📄 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
};
/* Define and initialize the GPT module configuration structure */
GPT_Config MyGptConfig = {
0, //Emulation management register
0, //GPIO interrupt control register
0, //GPIO enable register
0, //GPIO direction register
0, //GPIO data register
//0xB9EF, //Timer period register 1
//0x05F5, //Timer period register 2
//0xA300, //Timer period register 1, 1s的period register=1/（1/(3*10^8MHz))=3*10^8=0x11e1a300
//0x11E1, //Timer period register 2
//0x93e0, //Timer period register 1, 0.001s的period register=0.001/（1/(3*10^8MHz))=3*10^5=0x493e0
//0x0004, //Timer period register 2
0x7fff, //Timer period register 1,
0x0000, //Timer period register 2
0, //Timer period register 3
0, //Timer period register 4
GPT_GPTCTL1_RMK( //Timer control register 1
GPT_GPTCTL1_TIEN_NOT_GATED,
GPT_GPTCTL1_CLKSRC_VBUS, //internal
GPT_GPTCTL1_ENAMODE_CONTINUOUS,
GPT_GPTCTL1_PWID_INACTIVE_1CYCLE,//TSTAT goes inactive one timer clock cycle after the timer counter reaches the
//timer period.
GPT_GPTCTL1_CP_CLOCK_MODE,
GPT_GPTCTL1_INVIN_DONT_INVERT_OUTPUT,//noninverted
GPT_GPTCTL1_INVOUT_DONT_INVERT_OUTPUT//noninverted
),
GPT_GPTCTL2_RMK( //Timer control register 2
GPT_GPTCTL2_TIEN_NOT_GATED,
GPT_GPTCTL2_CLKSRC_VBUS,
GPT_GPTCTL2_ENAMODE_CONTINUOUS,
GPT_GPTCTL2_PWID_INACTIVE_1CYCLE,
GPT_GPTCTL2_CP_CLOCK_MODE,
GPT_GPTCTL2_INVIN_DONT_INVERT_OUTPUT,
GPT_GPTCTL2_INVOUT_DONT_INVERT_OUTPUT
),
GPT_GPTGCTL1_RMK( //Global timer control register
GPT_GPTGCTL1_PSC34_DEFAULT,
GPT_GPTGCTL1_TIMMODE_DEFAULT,//Timer is in 64-bit general-purpose timer mode.
GPT_GPTGCTL1_TIM34RS_NOT_IN_RESET,//Timer 3:4 is not in reset. Timer 3:4 can be used as a 32-bit timer.
GPT_GPTGCTL1_TIM12RS_NOT_IN_RESET //Timer 1:2 is not in reset. Timer 1:2 can be used as a 32-bit timer.
)
};
volatile unsigned char* DEL2 = (volatile unsigned char *)0x600003;//直流电机
volatile unsigned char* DECCTL = (volatile unsigned char *)0x280001;//控制寄存器
#define DCMOTORBRAKE 0x03
#define DCMOTORHALT 0x0
#define MPLUSSET 2
#define MPLUSCOUNT 3
#define MRATEBASE 4
#define MOTOPWMC 5
#define MOTORPWMZ 6
#define MPLUSCHANGE 1//JIA
#define MOTORBUFF 0
void delay(int period);
void dcmotor_out(unsigned int data);
volatile unsigned char * MO_DECCTL = (volatile unsigned char *)0x280001;//控制寄?
