stepmotor.c

合众达SEED-DTK2812 光盘内容 DSP源码 用户指南 实验手册

/******************************************************************************/
/*  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... DARAM on board											  */
/*  FILENAME...... DEC5416_SRAM.c											  */
/*  PROJECT....... Read and write on-board daram memory of TMS320VC5502	      */
/*  作者: gao		                                                          */
/*  版本:1.0                                                                  */
/*  日期:06.11.10                                                             */
/******************************************************************************/

#include "DSP28_Device.h"
//子函数声明
interrupt void eva_timer1_isr(void);

//全局中断计数变量
int Direct1=0;
int Direct2=0;
Uint32  EvaTimer1InterruptCount;

void main(void)
{
	/*初始化系统*/
	InitSysCtrl();

	/*关中断*/
	DINT;
	IER = 0x0000;
	IFR = 0x0000;
	
	/*初始化PIE控制寄存器*/
	InitPieCtrl();
	
	/*初始化PIE矢量表*/
	InitPieVectTable();	
	
	/*初始化EV*/
	InitEv();
	
	//重新分配中断服务的中断向量
   EALLOW; 
   PieVectTable.T1PINT = &eva_timer1_isr;	//定时器1计数中断
   EDIS; 
     
    //初始化变量
    EvaTimer1InterruptCount = 0;

    // 使能 PIE 组  2 中断 4 -- T1PINT
    PieCtrl.PIEIER2.all = M_INT4;
    // 使能CPU中断
    IER |= M_INT2 ;

    EINT;   
    ERTM;   
	for(;;)
	{
		KickDog();
	}

} 	
/**********************************************/
//EVGP1周期中断
/**********************************************/
interrupt void eva_timer1_isr(void)
{
   EvaTimer1InterruptCount++;
   
   if((EvaRegs.CMPR1>=0xfff3)||(EvaRegs.CMPR1==0x0011))
        Direct1=(Direct1==0)?1:0;
   if((EvaRegs.CMPR2>=0xfff3)||(EvaRegs.CMPR2==0x0011))
        Direct2=(Direct2==0)?1:0;
   if(Direct1==0)
   		EvaRegs.CMPR1=EvaRegs.CMPR1+0x500;
   else
   		EvaRegs.CMPR1=EvaRegs.CMPR1-0x500;
   if(Direct2==0)
   		EvaRegs.CMPR2=EvaRegs.CMPR2+0x500;
   else
   		EvaRegs.CMPR2=EvaRegs.CMPR2-0x500;
     
   //使能中断
   EvaRegs.EVAIMRA.bit.T1PINT = 1;

   //清除中断标志
   EvaRegs.EVAIFRA.all = BIT7;   
   
   //中断应答接收更多的 PIE 组 2的中断
   PieCtrl.PIEACK.all = PIEACK_GROUP2;  
}


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// No more.
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