📄 5502_motor.c
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/******************************************************************************/
/* Copyright 2004 by SEED Electronic Technology LTD. */
/* All rights reserved. SEED Electronic Technology LTD. */
/* Restricted rights to use, duplicate or disclose this code are */
/* granted through contract. */
/* MODULE NAME... DEC5502_IO */
/* FILENAME...... 5502_MOTOR.c */
/* PROJECT....... Program and configure operation on IO */
/* DESCRIPTION:This is an example of programming and configure IO of DEC5502 */
/* 作者：韩敬 */
/* 版本：1.0 */
/* 时间：2006-08-18 */
/******************************************************************************/
#include <csl.h>
#include <csl_pll.h>
#include <csl_emif.h>
#include <csl_chip.h>
#include <stdio.h>
#include "comm.h"
#include <stdio.h>
#include <csl_irq.h>
#include <csl_gpt.h>
/*FLASH的EMIF设置*/
EMIF_Config MyEmifConfig = {
EMIF_GBLCTL1_RMK( // EMIF Global Control Register 1
EMIF_GBLCTL1_NOHOLD_HOLD_ENABLED, // Hold enable
EMIF_GBLCTL2_EK2HZ_HIGHZ, // EMIF_GBLCTL1_EK1HZ_EK1ENHigh-Z control
EMIF_GBLCTL1_EK1EN_ENABLED // ECLKOUT1 Enable
),
EMIF_GBLCTL2_RMK( // EMIF Global Control Register 2
EMIF_GBLCTL2_EK2RATE_1XCLK, // ECLKOUT2 Rate
EMIF_GBLCTL2_EK2HZ_HIGHZ, // EMIF_GBLCTL2_EK2HZ_EK2ENEK2HZ = 0, ECLKOUT2 is driven with value specified by EKnEN during
EMIF_GBLCTL2_EK2EN_DISABLED // ECLKOUT2 Enable (enabled by default)
),
EMIF_CE1CTL1_RMK( // CE1 Space Control Register 1
EMIF_CE1CTL1_TA_OF(3), // Turn-Around time
EMIF_CE1CTL1_READ_STROBE_OF(6), // Read strobe width
EMIF_CE1CTL1_MTYPE_16BIT_ASYNC, // Access type
EMIF_CE1CTL1_WRITE_HOLD_MSB_LOW, // Write hold width MSB bitHIGH
EMIF_CE1CTL1_READ_HOLD_OF(3) // Read hold width
),
EMIF_CE1CTL2_RMK( // CE1 Space Control Register 2
EMIF_CE1CTL2_WRITE_SETUP_OF(4), // Write setup width
EMIF_CE1CTL2_WRITE_STROBE_OF(10), // Write strobe width
EMIF_CE1CTL2_WRITE_HOLD_OF(2), // Write hold width
EMIF_CE1CTL2_READ_SETUP_OF(2) // Read setup width
),
EMIF_CE0CTL1_RMK( // CE0 Space Control Register 1
EMIF_CE0CTL1_TA_DEFAULT,
EMIF_CE0CTL1_READ_STROBE_DEFAULT,
EMIF_CE0CTL1_MTYPE_DEFAULT,
EMIF_CE0CTL1_WRITE_HOLD_MSB_DEFAULT,
EMIF_CE0CTL1_READ_HOLD_DEFAULT
),
EMIF_CE0CTL2_RMK( // CE0 Space Control Register 2
EMIF_CE0CTL2_WRITE_SETUP_DEFAULT,
EMIF_CE0CTL2_WRITE_STROBE_DEFAULT,
EMIF_CE0CTL2_WRITE_HOLD_DEFAULT,
EMIF_CE0CTL2_READ_SETUP_DEFAULT
),
EMIF_CE2CTL1_RMK( // CE2 Space Control Register 1
EMIF_CE2CTL1_TA_DEFAULT, // Not use for SDRAM (asynchronous memory types only)
EMIF_CE2CTL1_READ_STROBE_DEFAULT, // Read strobe width
EMIF_CE2CTL1_MTYPE_32BIT_SDRAM, // 32-bit-wide SDRAM
EMIF_CE2CTL1_WRITE_HOLD_DEFAULT, // Write hold width
EMIF_CE2CTL1_READ_HOLD_DEFAULT // Read hold width
),
EMIF_CE2CTL2_RMK( // CE2 Space Control Register 2
EMIF_CE2CTL2_WRITE_SETUP_DEFAULT, // Write setup width
EMIF_CE2CTL2_WRITE_STROBE_DEFAULT,// Write strobe width
EMIF_CE2CTL2_WRITE_HOLD_DEFAULT, // Write hold width
EMIF_CE2CTL2_READ_SETUP_DEFAULT // Read setup width
),
EMIF_CE3CTL1_RMK( // CE3 Space Control Register 1
EMIF_CE3CTL1_TA_OF(3), // Turn-Around time
EMIF_CE3CTL1_READ_STROBE_OF(6), // Read strobe width
EMIF_CE3CTL1_MTYPE_16BIT_ASYNC, // Access type
EMIF_CE3CTL1_WRITE_HOLD_MSB_LOW, // Write hold width MSB bitHIGH
EMIF_CE3CTL1_READ_HOLD_OF(3)
),
EMIF_CE3CTL2_RMK( // CE3 Space Control Register 2
EMIF_CE3CTL2_WRITE_SETUP_OF(4), // Write setup width
EMIF_CE3CTL2_WRITE_STROBE_OF(10), // Write strobe width
EMIF_CE3CTL2_WRITE_HOLD_OF(2), // Write hold width
EMIF_CE3CTL2_READ_SETUP_OF(2) // Read setup width
),
EMIF_SDCTL1_RMK( // SDRAM Control Register 1
EMIF_SDCTL1_TRC_OF(6), // Specifies tRC value of the SDRAM in EMIF clock cycles.
