A Small Multi-Tasking Operation System Using 8051: motor.c Source File

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