A Small Control System Using 8051: motor.c Source File

00001 /**************************************************
00002 * Function: Driver for stepping motor
00003 *           
00004 * File:    motor.c
00005 * Author:  Book Chen
00006 * 2008.08.08 
00007 ****************************************************
00008 */
00009 #include "..\inc\includes.h"
00010 #include "..\os_core\os_includes.h"
00011 
00012 #define cEventMotorCcw  0
00013 #define cEventMotorCw   1
00014 #define cEventMotorStop 2
00015 
00016 #define MOTOR_COMMAND_MAX 3
00017 INT8U code cw[3]={'c','w',0};
00018 INT8U code ccw[4]={'c','c','w',0};
00019 INT8U code stop[5]={'s','t','o','p',0};
00020 INT8U code *MotorCommandList[MOTOR_COMMAND_MAX]={cw,ccw,stop};
00021 
00022 struct STEPMOTOR_CONTROL StepMotorCtrl;
00023 struct MOTOR_EVENT MotorEvent;
00024 sbit MotorPhase_B= P1^0; // white line
00025 sbit MotorPhase_BX=P1^1; // yellow line
00026 sbit MotorPhase_AX=P1^2; // blue line
00027 sbit MotorPhase_A= P1^3; // red line
00028 
00029 void F_MotorPowerOnInit(void) LargeReentrant;
00030 void F_MotorSvc(void) LargeReentrant;
00031 
00032 void F_MotorPowerOnInit(void) LargeReentrant{ 
00033     MotorPhase_A =High;
00034     MotorPhase_AX=High;
00035     MotorPhase_B =High;
00036     MotorPhase_BX=High;
00037     MotorEvent.HasEvent=0;
00038     MotorEvent.EventType=0;
00039     MotorEvent.RwFlag=0;
00040     MotorEvent.Data=0;
00041     StepMotorCtrl.State=StepMotorCw0State;
00042     StepMotorCtrl.Timer=MotorStepTime;
00043 }
00044 void F_MotorSvc(void) LargeReentrant{
00045     if(StepMotorCtrl.Timer!=0) return;
00046     StepMotorCtrl.Timer=MotorStepTime;
00047     if(MotorEvent.HasEvent==1){
00048         if(MotorEvent.EventType==cEventMotorCw){
00049             switch(StepMotorCtrl.State){
00050                 case StepMotorRcw0State:
00051                     StepMotorCtrl.State=StepMotorCw1State;
00052                     break;
00053                 case StepMotorRcw1State:
00054                     StepMotorCtrl.State=StepMotorCw0State;
00055                     break;
00056                 case StepMotorRcw2State:
00057                     StepMotorCtrl.State=StepMotorCw3State;
00058                     break;
00059                 case StepMotorRcw3State:    
00060                     StepMotorCtrl.State=StepMotorCw2State;
00061                     break;
00062             }
00063         }
00064         else if(MotorEvent.EventType==cEventMotorCcw){
00065             switch(StepMotorCtrl.State){
00066                 case StepMotorCw0State: // /B/ABA=0011
00067                     StepMotorCtrl.State=StepMotorRcw1State;
00068                     break;
00069                 case StepMotorCw1State: // /B/ABA=0110
00070                     StepMotorCtrl.State=StepMotorRcw0State;
00071                     break;
00072                 case StepMotorCw2State: // /B/ABA=1100
00073                     StepMotorCtrl.State=StepMotorRcw3State;
00074                     break;
00075                 case StepMotorCw3State: // /B/ABA=1001 
00076                     StepMotorCtrl.State=StepMotorRcw2State;
00077                     break;
00078             }               
00079         }
00080         else{
00081             StepMotorCtrl.State=StepMotorIdleState;
00082         }
00083         MotorEvent.HasEvent=0;
00084     }
00085     switch(StepMotorCtrl.State){
00086         case StepMotorIdleState:
00087             break;
00088         case StepMotorCw0State: // /B/ABA=0011
00089             MotorPhase_BX=Low;
00090             MotorPhase_AX=Low;
00091             MotorPhase_B =High;
00092             MotorPhase_A =High;
00093             StepMotorCtrl.State=StepMotorCw1State;
00094             break;
00095         case StepMotorCw1State: // /B/ABA=0110
00096             MotorPhase_BX=Low;
00097             MotorPhase_AX=High;