EMIF_SDCTL1_SLFRFR_DISABLED // Auto-refresh mode
),
EMIF_SDCTL2_RMK( // SDRAM Control Register 2
0x11, // 4 banks,11 row address, 8 column address
EMIF_SDCTL2_RFEN_ENABLED, // Refresh enabled
EMIF_SDCTL2_INIT_INIT_SDRAM,
EMIF_SDCTL2_TRCD_OF(1), // Specifies tRCD value of the SDRAM in EMIF clock cycles
EMIF_SDCTL2_TRP_OF(1) // Specifies tRP value of the SDRAM in EMIF clock cycles
),
0x61B, // SDRAM Refresh Control Register 1
0x0300, // SDRAM Refresh Control Register 2
EMIF_SDEXT1_RMK( // SDRAM Extension Register 1
EMIF_SDEXT1_R2WDQM_1CYCLE,
EMIF_SDEXT1_RD2WR_3CYCLES,
EMIF_SDEXT1_RD2DEAC_1CYCLE,
EMIF_SDEXT1_RD2RD_1CYCLE,
EMIF_SDEXT1_THZP_OF(1), // tPROZ2=2
EMIF_SDEXT1_TWR_OF(0), //
EMIF_SDEXT1_TRRD_2CYCLES,
EMIF_SDEXT1_TRAS_OF(4),
EMIF_SDEXT1_TCL_2CYCLES
),
EMIF_SDEXT2_RMK( // SDRAM Extension Register 2
EMIF_SDEXT2_WR2RD_0CYCLES,
EMIF_SDEXT2_WR2DEAC_1CYCLE,
0,
EMIF_SDEXT2_R2WDQM_1CYCLE
),
EMIF_CE1SEC1_DEFAULT, // CE1 Secondary Control Register 1
EMIF_CE0SEC1_DEFAULT, // CE0 Secondary Control Register 1
EMIF_CE2SEC1_DEFAULT, // CE2 Secondary Control Register 1
EMIF_CE3SEC1_DEFAULT, // CE3 Secondary Control Register 1
EMIF_CESCR_DEFAULT // CE Size Control Register
};
volatile unsigned char* DEL1 = (volatile unsigned char *)0x600002;//步进电机
volatile unsigned char* DECCTL = (volatile unsigned char *)0x280001;//控制寄存器
#define MPLUSSET 2
#define MPLUSCOUNT 3
#define MRATEBASE 4
#define MOTOPWMC 5
#define MOTORPWMZ 6
#define MPLUSCHANGE 1//JIA
#define MOTORBUFF 0
/*电机驱动码*/
/*全步正转*/
unsigned int motorstepall[48] ={8,2,4,1,\
8,2,4,1,\
8,2,4,1,\
8,2,4,1,\
8,2,4,1,\
8,2,4,1,\
8,2,4,1,\
8,2,4,1,\
8,2,4,1,\
8,2,4,1,\
8,2,4,1,\
8,2,4,1};
/*全步反转*/
unsigned int motorstepalln[48]={8,1,4,2,\
8,1,4,2,\
8,1,4,2,\
8,1,4,2,\
8,1,4,2,\
8,1,4,2,\
8,1,4,2,\
8,1,4,2,\
8,1,4,2,\
8,1,4,2,\
8,1,4,2,\
8,1,4,2};
/*半步正转*/
unsigned int motorstephalf[96] ={8,0xa,2,6,4,5,1,9,\
8,0xa,2,6,4,5,1,9,\
8,0xa,2,6,4,5,1,9,\
8,0xa,2,6,4,5,1,9,\
8,0xa,2,6,4,5,1,9,\
8,0xa,2,6,4,5,1,9,\
8,0xa,2,6,4,5,1,9,\
8,0xa,2,6,4,5,1,9,\
8,0xa,2,6,4,5,1,9,\
8,0xa,2,6,4,5,1,9,\
8,0xa,2,6,4,5,1,9,\
8,0xa,2,6,4,5,1,9};
/*半步反转*/ //程序中显示为半步正转
unsigned int motorstephalfn[96]={8,9,1,5,4,6,2,0xa,\
8,9,1,5,4,6,2,0xa,\
8,9,1,5,4,6,2,0xa,\
8,9,1,5,4,6,2,0xa,\
8,9,1,5,4,6,2,0xa,\
8,9,1,5,4,6,2,0xa,\
8,9,1,5,4,6,2,0xa,\
8,9,1,5,4,6,2,0xa,\
8,9,1,5,4,6,2,0xa,\
8,9,1,5,4,6,2,0xa,\
8,9,1,5,4,6,2,0xa,\
8,9,1,5,4,6,2,0xa};
void delay(int period);
void stepmotor_set(unsigned int data);
volatile unsigned int motorset[4] ={0,0,0,10};
//motorset[] bit0-STEP 旋转/定位:旋转-0x0,定位-0x1;
//motorset[] bit2-STEP全长/半长:全长-0x0,半长-0x1; bit1-STEP反向/正向:顺时针-0x0,逆时针-0x1;bit3:转速输入<96
volatile unsigned int motorstatus[10];//MPLUSSET=2,MPLUSCOUNT=3,MOTORPWMZ=6,MRATEBASE=4,MOTOPWMC=5
unsigned int step = 0;
unsigned int steplong = 0;
