/*------------------------------------------------------*/ /* 68HC11 - Smart IO Card Driver */ /* Motor Control Library */ /* */ /* MOTOR.C */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* */ /* Routines: */ /* interrupt tme_oc2() */ /* interrupt tme_oc3() */ /* mtr_init(PORT,A_TYPE,B_TYPE) */ /* mtr_clock(ARRAY,t_time,duty) */ /* mtr_send(AA,BB) */ /* mtr_mode(ARRAY,MODE) */ /* mtr_on(ARRAY) */ /* mtr_off(ARRAY) */ /* mtr_stepcnt(ARRAY,stepcount) */ /* mtr_forward(ARRAY) */ /* mtr_reverse(ARRAY) */ /* mtr_scoff(ARRAY) */ /* mtr_scon(ARRAY) */ /* */ /*______________________________________________________*/ #define SIZE 10 unsigned int A[SIZE]; /*-----------------------*/ unsigned int B[SIZE]; /* Motor Control Array */ /* Deffinitions */ /* */ /* x[0] - port address */ /* x[1] - control nibble */ /* x[2] - motor number */ /* 0 = Motor A */ /* 1 = Motor B */ /* x[3] - motor type */ /* 0 = Stepper */ /* 1 = DC */ /* x[4] - total time */ /* (in counts) */ /* x[5] - duty cycle */ /* (in %) */ /* x[6] - time on */ /* (in counts) */ /* x[7] - time off */ /* (in counts) */ /* x[8] - step count */ /* (steps to go */ /* stepper mode */ /* only. FFFFH */ /* indicates */ /* free run) */ /*_______________________*/ unsigned int temp; /* temp variable */ /*------------------------------------------------------*/ /* OC2 Interrupt for Motor A */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* Function: Create a timing signal for Motor A on pin */ /* PA6. */ /* */ /* mtr_init() MUST be called before this int */ /* is active. */ /*______________________________________________________*/ interrupt tme_oc2() { #asm LDX #REG_BASE BRCLR PORTA,x %01000000 OC2_L1 BCLR PORTA,x %01000000 LDD _A+14 JMP OC2_L2 OC2_L1 BSET PORTA,x %01000000 LDD _A+12 OC2_L2 ADDD TCNT STD TOC2 LDAA #%01000000 staa TFLG1 #endasm if (A[8] != 0xffff) A[8]--; if (A[8] == 0x0000) bit_clr(TMSK1, 0x40); } /*------------------------------------------------------*/ /* OC3 Interrupt for Motor B */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* Function: Create a timing signal for Motor B on pin */ /* PA5. */ /* */ /* mtr_init() MUST be called before this int */ /* is active. */ /*______________________________________________________*/ interrupt tme_oc3() { #asm LDX #REG_BASE BRCLR PORTA,x %00100000 OC3_L1 BCLR PORTA,x %00100000 LDD _B+14 JMP OC3_L2 OC3_L1 BSET PORTA,x %00100000 LDD _B+12 OC3_L2 ADDD TCNT STD TOC3 LDAA #%00100000 staa TFLG1 #endasm if (B[8] != 0xffff) B[8]--; if (B[8] == 0x0000) bit_clr(TMSK1, 0x20); } /*------------------------------------------------------*/ /* Motor Control Initialization */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* Call By: mtr_int(Port,A_TYPE,B_TYPE) */ /* Where: Port - address of expanded I/O Board */ /* A_TYPE and B_TYPE is motor type */ /* 0 = stepper motor */ /* 1 = dc motor */ /* */ /* Function: To set up motor control arrays and timer */ /* interrupts */ /* */ /*______________________________________________________*/ mtr_init(PORT,A_TYPE,B_TYPE) unsigned int PORT; unsigned int A_TYPE; unsigned int B_TYPE; { d_int(); poke (TME_OC2_IV,tme_oc2); poke (TME_OC3_IV,tme_oc3); e_int(); /* set up initial array values */ A[0] = PORT; B[0] = PORT; A[1] = 0; B[1] = 0; A[2] = 0; B[2] = 1; mtr_send(A,B); A[3] = A_TYPE; B[3] = B_TYPE; A[8] = 0xffff; B[8] = 0xffff; mtr_clock(A,1000,50); mtr_clock(B,1000,25); if (A[3] == 1) bit_set (TMSK1,0x40); if (B[3] == 1) bit_set (TMSK1,0x20); } /*------------------------------------------------------*/ /* Motor Clock Calculations */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* Call By: mtr_clock(ARRAY,t_time,duty) */ /* Where: ARRAY - Motor (A or B) */ /* t_time - Total time in counts */ /* duty - duty cycle */ /* (set to 50 for stepper motor) */ /* */ /* Function: To calculate on/off times for clock */ /* signals */ /* */ /*______________________________________________________*/ mtr_clock(ARRAY,t_time,duty) unsigned int ARRAY[SIZE]; unsigned int t_time; unsigned int duty; { ARRAY[4] = t_time; ARRAY[5] = duty; ARRAY[6] = t_time / 100 * duty; ARRAY[7] = t_time / 100 * (100 - duty); } /*------------------------------------------------------*/ /* Motor Send */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 4/27/00 */ /* */ /* Call By: mtr_send(AA,BB) */ /* NOTE: Always called using mtr_send(A,B) */ /* */ /* Function: sends control nibbles to proper output */ /* port. This routine is called by other */ /* functions in the library and should not */ /* be called directly. */ /* */ /*______________________________________________________*/ mtr_send(AA,AB) unsigned int AA[SIZE]; unsigned int AB[SIZE]; { temp = AB[1]*16+AA[1]; #asm ldaa _temp+1 ldx _A staa $0,x #endasm } /*------------------------------------------------------*/ /* Set Motor Mode (Stepper Motor