		(*((volatile unsigned int*)(motorbase+0x2C)))
#define MCDC6H		(*((volatile unsigned char*)(motorbase+0x2C)))
#define MCDC6L		(*((volatile unsigned char*)(motorbase+0x2D)))
#define MCDC7W		(*((volatile unsigned int*)(motorbase+0x2E)))
#define MCDC7H		(*((volatile unsigned char*)(motorbase+0x2E)))
#define MCDC7L		(*((volatile unsigned char*)(motorbase+0x2F)))
#define MCDC8W		(*((volatile unsigned int*)(motorbase+0x30)))
#define MCDC8H		(*((volatile unsigned char*)(motorbase+0x30)))
#define MCDC8L		(*((volatile unsigned char*)(motorbase+0x31)))
#define MCDC9W		(*((volatile unsigned int*)(motorbase+0x32)))
#define MCDC9H		(*((volatile unsigned char*)(motorbase+0x32)))
#define MCDC9L		(*((volatile unsigned char*)(motorbase+0x33)))
#define MCDC10W		(*((volatile unsigned int*)(motorbase+0x34)))
#define MCDC10H		(*((volatile unsigned char*)(motorbase+0x34)))
#define MCDC10L		(*((volatile unsigned char*)(motorbase+0x35)))
#define MCDC11W		(*((volatile unsigned int*)(motorbase+0x36)))
#define MCDC11H		(*((volatile unsigned char*)(motorbase+0x36)))
#define MCDC11L		(*((volatile unsigned char*)(motorbase+0x37)))