#include "Spmc75_regs.h"

#include "mcMACRO.h"

#include "Spmc75_dmc_uart_ext.h"

#define Samp_Time 8 // 采樣定時(shí)器 , 單位 ms

void Daly_Time(int Time);

void PDC0_Init(void);

void Time2_Init(void);

static int Moto_Speed = 0; // 電機(jī)轉(zhuǎn)速

static int Over_flag = 0; // 位置計(jì)數(shù)器溢出標(biāo)志

static int Encoder_Data = 256*4; // 編碼盤的細(xì)分常數(shù)

// 電機(jī)絕對(duì)位置 ( 長(zhǎng)整數(shù) , 為了計(jì)算方便 , 高低分開定義 )

static unsigned int Position_Count[2] = {0,0};

static unsigned int Old_Position_Count = 0; // 上一次電機(jī)位置 ( 低 16 位 )

//=====================================================================

// ----Function: main(void);

// -Description: 主函數(shù)

// --Parameters: None

// -----Returns: None

// -------Notes:

//=====================================================================

main()

{

PDC0_Init();

Time2_Init();

MC75_DMC_UART_Setup(9600);

INT_IRQ();

while(1)

{

MC75_DMC_UART_Service();

if(SPMC_DMC_Load_SpdCmd(1) > 0)

Encoder_Data = SPMC_DMC_Load_SpdCmd(1)*4;

SPMC_DMC_Save_SpdNow(1,Moto_Speed);

}

}

//=====================================================================

// ----Function: void PDC0_Init(void);

// -Description: 定時(shí)器初始化

// --Parameters: None

// -----Returns: None

// -------Notes:

//=====================================================================

void PDC0_Init(void)

{

P_IOA_Dir->W &= 0xe7ff; // 設(shè)置用到的 IO 口

P_IOA_Attrib->W &= 0xe7ff;

P_IOA_Buffer->W |= 0x1800;

P_IOA_SPE->W |= 0x1800;

P_TMR0_Ctrl->B.SPCK = CB_TMR0_SPCK_FCKdiv1; // 設(shè)置采樣時(shí)鐘為主系統(tǒng)時(shí)鐘

// 設(shè)置定時(shí)計(jì)數(shù)器模式為四倍頻增量碼盤接口

P_TMR0_Ctrl->B.MODE = CB_TMR0_MODE_Mode1;

P_TMR0_Ctrl->B.CCLS = CB_TMR0_CCLS_Disabled; // 禁止計(jì)數(shù)器清除

P_TMR0_Ctrl->B.CKEGS = CB_TMR0_CKEGS_Rising; // 設(shè)定計(jì)數(shù)邊沿為上升沿

P_TMR0_Ctrl->B.TMRPS = CB_TMR0_TMRPS_FCKdiv1; // 設(shè)置時(shí)鐘 , 這是必需的

// 使能計(jì)數(shù)器的上溢下溢中斷

P_TMR0_INT->W |= CW_TMR0_TCUIE_Enable + CW_TMR0_TCVIE_Enable;

P_TMR_Start->B.TMR0ST = 1; // 啟動(dòng)定時(shí)器

}

//=====================================================================

// ----Function: void Time2_Init(void);

// -Description: TMR2_module initialize function

// --Parameters: None

// -----Returns: None

// -------Notes:

//=====================================================================

void Time2_Init(void)

{

P_TMR2_Ctrl->B.MODE = CB_TMR2_MODE_Normal; // 工作模式初始化為連續(xù)增計(jì)數(shù)

P_TMR2_Ctrl->B.CCLS = CB_TMR2_CCLS_TPR; // 計(jì)數(shù)器清零源為周期匹配信號(hào)

P_TMR2_Ctrl->B.CKEGS = CB_TMR2_CKEGS_Rising; // 計(jì)數(shù)邊沿為上升沿

P_TMR2_Ctrl->B.TMRPS = CB_TMR2_TMRPS_FCKdiv4;// 計(jì)數(shù)時(shí)鐘為主時(shí)鐘的 1/4

P_TMR2_TPR->W = 6000*Samp_Time; // 定時(shí)周期設(shè)為 48000---8ms

P_TMR2_INT->B.TPRIE = CB_TMR2_TPRIE_Enable; // 使能定時(shí)器的周期中斷

P_TMR_Start->B.TMR2ST = CB_TMR_TMR2ST_Start; // 啟動(dòng)定時(shí)器

}

//=====================================================================

// Description: IRQ1 interrupt source is XXX,used to XXX

// Notes:

//=====================================================================

void IRQ1(void) __attribute__ ((ISR));

void IRQ1(void)

{

if(P_TMR0_Status->B.TCUIF)

{

P_TMR0_Status->B.TCUIF = 1; //Clear TCUIF flag

(int)Position_Count[1] --; // 位置計(jì)數(shù)下溢出

Over_flag = 1;

}

if(P_TMR0_Status->B.TCVIF)

{

P_TMR0_Status->B.TCVIF = 1; //Clear TCVIF flag

(int)Position_Count[1] ++; // 位置計(jì)數(shù)上溢出

Over_flag = 1;

}

}

//=====================================================================

// Description: IRQ4 interrupt source is XXX,used to XXX

// Notes:

//=====================================================================

void IRQ4(void) __attribute__ ((ISR));

void IRQ4(void)

{

long Temp;

if(P_TMR2_Status->B.TPRIF)

{

P_TMR2_Status->B.TPRIF = 1;

Position_Count[0] = P_TMR0_TCNT->W;

if(Position_Count[0] < Old_Position_Count) // 計(jì)算位置增量

{

if(Over_flag > 0) //1 正轉(zhuǎn) , 上溢

Temp = (0xffff - Old_Position_Count) + Position_Count[0] + 1;

else //0 反轉(zhuǎn) , 沒有溢出

{

Temp = Old_Position_Count - Position_Count[0];

Temp = -Temp;

}

}

else

{

if(Over_flag > 0) // 反轉(zhuǎn) , 溢出

{

Temp = (0xffff - Position_Count[0]) + Old_Position_Count + 1;

Temp = - Temp;

}

else // 正轉(zhuǎn) , 沒有溢出

Temp = Position_Count[0] - Old_Position_Count;

}

Over_flag = 0;

Old_Position_Count = Position_Count[0];

Moto_Speed = (int)((Temp*7500)/Encoder_Data);// 速度計(jì)算

}

}

//=====================================================================

// Description: IRQ6 interrupt source is XXX,used to XXX

// Notes:

//=====================================================================

void IRQ6(void) __attribute__ ((ISR));

void IRQ6(void)

{

if(P_UART_Status->B.RXIF && P_UART_Ctrl->B.RXIE)

MC75_DMC_RcvStream();