dtk_bpd_motor.c

dsp2812的电机调速例子程序

			/*步进电机运行*/
			case STPMTRRUN:
				stepruncode = STPMTRRUN; 
				/*确定是旋转还是定位*/
				if(pmotor->StpMode == ROTATE )
				{
					/*确定是全长还是半长*/
					if(pmotor->StpHlfStp == HALFSTEP)
					{
						steplong = 96;
					}
					else
					{
						steplong = 48;
					}
					stepspeed = pmotor->StpSpdDgr;
					stepspeedsave = pmotor->StpSpdDgr;
					stepnumber = 0; 
					localstep = 0;
				}
				else
				{
					/*定位*/
					steplong = pmotor->StpSpdDgr;
					stepspeed = 10;
					stepspeedsave = 10;
					stepnumber = 0; 
					localstep = 1;
				}
				steplongsave = steplong;
				precieve->Data[0] = 0;
			    break;
			
			/*步进电机反向*/     
			case STPMTRRVS:
				if(pmotor->StpDir ==1)
				{
					pmotor->StpDir = 0;
				}
				else
				{
					pmotor->StpDir = 1;	
				}
				stepnumber = 0; 
				precieve->Data[0] = STPMTRRUN;
				break; 
				
			/*步进电机停止*/    	
			case STPMTRHALT:
				precieve->Data[0] = 0;
				steplong = 0;
				stepruncode = 0;
				break;		
				
			/*系统复位*/
			case SYSRESET:
				write_data=DCMOTORBRAKE;
				*p_ceselect = SELECTCE3;//打开ce3空间			
				*p_cntlbaseaddr=write_data;
				
				
				dcmotorrun = 0;
				dcruncode =0;
				precieve->Data[0] = 0;
				steplong = 0;
				stepruncode = 0;
				sys_reset();					
				break;
			default:
				break;
			
		}
		
		/*驱动电机运转*/
	    if(steplong > 0 )
	    {
	    	/*确定是使用半长还是全长数组*/
	    	if(pmotor->StpHlfStp == HALFSTEP)
	    	{
	    		/*当为半长时，确定正转还是反转*/
	    		if(pmotor->StpDir == CLOCKWISE)
	    		{
	    			/*正转*/
	    			step = motorstephalfn[stepnumber]; 
	    		}
	    		else
	    		{
	    			/*反转*/
	    			step = motorstephalf[stepnumber]; 
	    		}
	    	}
	    	else
	    	{
	    		/*当为全长时，确定正转还是反转*/
	    		if(pmotor->StpDir == CLOCKWISE)
	    		{
	    			/*正转*/
	    			step = motorstepalln[stepnumber]; 
	    		}
	    		else
	    		{
	    			/*反转*/
	    			step = motorstepall[stepnumber]; 
	    		}
	    	}
	    	if(stepspeed--)
	    	{
	    		stepdelay(dcmotorrun);
	    	}
	    	else
	    	{
	    		stepmotor_set(step);
	    		stepspeed = stepspeedsave;
	    		stepnumber++;
				steplong = steplong -1;
	    	}
			
			if( (localstep == 1) && (steplong == 0) )
			{
				stepnumber = 0;
			}
			if( (localstep == 0) && (steplong ==0) )
			{
				stepnumber = 0;
				steplong = steplongsave;
			}
	    }///*驱动电机运转*/	    if(steplong > 0 )	  
		/*电机输出*/
		dcmotor_out(dcmotorrun);		
//		DcMotorChangeConv++;
//		if((DcMotorChangeConv%2)==0)
//				change_time_dcmotor();
		