Only) */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* Call By: mtr_mode(ARRAY,MODE) */ /* Where: ARRAY - Motor (A or B) */ /* MODE: 0 = */ /* 1 = */ /* 2 = */ /* 3 = */ /* */ /* Function: To slect the stepper motor mode (step */ /* sequence. */ /* */ /* This routine automatically sends the */ /* new mode to the motor control port. */ /* */ /*______________________________________________________*/ mtr_mode(ARRAY,MODE) unsigned int ARRAY[SIZE]; unsigned int MODE; { ARRAY[1] = ARRAY[1] & 3; ARRAY[1] = MODE * 4 + ARRAY[1]; mtr_send(A,B); } /*------------------------------------------------------*/ /* Start Motor */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* Call By: mtr_on(ARRAY) */ /* Where: ARRAY - Motor (A or B) */ /* */ /* Function: To activate the selected motor. For a DC */ /* motor, this routine sets the on/off bit */ /* of the motor control nibble. For a Stepper */ /* motor, this routine resets the clock */ /* generator (OC2 or OC3) and puts the clock */ /* into its free run mode (will keep running */ /* until stopped by calling mtr_off(). */ /* */ /* Use mtr_stepcnt() to drive a stepper motor */ /* for a known number of steps */ /* */ /*______________________________________________________*/ mtr_on(ARRAY) unsigned int ARRAY[SIZE]; { if (ARRAY[3] == 1) { ARRAY[1] = ARRAY[1] | 0x0002; mtr_send(A,B); } if (ARRAY[3] == 0) { if (ARRAY[2] == 0) { ARRAY[8] = 0xffff; bit_set(TMSK1,0x40); } if (ARRAY[2] == 1) { ARRAY[8] = 0xffff; bit_set(TMSK1,0x20); } } } /*------------------------------------------------------*/ /* Stop Motor */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* Call By: mtr_off(ARRAY) */ /* Where: ARRAY - Motor (A or B) */ /* */ /* Function: To de-activate selected motor. For a DC */ /* motor, this routine clears the on/off bit */ /* of the motor control nibble. For a Stepper */ /* motor, this routine stops the clock */ /* generator (OC2 or OC3). */ /* */ /*______________________________________________________*/ mtr_off(ARRAY) unsigned int ARRAY[SIZE]; { if (ARRAY[3] == 1) { ARRAY[1] = ARRAY[1] & 0xFFFD; mtr_send(A,B); } if (ARRAY[3] == 0) { if (ARRAY[2] == 0) { ARRAY[8] = 0x0; } if (ARRAY[2] == 1) { ARRAY[8] = 0x0; } } } /*------------------------------------------------------*/ /* Stepper Motor Stepcount Routine */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* Call By: mtr_stepcnt(ARRAY,stepcount) */ /* Where: ARRAY - Motor (A or B) */ /* stepcount - number of steps to execute */ /* (1 to FFFF) */ /* */ /* Function: Sets up the clock driver to generate */ /* 'stepcount' number of pulses and then stop */ /* */ /*______________________________________________________*/ mtr_stepcnt(ARRAY,stepcount) unsigned int ARRAY[SIZE]; unsigned int stepcount; { ARRAY[8] = stepcount; if (ARRAY[2] == 0) { bit_set(TMSK1,0x40); } if (ARRAY[2] == 1) { bit_set(TMSK1,0x20); } } /*------------------------------------------------------*/ /* Drive Motor in Forward Direction */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* Call By: mtr_forward(ARRAY) */ /* Where: ARRAY - Motor (A or B) */ /* */ /* Function: Sets motor control nibble's direction bit */ /* to drive the motor in the forward */ /* direction. */ /*______________________________________________________*/ mtr_forward(ARRAY) unsigned int ARRAY[SIZE]; { ARRAY[1] = ARRAY[1] & 0xFFFE; mtr_send(A,B); } /*------------------------------------------------------*/ /* Drive Motor in Reverse Direction */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* Call By: mtr_reverse(ARRAY) */ /* Where: ARRAY - Motor (A or B) */ /* */ /* Function: Sets motor control nibble's direction bit */ /* to drive the motor in the reverse */ /* direction. */ /*______________________________________________________*/ mtr_reverse(ARRAY) unsigned int ARRAY[SIZE]; { ARRAY[1] = ARRAY[1] | 0x0001; mtr_send(A,B); } /*------------------------------------------------------*/ /* Stepper Motor Coils Off */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* Call By: mtr_scoff(ARRAY) */ /* Where: ARRAY - Motor (A or B) */ /* */ /* Function: Sets motor control nibble's on/off bit */ /* to turn off the coils of the stepper motor */ /*______________________________________________________*/ mtr_scoff(ARRAY) unsigned int ARRAY[SIZE]; { ARRAY[1] = ARRAY[1] & 0xFFFD; mtr_send(A,B); } /*------------------------------------------------------*/ /* Stepper Motor Coils On */ /* */ /* Written by: Dan Kohn */ /* Rev: 1.0 */ /* Date: 1/20/00 */ /* */ /* Call By: mtr_scon(ARRAY) */ /* Where: ARRAY - Motor (A or B) */ /* */ /* Function: Sets motor control nibble's on/off bit */ /* to turn on the coils of the stepper motor */ /*______________________________________________________*/ mtr_scon(ARRAY) unsigned int ARRAY[SIZE]; { ARRAY[1] = ARRAY[1] | 0x0002; mtr_send(A,B); }