motor.c

基于GPRS的远程温度采集控制系统, 嵌入式系统, C源代码, 供做嵌入式开发及远程控制的朋友参考.

#include "hardware.h"
#include "motor.h"
#include <stdio.h>

#include <pthread.h>

#define ADCCON_SLEEP		0x20
#define ADCCON_FLAG		0x40
#define ADCCON_ENABLE_START	0x1
void init_MotorPort()
{

	//Dead Zone=0, PreScalero1=2;
	TCFG0|=(0<<24)|2;

	//divider timer0=1/2;
	TCFG1&=(~0xf);
	TCNTB0= MOTOR_CONT;
       
	TCMPB0= MOTOR_MID;
	TCON|=0x2;		//update mode for TCNTB0 and TCMPB0.
	TCON&=~0x2;
	TCON|=0x19;		//timer0 = auto reload, start. Dead Zone

}
void SetPWM(int value)
{
  TCMPB0= MOTOR_MID+value;
          //TCMPB0= MOTOR_MID+30;
}
void exit_MotorPort(void)
{
	TCON&=~0x1f;
}
void Delay(int t){
	int i;
	for(;t>0;t--)//延迟一段时间
		for(i=0;i<400;i++);
}

void init_ADdevice(void)
{
	ADCPSR=20;
	ADCCON=ADCCON_SLEEP;
}
int GetADresult(int channel)
{
	ADCCON=(channel<<2)|ADCCON_ENABLE_START;
	Delay(1);
	while(!( (ADCCON) & ADCCON_FLAG));
	return ADCDAT;
}
#define ADMID		512
void Run_DC_Motor(void)
{
   
   int ADData;
   //kbd_init();
   init_ADdevice();
   init_MotorPort();
   Delay(1);
	ADData=GetADresult(0);
	Delay(10);
     // printf((ADData-ADMID)*MOTOR_CONT/1024);
   SetPWM((ADData-ADMID)*MOTOR_CONT/1024);

	Delay(10);   
}
void run(int flag)
{
  if(flag==1)
   Run_DC_Motor();
  else
	exit_MotorPort();

   //init_MotorPort();
}