volatile unsigned int motorset[2] ={0,500};
//motorset[] bit1-直流电机速度输入<500; bit0-直流电机运转方向:顺时针-0x0,逆时针-0x1;
volatile unsigned int motorstatus[10];//MPLUSSET=2,MPLUSCOUNT=3,MOTORPWMZ=6,MRATEBASE=4,MOTOPWMC=5
unsigned int dcmotorrun = 0;
volatile unsigned int dcdircontrl = 0;
unsigned int dcruncode = 0;
#define TESTCOMMAND 2
/*1为电机配置；
2为直流电机运行；
3为直流电机反向运行；
4为直流电机停止；
5为系统复位*/
Uint32 TestCommand;
/* Function/ISR prototypes */
interrupt void Timer1Isr(void);
/* Reference start of interrupt vector table */
/* This symbol is defined in file, vectors.s55 */
extern void VECSTART(void);
/* Create a TIMER_Handle object for use with TIMER_open */
GPT_Handle hGpt;
Uint16 EventId1; // 定时器1所对应的事件ID号
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;
/* Set IVPH/IVPD to start of interrupt vector table */
IRQ_setVecs((Uint32)(&VECSTART));
/* Temporarily disable all maskable interrupts */
IRQ_globalDisable();
/* Open Timer 1, set registers to power on defaults */
/* And return handle of Timer 1 */
hGpt = GPT_open(GPT_DEV1, GPT_OPEN_RESET);
/* Get Event Id associated with Timer 1, for use with */
/* CSL interrupt enable functions. */
EventId1=GPT_getEventId(hGpt);
/* Clear any pending Timer interrupts */
IRQ_clear(EventId1);
/* Place interrupt service routine address at */
/* associated vector location */
IRQ_plug(EventId1,&Timer1Isr);
/* Write configuration structure values to Timer control regs */
GPT_config(hGpt, &MyGptConfig);
/* Enable Timer interrupt */
IRQ_enable(EventId1);
/* Enable all maskable interrupts */
IRQ_globalEnable();
/* Start Timer */
GPT_start(hGpt);
#if TESTCOMMAND==1
TestCommand =MTRCONFIG;//电机设置0xAA3c
#endif
#if TESTCOMMAND==2
TestCommand =DCMTRRUN;//直流电机运行0xAA28
#endif
#if TESTCOMMAND==3
TestCommand =DCMTRRVS;//直流电机反向0xAA3B
#endif
#if TESTCOMMAND==4
TestCommand =DCMTRBRK;//直流电机刹车0xAA39
#endif
#if TESTCOMMAND==5
TestCommand =SYSRESET;//系统复位0xAA05
#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DCMTRRU
if(dcruncode == 1) //dcruncode控制直流电机的运行或停止标志位，运行＝1，停止＝0
{
TestCommand=DCMTRRUN;
break;
}
break;
/*直流电机运行*/
case DCMTRRUN:
/*设置电机的工作方式*/
if(motorset[0] == CLOCKWISE)
{
dcdircontrl = 1;
}
else
{
dcdircontrl = 2;
}
motorstatus[MPLUSCHANGE]=0;//dcmotor_control
*DEL2=dcdircontrl;//dcmotor_control
delay(1000);
/*设置电机的转速*/
if(motorstatus[MPLUSCHANGE]==0)
{
motorstatus[MPLUSSET]=motorset[1]*0.7+150; //motorset[5]的值决定直流电机的转速
motorstatus[MPLUSCOUNT]=motorset[1]*0.7+150; //motorset[5]的值决定直流电机的转速
motorstatus[MOTORPWMZ]=0;
}
/*启动电机*/
motorstatus[MRATEBASE]=500; //MRATEBASE=4
motorstatus[MOTOPWMC]=500; //MOTOPWMC=5
*MO_DECCTL=0x41;
//CHIP_FSET(ST1_55,XF,1); /* 开直流电机 */
delay(1000);
/*使能电机*/
dcmotorrun = 1;
TestCommand=0;
break;
/*直流电机反向*/
case DCMTRRVS:
/*设置电机的工作方式*/
if(motorset[0] == CLOCKWISE)
{
motorset[0] = ANTICLOCKWISE;
if(motorset[1]<300)
{
motorset[1]=motorset[1]+50;
}
}
else
{
motorset[0] = CLOCKWISE;
}
TestCommand=DCMTRRUN;
break;
/*直流电机刹车*/
case DCMTRBRK:
motorstatus[MPLUSCHANGE]=0;
*DEL2=DCMOTORBRAKE;
dcmotorrun = 0;
dcruncode =0;
TestCommand=0;
break;
/*系统复位*/
case SYSRESET:
motorstatus[MPLUSCHANGE]=0;
*DEL2=DCMOTORBRAKE;
TestCommand=0;
break;
default:
break;
}
/*直流电机输出*/
dcmotor_out(dcmotorrun);
}
}
void dcmotor_out(unsigned int data)
{
if(data==0)
{
*MO_DECCTL=0x40;; /* 关直流电机 */
}
else
{
if(motorstatus[MOTORPWMZ]==0)
{
*MO_DECCTL=0x41; /*PWM波置高电平 */
}
else
{
*MO_DECCTL=0x40; /*PWM波置低电平 */
}
}
}
void delay(int period)
{
int i, j;
for(i=0; i<period; i++)
{
for(j=0; j<0x1000; j++);
}
}
/*定时器1的中断程序*/
interrupt void Timer1Isr(void)
{
motorstatus[3]--; //从此开始到IF语句结束为_timer_dcmotor to pwm_sub
if(motorstatus[3]==0)
{
motorstatus[6]=1; //在dcmotor_out中将PWM波从高电平置低电平
}
motorstatus[5]--; //从此开始到IF语句结束为pwm_sub
if(motorstatus[5]==0)
{
motorstatus[3]=motorstatus[2];//给motorstatus[3]赋初值
motorstatus[5]=motorstatus[4];//给motorstatus[5]赋初值
motorstatus[6]=0; //在dcmotor_out中将PWM波从低电平置高电平
}
}
/******************************************************************************\
* End of 5502_MOTOR.c
\******************************************************************************/
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