step-motor.c

开发环境为CCS。DSP12个典型例子源码

// TI File $Revision: /main/3 $
// Checkin $Date: July 2, 2007   11:33:22 $
//###########################################################################
//
// FILE:    STEP-MOTOR.c
//
// TITLE:   DSP2812 Device Getting Started Program.
//
// ASSUMPTIONS:
//
//          This program requires the DSP281x V1.00 header files.  
//          As supplied, this project is configured for "boot to H0" operation.
//
//          Other then boot mode configuration, no other hardware configuration
//          is required.   
//
// DESCRIPTION:
//
//          This example configures CPU Timer0 and increments
//          a counter each time the timer asserts an interrupt.
//      
//          Watch Variables:
//                 CpuTimer0.InterruptCount
//
//###########################################################################
// $TI Release: DSP281x Header Files V1.11 $
// $Release Date: September 26, 2007 $
//###########################################################################


#include "DSP281x_Device.h"     // DSP281x Headerfile Include File
#include "DSP281x_Examples.h"   // DSP281x Examples Include File

// Prototype statements for functions found within this file.
interrupt void cpu_timer0_isr(void);
void init_eva();
void Gpio_select(void);
unsigned int Led_Flag;
int nAddStep,nStep;
unsigned int pwm1[8]={0x009c,0x0098,0x009a,0x0092,0x009b,0x0093,0x0097,0x0096 }; 

void main(void)
{

// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP281x_SysCtrl.c file.
   InitSysCtrl();
   nStep=0; nAddStep=1;
// Step 2. Initalize GPIO: 
// This example function is found in the DSP281x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio();  // Skipped for this example  
   Gpio_select();
//   init_eva();
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts 
   DINT;

// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.  
// This function is found in the DSP281x_PieCtrl.c file.
   InitPieCtrl();
   
// Disable CPU interrupts and clear all CPU interrupt flags:
   IER = 0x0000;
   IFR = 0x0000;

// Initialize the PIE vector table with pointers to the shell Interrupt 
// Service Routines (ISR).  
// This will populate the entire table, even if the interrupt
// is not used in this example.  This is useful for debug purposes.
// The shell ISR routines are found in DSP281x_DefaultIsr.c.
// This function is found in DSP281x_PieVect.c.
   InitPieVectTable();

// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.  
   EALLOW;  // This is needed to write to EALLOW protected registers
   PieVectTable.TINT0 = &cpu_timer0_isr;
   EDIS;    // This is needed to disable write to EALLOW protected registers

// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP281x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
   InitCpuTimers();   // For this example, only initialize the Cpu Timers

// Configure CPU-Timer 0 to interrupt every second:
// 100MHz CPU Freq, 1 second Period (in uSeconds)
   ConfigCpuTimer(&CpuTimer0, 150, 1000);
   StartCpuTimer0();

// Step 5. User specific code, enable interrupts:


// Enable CPU INT1 which is connected to CPU-Timer 0:
   IER |= M_INT1;

// Enable TINT0 in the PIE: Group 1 interrupt 7
   PieCtrlRegs.PIEIER1.bit.INTx7 = 1;

// Enable global Interrupts and higher priority real-time debug events:
   EINT;   // Enable Global interrupt INTM
   ERTM;   // Enable Global realtime interrupt DBGM

// Step 6. IDLE loop. Just sit and loop forever (optional):
   for(;;);

} 


interrupt void cpu_timer0_isr(void)
{
   CpuTimer0.InterruptCount++;

   // Acknowledge this interrupt to receive more interrupts from group 1
   PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
   GpioDataRegs.GPADAT.all=pwm1[nStep]; 
	            nStep+=nAddStep;
	    	    if ( nStep<0 ) nStep=7;
	            else if ( nStep>7 ) 
	            nStep=0;

	
}

void Gpio_select(void)
{
	EALLOW; 
	GpioMuxRegs.GPAMUX.all=0x0000;
	GpioMuxRegs.GPADIR.all=0xffff;
	EDIS;
}


//===========================================================================
// No more.
//===========================================================================