		change_time_dcmotor();
//		change_time_dcmotor();		
	}

} 	

int uart_send(void)
{
	unsigned int i;
	unsigned int send_datah;
	unsigned int timeout = 0x4000;
	unsigned int check = 0;
	for(i = 0; i<FRAMLONGTH-1; i++)
	{
		timeout = 0x4000;
		for(;;)
		{
			timeout--;			
			/*上一次发送是否完成*/
			if(SciaTx_Ready() == 1)
			{
				/*发送数据的高8位*/
				send_datah = uarts[i];
				check = check ^ (send_datah);
				SciaRegs.SCITXBUF = send_datah>>8;
				break;
			}
			/*检查是否超时*/
			if(!(timeout))
			{
				return 0xFFFF;
			}
		}
		timeout = 0x4000;
		for(;;)
		{
			timeout--;		
			/*上一次发送是否完成*/
			if(SciaTx_Ready() == 1)
			{
				/*发送数据的低8位*/
				SciaRegs.SCITXBUF = uarts[i];
				break;
			}
			/*检查是否超时*/
			if(!(timeout))
			{
				return 0xFFFF;
			}
		}
	}
	/*发送校验结果*/
	timeout = 0x4000;
	for(;;)
	{
		timeout--;		
		/*上一次发送是否完成*/
		if(SciaTx_Ready() == 1)
		{
			/*发送数据的高8位*/
			send_datah = check;
			SciaRegs.SCITXBUF = send_datah>>8;
			break;
		}
		/*检查是否超时*/
		if(!(timeout))
		{
			return 0xFFFF;
		}
	}
	timeout = 0x4000;
	for(;;)
	{
		timeout--;
		
		/*上一次发送是否完成*/
		if(SciaTx_Ready() == 1)
		{
			/*发送数据的低8位*/
			SciaRegs.SCITXBUF = check;
			break;
		}
		/*检查是否超时*/
		if(!(timeout))
		{
			return 0xFFFF;
		}
	}
	
	/*发送冗余*/
	timeout = 0x4000;
	for(;;)
	{
		timeout--;		
		/*上一次发送是否完成*/
		if(SciaTx_Ready() == 1)
		{
			/*发送数据的高8位*/
			send_datah = 0xabcd;
			SciaRegs.SCITXBUF = send_datah>>8;
			break;
		}
		/*检查是否超时*/
		if(!(timeout))
		{
			return 0xFFFF;
		}
	}
	timeout = 0x4000;
	for(;;)
	{
		timeout--;
		
		/*上一次发送是否完成*/
		if(SciaTx_Ready() == 1)
		{
			/*发送数据的低8位*/
			SciaRegs.SCITXBUF = 0xabcd;
			break;
		}
		/*检查是否超时*/
		if(!(timeout))
		{
			return 0xFFFF;
		}
	}
	
	/*reset sci */
	SciaRegs.SCICTL1.all = 0x03;
	SciaRegs.SCICTL1.all = 0x23;
	
	uarts[FRAMLONGTH-1]=check;
	return 0;
}
/* 返回值          0:接受完成  				        				          */
/*                 1：数据未准备好                                            */
/*                 3: 较验出错                                                */
int uart_recive(void)
{
	unsigned int check;	
	/*数据未准备好*/
	if(sys_statbuff[RECANEW] != 1)
	{
		return 1;
	}
	sys_statbuff[RECANEW]=0;//新帧标志位清零
	check=0;
	for(i=0;i<FRAMLONGTH-1;i++)
	{
		check=check ^ uart[i];
	}
	if(check!=uart[FRAMLONGTH-1])//校验不正确
	{
		
		return 3;		
	}
	return 0;	
}
void sys_reset(void)
{	
	EALLOW;   
	SysCtrlRegs.WDCR= 0;
	EDIS;
	for(;;){};
}   
void stepdelay(unsigned int dcmotorrun)
{
	int k = 0;
	for(k= 0; k<2000; k++)
	{
		dcmotor_out(dcmotorrun);
		if((k%100)==0)
			change_time_dcmotor();
	}
}
void change_time_dcmotor(void)
{
	//直流电机调速开始
	if(dcmotorrun==1)
	{
		motorstatus[3]--;
		if(motorstatus[3]==0)
		{
			motorstatus[6]=1;
		}
		motorstatus[5]--;
		if(motorstatus[5]==0)
		{
			motorstatus[3]=motorstatus[2];
			motorstatus[5]=motorstatus[4];
			motorstatus[6]=0;
		}		
	}
		//直流电机调速over	
}
void dcmotor_out(unsigned int data)
{
	if(data==0)
	{
		*p_cntlreg=0;//cntl0=0
	}
	else 
	{
		if(motorstatus[MOTORPWMZ]==0)
		{
			*p_cntlreg=3;//cntl0=1	
		}
		else
		{
			*p_cntlreg=0;//cntl0=0
		}
	}
}
void stepmotor_set(unsigned int data)
{
	write_data=data;
	*p_ceselect = SELECTCE3;//打开ce3空间			
	*p_stepportaddr=write_data;
	
}
//===========================================================================
// No more.
//===========================================================================