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#include "SEED-DSK2407.h"
#include "comm.h"
/*电机驱动码*/
//步进电机,四相四拍
/* 全步反转*/
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};
/*全步正转*/
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};
//四相八拍
/*半步正转*/
unsigned int motorstephalfn[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*/
unsigned int motorstephalf[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};
#define pwm_value 50
#define pwm_max 500
/*初始化宏定义*/
#define TESTCOMMAND 6 ////电机设置宏定义
unsigned int TestCommand;
unsigned int dcmotor_level = 0;
unsigned int dcmotor_count = 0;
unsigned int step_point = 0;
unsigned int step_mode = 0;
unsigned int step_dir = 0;
unsigned int step_half = 0;
unsigned int step_speed = 0;
unsigned int dcmotor_dir = 0;
unsigned int dcmotor_speed = 0;
unsigned int step_count = 0;
unsigned int step_clockwise = 0;/* 初始值为0 ，顺时针 */
volatile unsigned int motorset[6] ={0,0,0,40,0,200};
void blink();
void timer1_set(unsigned int timer1_period);
void timer2_set(unsigned int timer2_period);
void dc_motor_clockwise();
void dc_motor_anticlockwise();
void dc_motor_stop();
void step_motor(unsigned int step);
void step_motor_stop();
/*void sci_set(); */
void sys_reset(void);
void timer_init();
void main()
{
unsigned int i=0;
unsigned int j=0;
#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 =DCMTRSLWDWN;//直流电机缓停 0xAA3A
#endif
#if TESTCOMMAND==6
TestCommand =STPMTRRUN;//步进电机运行0xAA25
#endif
#if TESTCOMMAND==7
TestCommand =STPMTRRVS;//步进电机反向0xAA26
#endif
#if TESTCOMMAND==8
TestCommand =STPMTRHALT;//步进电机停止0xAA24
#endif
#if TESTCOMMAND==9
TestCommand =SYSRESET;//系统复位
#endif
DINT; //禁止可屏蔽中断
/*wait-state*/
WSGR = 0xdb; //不懂
/* forbid watchdog*/
*WDCR = 0x68;
*SCSR1 = 0x02c; //系统控制和状态寄存器1（p41），使能SPI.EVA,EVB模块时钟
*IFR = 0x3f; //中断标志寄存器,写1清除中断标志位
*IMR = 0x00; //中断屏蔽寄存器,写0屏蔽中断
/*WHEN THE MOTOR PROGRAM RUN ,TURN ON THE LED2*/
*MCRC &= 0xBFFF; //IO复用输出控制寄存器C,MCC.14=0,IOPF6
*PFDATDIR |=0x4040; //端口F数据和方向控制寄存器，IOPF6设置为输出，且引脚为高电平
timer_init();
timer1_set(0x1F);
timer2_set(0xFFFF);
EINT;//使能可屏蔽中断
/*drive the LED blink*/
for(;;)
{
switch(TestCommand)
{
case STPMTRHALT: /*0XAA24*/
*IMR &= 0xFB; //屏蔽int3中断
step_count=0;
step_motor_stop();
break;
case STPMTRRUN: /*0XAA25*/
*IMR |= 0x04;使能int3中断
break;
case STPMTRRVS: /*0XAA26*/
if(step_dir==STEP_CLOCKWISE)
{
/* step_motor_stop();*/
step_point=0;
step_count=0;
step_dir=STEP_ANTICLOCK;
}
else
{
/* step_motor_stop(); */
step_point=0;
step_count=0;
step_dir=STEP_CLOCKWISE;
}
break;
case DCMTRRUN: /*0XAA28*/
*IMR |= 0x02;//使能int2中断
break;
case DCMTRBRK: /*0XAA39*/
*IMR &= 0xFD;//屏蔽int2中断
dc_motor_stop();
break;
case DCMTRSLWDWN: /*0XAA3A*/
*IMR &= 0xFD;//屏蔽int2中断
dc_motor_stop();
break;
case DCMTRRVS: /*0XAA3B*/
/* *IMR |= 0x02;*/
if(dcmotor_dir==CLOCKWISE)
{
dcmotor_dir=ANTICLOCKWISE;
}
else
{
dcmotor_dir=CLOCKWISE;
}
break;
case MTRCONFIG: /*0XAA3C*/
step_mode = motorset[0];
step_dir = motorset[1];
step_half = motorset[2];
step_speed = motorset[3];