unsigned int steplongsave = 0;
unsigned int localstep =0;
unsigned int dcmotorrun = 0;
unsigned int stepruncode = 0;
unsigned int stepspeed = 10;
unsigned int stepspeedsave = 0;
unsigned int stepnumber = 0;
#define TESTCOMMAND 2
/*1为电机配置；
2为步进电机运行；
3为步进电机反向运行；
4为步进电机停止；*/
Uint32 TestCommand;
Uint16 i = 0;
main()
{
/* Initialize CSL library - This is REQUIRED !!! */
CSL_init();
/* PLL configuration structure used to set up PLL interface */
// 主频为300Mhz
PLL_setFreq(1, 0xF, 0, 1, 3, 3, 0);
/*EMIF为全EMIF接口*/
CHIP_RSET(XBSR,0x0001);
/*初始化DSP的外部EMIF*/
EMIF_config(&MyEmifConfig);
*DECCTL=0x40;
#if TESTCOMMAND==1
TestCommand =MTRCONFIG;//电机设置0xAA3C
#endif
#if TESTCOMMAND==2
TestCommand =STPMTRRUN;//步进电机运行0xAA25
#endif
#if TESTCOMMAND==3
TestCommand =STPMTRRVS;//步进电机反向0xAA26
#endif
#if TESTCOMMAND==4
TestCommand =STPMTRHALT;//步进电机停止0xAA24
#endif
for(;;)
{
switch(TestCommand)
{
/*电机设置*/
case MTRCONFIG:
TestCommand=0; //相当于初始化＝0,实际下面的程序中TestCommand真正的赋值只有STPMTRRUN
if(stepruncode == STPMTRRUN) //stepruncode控制步进电机的运行或停止标志位，运行＝STPMTRRUN，停止＝0
{
TestCommand=STPMTRRUN;
}
break;
/*步进电机运行*/
case STPMTRRUN:
stepruncode = STPMTRRUN;
/*确定是旋转还是定位*/
if(motorset[0] == ROTATE )
{
/*确定是全长还是半长*/
if(motorset[2] == HALFSTEP)
{
steplong = 96;
}
else
{
steplong = 48;
}
stepspeed=motorset[3];
stepspeedsave=motorset[3];
stepnumber= 0;
localstep = 0; //是旋转还是定位的控制位，旋转＝0，定位＝1
}
else
{
/*定位*/
steplong=motorset[3]; //motorset[3]:stepspeed input<96
stepspeed = 10;
stepspeedsave = 10;
stepnumber = 0;
localstep = 1;
}
steplongsave = steplong;
TestCommand=0;
break;
/*步进电机反向*/
case STPMTRRVS:
if(motorset[1]==1)
{
motorset[1]=0;
}
else
{
motorset[1]=1;
}
stepnumber = 0;
TestCommand=STPMTRRUN;
break;
/*步进电机停止*/
case STPMTRHALT:
TestCommand=0;
steplong = 0;
stepruncode = 0;
break;
default:
break;
}
/*驱动步进电机运转*/
if(steplong>0)
{ /*确定是使用半长还是全长数组*/
if(motorset[2] == HALFSTEP)
{
/*当为半长时，确定正转还是反转*/
if(motorset[1] == 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(motorset[1] == CLOCKWISE)
{
/*正转*/
step = motorstepalln[stepnumber];
}
else
{
/*反转*/
step = motorstepall[stepnumber];
}
}
if(stepspeed--)
{
delay(50);
}
else
{
stepmotor_set(step);
stepspeed = stepspeedsave;
stepnumber++;
steplong = steplong -1;
}
if( (localstep == 1) && (steplong == 0) ) //若为定位且步进电机速度为0???
{
stepnumber = 0;
}
if( (localstep == 0) && (steplong ==0) ) ////若为旋转且步进电机速度为0???
{
stepnumber = 0;
steplong = steplongsave;
}
}
}
}
void stepmotor_set(unsigned int data)
{
*DEL1=data;
}
void delay(int period)
{
int i, j;
for(i=0; i<period; i++)
{
for(j=0; j<0x1000; j++);
}
}
/******************************************************************************\
* End of 5502_MOTOR.c
\******************************************************************************/
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