avrstepmotor控制器源程序.txt

avrstepmotor控制器源程序

/*This file has been prepared for Doxygen automatic documentation generation.*/   
/*! \file *********************************************************************  
 *  
 * \brief Demo of Linear speed ramp controller.  
 *  
 * Demo of linear speed ramp controller. Control of stepper motor by the  
 * serial port. A menu gives the user status and shows the avaliable commands.  
 *  
 * - File:               main.c  
 * - Compiler:           IAR EWAAVR 4.11A  
 * - Supported devices:  All devices with a 16 bit timer can be used.  
 *                       The example is written for ATmega48  
 * - AppNote:            AVR446 - Linear speed control of stepper motor  
 *  
 * \author               Atmel Corporation: http://www.atmel.com \n  
 *                       Support email: [e-mail]  
 *  
 * $Name: RELEASE_1_0 $  
 * $Revision: 1.2 $  
 * $RCSfile: main.c,v $  
 * $Date: 2006/05/08 12:25:58 $  
 *****************************************************************************/   
   
#include <IOAVR.H>    
#include <INAVR.H>    
#include <STDLIB.H>    
#include "global.h"    
#include "uart.h"    
#include "sm_driver.h"    
#include "speed_cntr.h"    
   
//! Global status flags    
struct GLOBAL_FLAGS status = {FALSE, FALSE, 0};   
   
void ShowHelp(void);   
void ShowData(int position, int acceleration, int deceleration, int speed, int steps);   
   
/*! \brief Init of peripheral devices.  
 *  
 *  Setup IO, uart, stepper, timer and interrupt.  
 */   
void Init(void)   
{   
  // Init of IO pins    
  sm_driver_Init_IO();   
  // Init of uart    
  InitUART();   
   
  // Set stepper motor driver output    
  sm_driver_StepOutput(0);   
   
  // Init of Timer/Counter1    
  speed_cntr_Init_Timer1();   
   
  __enable_interrupt();   
}   
   
/*! \brief Demo of linear speed controller.  
 *  
 *  Serial interface frontend to test linear speed controller.  
 */   
void main(void)   
{   
  // Number of steps to move.    
  int steps = 1000;   
  // Accelration to use.    
  int acceleration = 100;   
  // Deceleration to use.    
  int deceleration = 100;   
  // Speed to use.    
  int speed = 800;   
  // Tells if the received string was a valid command.    
  char okCmd = FALSE;   
   
  Init();   
   
  // Outputs help screen.    
  uart_SendString("\n\r");   
  ShowHelp();   
  ShowData(stepPosition, acceleration, deceleration, speed, steps);   
   
  while(1) {   
    // If a command is received, check the command and act on it.    
    if(status.cmd == TRUE){   
      if(UART_RxBuffer[0] == 'm'){   
        // Move with...    
        if(UART_RxBuffer[1] == ' '){   
          // ...number of steps given.    
          steps = atoi((char const *)UART_RxBuffer+2);   
          speed_cntr_Move(steps, acceleration, deceleration, speed);   
          okCmd = TRUE;   
          uart_SendString("\n\r  ");   
        }   
        else if(UART_RxBuffer[1] == 'o'){   
          if(UART_RxBuffer[2] == 'v'){   
            if(UART_RxBuffer[3] == 'e'){   
              // ...all parameters given    
              if(UART_RxBuffer[4] == ' '){   
                int i = 6;   
                steps = atoi((char const *)UART_RxBuffer+5);   
                while((UART_RxBuffer[i] != ' ') && (UART_RxBuffer[i] != 13)) i++;   
                i++;   
                acceleration = atoi((char const *)UART_RxBuffer+i);   
                while((UART_RxBuffer[i] != ' ') && (UART_RxBuffer[i] != 13)) i++;   
                i++;   
                deceleration = atoi((char const *)UART_RxBuffer+i);   
                while((UART_RxBuffer[i] != ' ') && (UART_RxBuffer[i] != 13)) i++;   
                i++;   
                speed = atoi((char const *)UART_RxBuffer+i);   
                speed_cntr_Move(steps, acceleration, deceleration, speed);   
                okCmd = TRUE;   
                uart_SendString("\n\r  ");   
              }   
            }   
          }   
        }   
      }   
      else if(UART_RxBuffer[0] == 'a'){   
        // Set acceleration.    
        if(UART_RxBuffer[1] == ' '){   
          acceleration = atoi((char const *)UART_RxBuffer+2);   
          okCmd = TRUE;   
        }   
      }   
      else if(UART_RxBuffer[0] == 'd'){   
        // Set deceleration.    
        if(UART_RxBuffer[1] == ' '){   
          deceleration = atoi((char const *)UART_RxBuffer+2);   
          okCmd = TRUE;   
        }   
      }   
      else if(UART_RxBuffer[0] == 's'){   
        if(UART_RxBuffer[1] == ' '){   
          speed = atoi((char const *)UART_RxBuffer+2);   
          okCmd = TRUE;   
        }   
      }   
      else if(UART_RxBuffer[0] == 13){   
        speed_cntr_Move(steps, acceleration, deceleration, speed);   
        okCmd = TRUE;   
      }   
      else if(UART_RxBuffer[0] == '?'){   
        ShowHelp();   
        okCmd = TRUE;   
      }   
   