dcmotor_dir = motorset[4];
dcmotor_speed = motorset[5];
dcmotor_count = 0;
dcmotor_level = 0;
step_count=0;
step_point=0;
/* *IMR |= 0x02; */
break;
case MOTOREND:
*IMR &= 0xF9;
dc_motor_stop();
step_motor_stop();
break;
case SYSRESET:
*IMR &= 0xF9;
timer_init();
dc_motor_stop();
step_motor_stop();
sys_reset();
break;
default:
break;
}
}
}
/*TIMER1 INTERRUPT,DC MOTOR CONTROL */
interrupt void c_int2(void)
{
DINT;
if((*PIVR & 0x27) == 0x27)
{
if(dcmotor_level == 0)
{
dcmotor_count++;
//timer1_set(0x1F);
// 电机方向判断
if(dcmotor_dir==CLOCKWISE)
{
dc_motor_clockwise();
}
if(dcmotor_dir==ANTICLOCKWISE)
{
dc_motor_anticlockwise();
}
// 电平变低
if(dcmotor_count==dcmotor_speed)
{
dcmotor_level = 1;
}
}
if(dcmotor_level == 1)
{
if(dcmotor_count<500)
{
dcmotor_count++;
//timer1_set(0x1F);
dc_motor_stop();
}
if(dcmotor_count==pwm_max)
{
dcmotor_level = 0;
dcmotor_count = 0;
}
}
*EVAIFRA = 0x0080;
}
*IFR &= 0x0002;
*IMR |= 0x01;
EINT;
}
/*TIMER2 INTERRUPT,STEP MOTOR CONTROL*/
interrupt void c_int3(void)
{
if((*PIVR & 0x2b) == 0x2b)
{
*EVAIFRB = 0x0001;
}
if(step_mode==ROTATE)
{
step_count++;
if(step_count==step_speed)
{
/* 全步正转*/
if(step_dir==STEP_CLOCKWISE && step_half==FULLSTEP)
{
step_motor(motorstepalln[step_point]);
step_point++;
if(step_point==48)
{
step_point=0;
}
}
/* 全步反转 */
if(step_dir==STEP_ANTICLOCK && step_half==FULLSTEP)
{
step_motor(motorstepall[step_point]);
step_point++;
if(step_point==48)
{
step_point=0;
}
}
/* 半步反转 */
if(step_dir==STEP_ANTICLOCK && step_half==HALFSTEP)
{
step_motor(motorstephalfn[step_point]);
step_point++;
if(step_point==96)
{
step_point=0;
}
}
/* 半步正转 */
if(step_dir==STEP_CLOCKWISE && step_half==HALFSTEP)
{
step_motor(motorstephalf[step_point]);
step_point++;
if(step_point==96)
{
step_point=0;
}
}
step_count=0;
}
}
if(step_mode==LOCATE)
{
step_count++;
if(step_count==step_speed)
{
/* 全步正转*/
if(step_dir==STEP_CLOCKWISE && step_half==FULLSTEP)
{
step_motor(motorstepall[step_point]);
step_point++;
if(step_point==step_speed)
{
step_point=0;
*IMR &= 0xFB;
step_motor_stop();
}
}
/* 全步反转 */
if(step_dir==STEP_ANTICLOCK && step_half==FULLSTEP)
{
step_motor(motorstepalln[step_point]);
step_point++;
if(step_point==step_speed)
{
step_point=0;
*IMR &= 0xFB;
step_motor_stop();
}
}
/* 半步反转 */
if(step_dir==STEP_ANTICLOCK && step_half==HALFSTEP)
{
step_motor(motorstephalfn[step_point]);
step_point++;
if(step_point==step_speed)
{
step_point=0;
*IMR &= 0xFB;
step_motor_stop();
}
}
/* 半步正转 */
if(step_dir==STEP_CLOCKWISE && step_half==HALFSTEP)
{
step_motor(motorstephalf[step_point]);
step_point++;
if(step_point==step_speed)
{
step_point=0;
*IMR &= 0xFB;
step_motor_stop();
}
}
step_count=0;
}
}
*IFR &= 0x0004;
EINT;
}
/*sci set*/
/*void sci_set()
{
*MCRA |= 0x03;
*SCICCR = 0x07; /*loopback mode:0x17 ;normal:0x07 1 stop bit,odd parity,8 char bits*/
/* *SCICTL1 = 0x03;
*SCICTL2 = 0x02;
*SCIHBAUD = 0x01;
*SCILBAUD = 0x03; /*Baud Rate=19200 b/s (40 MHz SYSCLK)*/
/* *SCICTL1 = 0x23;
*IMR |= 0x01;
} */
void timer_init()
{
