motorhip4081.c

基于Cortex-M3的全自动焊接机

#define  PART_LM3S811
#include "pin_map.h"
#include "motor.h"


#include  <hw_ints.h>
#include  <hw_sysctl.h>
#include  <hw_gpio.h>

#include  <interrupt.h>
#include  <sysctl.h>
#include  "pwm_init.h"

#define  SysCtlPeriEnable       SysCtlPeripheralEnable
#define  SysCtlPeriDisable      SysCtlPeripheralDisable
#define  GPIOPinTypeIn          GPIOPinTypeGPIOInput
#define  GPIOPinTypeOut         GPIOPinTypeGPIOOutput

//PD3
void  Motor1_Enable(tBoolean bEnable)
{   
    switch(bEnable)
    {
      
      case Start:
             GPIOPinWrite(Motor1_Enable_PORT,Motor1_Enable_PIN,0x00);
             break;
      case Stop:
             GPIOPinWrite(Motor1_Enable_PORT,Motor1_Enable_PIN,0x04);
             break; 
    }
}
//PD2
void  Motor2_Enable(tBoolean bEnable)
{   
    switch(bEnable)
    {
      
      case Start:
             GPIOPinWrite(Motor2_Enable_PORT,Motor2_Enable_PIN,0x00);
             break;
      case Stop:
             GPIOPinWrite(Motor2_Enable_PORT,Motor2_Enable_PIN,0x08);
             break; 
    }
}
//PC4
void  Motor3_Enable(tBoolean bEnable)
{   
    switch(bEnable)
    {
      
      case Start:
             GPIOPinWrite(Motor3_Enable_PORT,Motor3_Enable_PIN,0x00);
             break;
      case Stop:
             GPIOPinWrite(Motor3_Enable_PORT,Motor3_Enable_PIN,0x10);
             break; 
    }
}


void  Motor1Direct(tBoolean bDirect)
{
    switch(bDirect)
    {
      
      case Reverse:
             GPIOPinTypePWM(motor1_base, motor1_pwm_reverse);//PE1输出pwm
             
             GPIOPinTypeOut(motor1_base , motor1_pwm_forward);//PE0输出低
             GPIOPinWrite(motor1_base , motor1_pwm_forward , 0x00);
             break;
      case Forward:
             GPIOPinTypePWM(motor1_base, motor1_pwm_forward);
             
             GPIOPinTypeOut(motor1_base ,motor1_pwm_reverse);
             GPIOPinWrite(motor1_base , motor1_pwm_reverse , 0x00);
             break; 
    }
}

void  Motor2Direct(tBoolean bDirect)
{
    switch(bDirect)
    {
      
      case Reverse:
             GPIOPinTypePWM(motor2_base, motor2_pwm_reverse);//PD1输出pwm
             
             GPIOPinTypeOut(motor2_base , motor2_pwm_forward);//PD0输出低
             GPIOPinWrite(motor2_base , motor2_pwm_forward , 0x00);
             break;
      case Forward:
             GPIOPinTypePWM(motor2_base, motor2_pwm_forward);
             
             GPIOPinTypeOut(motor2_base ,motor2_pwm_reverse);
             GPIOPinWrite(motor2_base , motor2_pwm_reverse , 0x00);
             break; 
    }
}


void  Motor3Direct(tBoolean bDirect)
{
    switch(bDirect)
    {
      
      case Reverse:
             GPIOPinTypePWM(motor3_base, motor3_pwm_reverse);//PB1输出pwm
             
             GPIOPinTypeOut(motor3_base , motor3_pwm_forward);//PB0输出低
             GPIOPinWrite(motor3_base , motor3_pwm_forward , 0x00);
             break;
      case Forward:
             GPIOPinTypePWM(motor3_base, motor3_pwm_forward);
             
             GPIOPinTypeOut(motor3_base ,motor3_pwm_reverse);
             GPIOPinWrite(motor3_base , motor3_pwm_reverse , 0x00);
             break; 
    }
}



void Motor1_Enable_IOinit(void)
{
    SysCtlPeriEnable(Motor1_Enable_PERIPH);
    GPIOPinTypeOut(Motor1_Enable_PORT, Motor1_Enable_PIN);
}
void Motor2_Enable_IOinit(void)
{
    SysCtlPeriEnable(Motor2_Enable_PERIPH);
    GPIOPinTypeOut(Motor2_Enable_PORT, Motor2_Enable_PIN);
}

void Motor3_Enable_IOinit(void)
{
    SysCtlPeriEnable(Motor3_Enable_PERIPH);
    GPIOPinTypeOut(Motor3_Enable_PORT, Motor3_Enable_PIN);
}



void  Motor_Int1_A_IOInit(void)
{
    SysCtlPeriEnable(Motor_Enco_PERIPH1);                      
    GPIOPinTypeIn(Motor_Enco_PORT1 , Motor1_Enco_A);                

    GPIOIntTypeSet(Motor_Enco_PORT1 ,                           
                   Motor1_Enco_A ,
                   GPIO_FALLING_EDGE);
    IntEnable(Motor1_use_group);
}

void  Motor_Int1_B_IOInit(void)
{
    SysCtlPeriEnable(Motor_Enco_PERIPH1);                      
    GPIOPinTypeIn(Motor_Enco_PORT1 , Motor1_Enco_B);                

    GPIOIntTypeSet(Motor_Enco_PORT1 ,                           
                   Motor1_Enco_B ,
                   GPIO_FALLING_EDGE);
    IntEnable(Motor1_use_group);
}



void  Motor_Int2_A_IOInit(void)
{
    SysCtlPeriEnable(Motor_Enco_PERIPH2);                      
    GPIOPinTypeIn(Motor_Enco_PORT2 , Motor2_Enco_A);                

    GPIOIntTypeSet(Motor_Enco_PORT2 ,                           
                   Motor2_Enco_A ,
                   GPIO_FALLING_EDGE);
    IntEnable(Motor2_use_group);  
}

void  Motor_Int2_B_IOInit(void)
{
    SysCtlPeriEnable(Motor_Enco_PERIPH2);                      
    GPIOPinTypeIn(Motor_Enco_PORT2 , Motor2_Enco_B);                

    GPIOIntTypeSet(Motor_Enco_PORT2 ,                           
                   Motor2_Enco_B ,
                   GPIO_FALLING_EDGE);
    IntEnable(Motor2_use_group);  
}



void  Motor_Int3_A_IOInit(void)
{
    SysCtlPeriEnable(Motor_Enco_PERIPH3);                      
    GPIOPinTypeIn(Motor_Enco_PORT3 , Motor3_Enco_A);                

    GPIOIntTypeSet(Motor_Enco_PORT3 ,                           
                   Motor3_Enco_A ,
                   GPIO_FALLING_EDGE);
    IntEnable(Motor3_use_group); 
}

void  Motor_Int3_B_IOInit(void)
{
    SysCtlPeriEnable(Motor_Enco_PERIPH3);                      
    GPIOPinTypeIn(Motor_Enco_PORT3 , Motor3_Enco_B);                

    GPIOIntTypeSet(Motor_Enco_PORT3 ,                           
                   Motor3_Enco_B ,
                   GPIO_FALLING_EDGE);
    IntEnable(Motor3_use_group); 
}