      // Send help if invalid command is received.    
      if(okCmd != TRUE)   
        ShowHelp();   
   
      // Clear RXbuffer.    
      status.cmd = FALSE;   
      uart_FlushRxBuffer();   
   
      if(status.running == TRUE){   
        uart_SendString("Running...");   
        while(status.running == TRUE);   
        uart_SendString("OK\n\r");   
      }   
   
      ShowData(stepPosition, acceleration, deceleration, speed, steps);   
    }//end if(cmd)    
  }//end while(1)    
}   
   
//! Help message    
__flash char Help[] = {"\n\r--------------------------------------------------------------\n\rAtmel AVR446 - Linear speed control of stepper motor\n\r\n\r?        - Show help\n\ra [data] - Set acceleration (range: 71 - 32000)\n\rd [data] - Set deceleration (range: 71 - 32000)\n\rs [data] - Set speed (range: 12 - motor limit)\n\rm [data] - Move [data] steps (range: -64000 - 64000)\n\rmove [steps] [accel] [decel] [speed]\n\r         - Move with all parameters given\n\r<ENTER>  - Repeat last move\n\r\n\r    acc/dec data given in 0.01*rad/sec^2 (100 = 1 rad/sec^2)\n\r    speed data given in 0.01*rad/sec (100 = 1 rad/sec)\n\r--------------------------------------------------------------\n\r"};   
   
/*! \brief Sends help message.  
 *  
 *  Outputs help message.  
 */   
void ShowHelp(void)   
{   
  unsigned int i = 0;   
  while(Help[i] != 0)   
    uart_SendByte(Help[i++]);   
}   
   
/*! \brief Sends out data.  
 *  
 *  Outputs the values of the data you can control by serial interface  
 *  and the current position of the stepper motor.  
 *  
 *  \param acceleration Accelration setting.  
 *  \param deceleration Deceleration setting.  
 *  \param speed Speed setting.  
 *  \param steps Position of the stepper motor.  
 */   
void ShowData(int position, int acceleration, int deceleration, int speed, int steps)   
{   
  uart_SendString("\n\r  Motor pos: ");   
  uart_SendInt(position);   
  uart_SendString("    a:");   
  uart_SendInt(acceleration);   
  uart_SendString("  d:");   
  uart_SendInt(deceleration);   
  uart_SendString("  s:");   
  uart_SendInt(speed);   
  uart_SendString("  m:");   
  uart_SendInt(steps);   
  uart_SendString("\n\r> ");   
}   
   
/*! \mainpage  
 * \section Intro Introduction  
 * This documents data structures, functions, variables, defines, enums, and  
 * typedefs in the software for application note AVR446.  
 *  
 * \section CI Compilation Info  
 * This software was written for the IAR Embedded Workbench 4.11A.  
 *  
 * To make project:  
 * <OL>  
 * <LI> Add the file main.c, sm_driver.c, speed_cntr.c and uart.c to project.  
 * <LI> Under processor configuration, select desired Atmel AVR device.  
 * <LI> Enable bit definitions in I/O include files  
 * <LI> Compiler optimizations must be size medium or high optimization to fit  
 * the code in a mega48.  
 * - For size medium optimization CSTACK size must be >= 0x24.  
 * - For size high optimization CSTACK size must be >= 0x23.  
 * </LI></OL>  
 *  
 * \section DI Device Info  
 * The included source code is written for all Atmel AVR devices with 16 bit timers.  
 *  
 * \section HW Hardware Setup  
 * Fuse settings: 0xFF, 0xDD, 0xC0  
 * (External Clock running on 3,68Mhz).  
 *  
 * Port Connections:  
 * <OL>  
 * <LI>PD0 - Serial RXD.  
 * <LI>PD1 - Serial TXD.  
 * <LI>PD4 - Stepper motor winding \ref B2.  
 * <LI>PD5 - Stepper motor winding \ref B1.  
 * <LI>PD6 - Stepper motor winding \ref A2.  
 * <LI>PD7 - Stepper motor winding \ref A1.  
 * </LI></OL>  
 *  
 *  
 * \section TDL ToDo List  
 *  
 * \todo Specify the running frequency \ref T1_FREQ according to the timer frequency  
 * \todo Specify the number of fullsteps in \ref FSPR  
 * \todo Modify the \ref SM_PORT and \ref SM_DRIVE to support desired drive port.  
 * \todo Modify \ref A1, \ref A2, \ref B1 and \ref B2 to support the pins on the desired drive port.  
 * \todo Set the stepping mode in \ref HALFSTEPS to either halfsteps (HALFSTEPS) or fullsteps (FULLSTEPS)  
 */