globals_var.h

ATmega88 + 舵机 程序例子

/*******************************************************************************
OKM-BLDC-SERVO-MOTOR-10W
作者:Alan, 2008-5-3
最后修改:Alan,2008-5-3
芯片:ATMEGA88,
编译器:avr-gcc (GCC) 4.1.2 (WinAVR 20070525)
版本说明:
V0.1  初版
*******************************************************************************/

/*******************************************************************************
全局变量定义

*******************************************************************************/

#ifndef _GLOBALS_VAR_H_
#define _GLOBALS_VAR_H_

#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>

typedef unsigned char uchar;
typedef unsigned int uint;
typedef unsigned long ulong;

//细分分类数目
#define MaxStepNumb 16

#define ENABLE 1
#define DISABLE 0


#define _DebugEnable_ ENABLE

#if _DebugEnable_
//2400
//#define UART_baud 520
//4800
//#define UART_baud 259
//9600
#define UART_baud 129
//19200
//#define UART_baud 64


#define UARTBufSize 100
typedef struct {
    unsigned char vTop;
    unsigned char vPoint;
    unsigned char vFIFOBuf[UARTBufSize];
}FIFO_BUFF;
#define fUartWREnd 0  //当UART 发送结束时为0
#ifdef _DEBUG_C_H_

FIFO_BUFF vUartWriteBuf;
uchar vStateFlag;
const prog_uchar ASIIC_DATA[]={'0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F'};

void UART_Init(void);
void UART_Push_WR_Buf(unsigned char dat);
void UART_putHex(uchar c);

#else

extern FIFO_BUFF vUartWriteBuf;
extern FIFO_BUFF vUartReadBuf;
extern uchar vStateFlag;

extern void UART_Init(void);
extern void UART_Push_WR_Buf(unsigned char dat);
extern void UART_putHex(uchar c);

#define DEBUG_OUT(x) UART_Push_WR_Buf(x)
#define DEBUG_Init() UART_Init()
#define DEBUG_PutHex(x) UART_putHex(x)

#endif

#else

#define DEBUG_OUT(x)
#define DEBUG_Init()
#define DEBUG_PutHex(x)

#endif


#ifdef _MAIN_C_H_

#define  VAR_EXT

//数据对应桥臂关系  0=on  1=off
//0b 0   0   0   0   0   0   0   0
//  CL  BL  CH  BH  AH   0   0  AL      
//正向运转输出表
//   4 6 2 3 1 5
//AT 0 1 1 1 1 0
//BT 1 0 0 1 1 1
//CT 1 1 1 0 0 1

//AB 0 0 1 1 0 0
//BB 0 0 0 0 1 1
//CB 1 1 0 0 0 0
const prog_uchar cFwdOutPut[8]={
          //    CL   BL   CH   BH   AH    0    0   AL      
    0xff, //   
    0x58, //1    0    1    0    1    1    0    0    0
    0x29, //2    0    0    1    0    1    0    0    1
    0x19, //3    0    0    0    1    1    0    0    1
    0xB0, //4    1    0    1    1    0    0    0    0
    0x70, //5    0    1    1    1    0    0    0    0
    0xA8, //6    1    0    1    0    1    0    0    0
    0xff};

//反向运转输出表
//   4 6 2 3 1 5
//AT 1 1 0 0 1 1
//BT 1 1 1 1 0 0
//CT 0 0 1 1 1 1

//AB 1 0 0 0 0 1
//BB 0 1 1 0 0 0
//CB 0 0 0 1 1 0
const prog_uchar cRevOutPut[8]={
          //    CL   BL   CH   BH   AH    0    0   AL      
    0xff, //
    0xA8, //1    1    0    1    0    1    0    0    0
    0x70, //2    0    1    1    1    0    0    0    0
    0xB0, //3    1    0    1    1    0    0    0    0
    0x19, //4    0    0    0    1    1    0    0    1
    0x29, //5    0    0    1    0    1    0    0    1
    0x58, //6    0    1    0    1    1    0    0    0
    0xff};  

#else

#define  VAR_EXT  extern
extern prog_uchar cFwdOutPut[8];
extern prog_uchar cRevOutPut[8];

#endif

VAR_EXT uchar vMotorFwd;  //电机运转方向设定 ==0 正向,  != 0 反向
VAR_EXT uchar vMotorStateFlag;   //电机状态标志
#define fMotorStart  0    //电机运转标志

#endif