*IMR &= 0xF9; //使能INT2,INT3中断
*GPTCONA = 0x0000; //初始化全局通用定时器控制寄存器A
*EVAIMRA = 0x0000; // 初始化EVA中断屏蔽寄存器A
*EVAIMRB = 0x0000;// 初始化EVA中断屏蔽寄存器B
*EVAIFRA = 0x0080;// 初始化EVA中断标志寄存器A，复位通用定时器1的周期中断标志
*EVAIFRB = 0x0001;// 初始化EVA中断标志寄存器B，复位通用定时器2的周期中断标志
*T1CNT = 0; //初始化定时器计数寄存器1
*T1CON = 0; //初始化定时器控制寄存器1
*T2CNT = 0;
*T2CON = 0;
}
/*timer1 set */
void timer1_set(unsigned int timer1_period)
{
*GPTCONA = 0x0000;
*T1CNT = 0;
*T1CON = 0x1740; // free,soft 00,仿真挂起时立即停止
// tmode1,tmode0 10 ,连续增计数模式
// tps2-tps0,111 ,输入时钟定标器，x/128
// tenable 1,允许定时器操作
// tclks1,tclks0 00,内部时钟
//tcld1,tcld0 00 ，计数器的值为0时重载
// tecmpr,0 禁止定时器比较操作
*T1PR = timer1_period; //定时器1的周期寄存器
*T1CMPR = 0x3fff;
*EVAIFRA = 0x0080;
*EVAIMRA = 0x0080;
/* *IMR |= 0x0002; */
}
/*timer2 set */
void timer2_set(unsigned int timer2_period)
{
*GPTCONA = 0x0000;
*T2CNT = 0;
*T2CON = 0x1040;
*T2PR = timer2_period;
*T2CMPR = 0x3fff;
*EVAIFRB = 0x0001;
*EVAIMRB = 0x0001;
/* *IMR |= 0x0004;*/
}
/*dc_motor clockwise turn*/
/*这里的直流电机没有实用pwm，只是使用了I/O复用输出IOPB5,IOPB4两个口，来驱动此直流电机*/
void dc_motor_clockwise()
{
*MCRA &= 0xCFFF; /*I0PB4,IOPB5*/
*PBDATDIR |= 0x3020; //IOPB5,IOPB4输出，IOPB5高电平
*PBDATDIR &= 0xFFEF; // IOPB4低电平
}
/*dc_motor anticlockwise turn*/
void dc_motor_anticlockwise()
{
*MCRA &= 0xCFFF; /*I0PB4,IOPB5*/
*PBDATDIR |= 0x3010; //IOPB5,IOPB4输出，IOPB4高电平
*PBDATDIR &= 0xFFDF; // IOPB5低电平
}
/*dc_motor stop*/
void dc_motor_stop()
{
*MCRA &= 0xCFFF;
*PBDATDIR &= 0xFFCF; //IOPB5,IOPB4为高电平，导通截止，所以电机停止转动
}
/*step_motor run*/
//在这里电机也没有实用pwm，
//而是使用IOPB1,IOPB0,IOPA7,IOPA6四个io口，轮流输出高电平，产生磁场，从而使电机转动
void step_motor(unsigned int step)
{
switch(step)
{
case 8:
*MCRA &= 0xFC3F;// IOPB1,IOPB0,IOPA7,IOPA6
*PADATDIR |= 0xC000;// IOPA7,IOPA6输出
*PADATDIR &= 0xFF3F;// IOPA7,IOPA6低电平
*PBDATDIR |= 0x0302;// IOPB1,IOPB0输出，IOPB1高电平
*PBDATDIR &= 0xFFFE; // IOPB0低电平
break;
case 4:
*MCRA &= 0xFC3F;// IOPB1,IOPB0,IOPA7,IOPA6
*PADATDIR |= 0xC000;// IOPA7,IOPA6输出
*PADATDIR &= 0xFF3F;// IOPA7,IOPA6低电平
*PBDATDIR |= 0x0301;// IOPB1,IOPB0输出，IOPB0高电平
*PBDATDIR &= 0xFFFD;// IOPB1低电平
break;
case 2:
*MCRA &= 0xFC3F;// IOPB1,IOPB0,IOPA7,IOPA6
*PADATDIR |= 0xC080;// IOPA7,IOPA6输出,IOPA7为高电平
*PADATDIR &= 0xFFBF;// IOPA6为低电平
*PBDATDIR |= 0x0300;// IOPB1,IOPB0输出
*PBDATDIR &= 0xFFFC;// IOPB1,IOPB0低电平
break;
case 1:
*MCRA &= 0xFC3F;// IOPB1,IOPB0,IOPA7,IOPA6
*PADATDIR |= 0xC040;// IOPA7,IOPA6输出,IOPA6为高电平
*PADATDIR &= 0xFF7F;// IOPA7为低电平
*PBDATDIR |= 0x0300;// IOPB1,IOPB0输出
*PBDATDIR &= 0xFFFC;// IOPB1,IOPB0低电平
break;
default:
break;
}
}
/*step motor stop*/
void step_motor_stop()
{
*MCRA &= 0xFC3F;// IOPB1,IOPB0,IOPA7,IOPA6
*PADATDIR |= 0xC000;// IOPA7,IOPA6输出
*PADATDIR &= 0xFF3F;//IOPA7,IOPA6低电平
*PBDATDIR |= 0x0300;// IOPB1,IOPB0输出
*PBDATDIR &= 0xFFFC;// IOPB1,IOPB0低电平
}
/*LED BLINK DELAY*/
void DELAY()
{
unsigned int j = 0;
int i = 0;
for(i = 0; i <0xff;i++)
{
for(j = 0;j<0x3ff;j++)
{
asm("NOP");
}
}
}
void sys_reset(void)
{
WSGR = 0;
*WDCR = 0x08;
for(;;){};
/*
asm(" B 768H "); */
}
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