00098             MotorPhase_B =High;
00099             MotorPhase_A =Low;
00100             StepMotorCtrl.State=StepMotorCw2State;
00101             break;
00102         case StepMotorCw2State: // /B/ABA=1100
00103             MotorPhase_BX=High;
00104             MotorPhase_AX=High;
00105             MotorPhase_B =Low;
00106             MotorPhase_A =Low;
00107             StepMotorCtrl.State=StepMotorCw3State;
00108             break;
00109         case StepMotorCw3State: // /B/ABA=1001      MotorP
00110             MotorPhase_BX=High;
00111             MotorPhase_AX=Low;
00112             MotorPhase_B =Low;
00113             MotorPhase_A =High;
00114             StepMotorCtrl.State=StepMotorCw0State;
00115             break;
00116         case StepMotorRcw0State:    // /B/ABA=0100
00117             MotorPhase_BX=High;
00118             MotorPhase_AX=Low;
00119             MotorPhase_B =Low;
00120             MotorPhase_A =High;
00121             StepMotorCtrl.State=StepMotorRcw1State;
00122             break;
00123         case StepMotorRcw1State:    // /B/ABA=1100
00124             MotorPhase_BX=High;
00125             MotorPhase_AX=High;
00126             MotorPhase_B =Low;
00127             MotorPhase_A =Low;
00128             StepMotorCtrl.State=StepMotorRcw2State;
00129             break;
00130         case StepMotorRcw2State:    // /B/ABA=1000
00131             MotorPhase_BX=Low;
00132             MotorPhase_AX=High;
00133             MotorPhase_B =High;
00134             MotorPhase_A =Low;
00135             StepMotorCtrl.State=StepMotorRcw3State;
00136             break;
00137         case StepMotorRcw3State:    // /B/ABA=1001
00138             MotorPhase_BX=Low;
00139             MotorPhase_AX=Low;
00140             MotorPhase_B =High;
00141             MotorPhase_A =High;
00142             StepMotorCtrl.State=StepMotorRcw0State;
00143             break;
00144     }
00145 }
00146 
00147 INT8U F_MotorEventCheck(void) LargeReentrant{
00148     if(MotorEvent.HasEvent==1) return 1;
00149     else return 0;
00150 }
00151 void F_MotorDirectionSet(INT8U Direction)LargeReentrant {
00152     if(Direction==0){
00153         OS_ENTER_CRITICAL();
00154         MotorEvent.EventType=cEventMotorCw;
00155         MotorEvent.RwFlag=0;
00156         MotorEvent.Data=0;
00157         MotorEvent.HasEvent=1;
00158         OS_EXIT_CRITICAL();
00159         LcmChar[27]=' ';
00160         LcmChar[28]='C';
00161         LcmChar[29]='W';
00162         LcmChar[30]=' ';
00163     }
00164     else if(Direction==1){
00165         OS_ENTER_CRITICAL();
00166         MotorEvent.EventType=cEventMotorCcw;
00167         MotorEvent.RwFlag=0;
00168         MotorEvent.Data=0;
00169         MotorEvent.HasEvent=1;
00170         OS_EXIT_CRITICAL();
00171         LcmChar[27]='C';
00172         LcmChar[28]='C';
00173         LcmChar[29]='W';
00174         LcmChar[30]=' ';
00175     }
00176     else if(Direction==2){
00177         OS_ENTER_CRITICAL();
00178         MotorEvent.EventType=cEventMotorStop;
00179         MotorEvent.RwFlag=0;
00180         MotorEvent.Data=0;
00181         MotorEvent.HasEvent=1;
00182         OS_EXIT_CRITICAL();
00183         LcmChar[27]='S';
00184         LcmChar[28]='T';
00185         LcmChar[29]='O';
00186         LcmChar[30]='P';
00187     }
00188 }
00189 void F_MotorCommandSet(INT8U **pArgv,INT8U Argc) LargeReentrant{
00190     INT8U i;
00191 
00192     if(Argc==0){
00193         printf("\n no command param");
00194         return;
00195     }
00196     for(i=0;i<MOTOR_COMMAND_MAX;i++){
00197         if(strcmp(pArgv[0],MotorCommandList[i])==0) break;  
00198     } 
00199     if(i==MOTOR_COMMAND_MAX) printf("\n motor command param invalid");
00200     else{
00201         printf("\n motor command param %s ",MotorCommandList[i]);
00202         F_MotorDirectionSet(i);
00203     }  
00204 }