Step Motordriverimplement0118v01.docx

Step Motordriverimplement0118v01.docx

《Step Motordriverimplement0118v01.docx》由会员分享，可在线阅读，更多相关《Step Motordriverimplement0118v01.docx（6页珍藏版）》请在冰豆网上搜索。

StepMotordriverimplement0118v01

StepMotorDriverImplementDocument

TianjinUniversity—InfineonAutomotiveElectronicJointLaboratory

StateKeyLaboratoryofEngines

TianJinUniversity,China

Revisionhistory

Version

By

Modifications

V0.1,18thJan2008

JiangTang

Creation

Contents

1Introduction4

1.1Overview4

1.2Reference4

2.Typedefinition5

3GlobalVariable6

4FunctionDefinitions7

4.1WritePin7

4.2StepMotorReset8

4.3StepMotor_AccSlowdown9

4.4StepMotorC10

5ResourcesConfiguration11

5.1PeriperalConfig11

5.2InterruptConfig11

6CompileEnvironment12

1Introduction

1.1Overview

ThisdocumentdescribestheimplementationsoftheStepMotordrivertobedevelopedintheframeoftheGEMS-K1project.

TheStepMotordriverconfiguresworkingstepofstepmotor.Thestepwayishalf-step.Thereisaresetfunctionthatpullsdownthestepmotortotheposition“0”.Theresetfunctioniswalkingback500steps.Whenagoalstepfinished,resetalltherelatedpins.Whenanewgoalstepstarted,firstwalktothelaststate,thenspeedup,whenthegoalstepisnear,slowdown.

1.2Reference

[1]StepMotordrivertestreport

2.Typedefinition

Type

Description

Range

OCStepMotor_ErrorType

Recommendedtype:

16bitunsignedvalue.Numbersfrom0to15arereservedfortheHISIOLibraryitself,numbersbetween16and63aredefinedintheHISIODriverdocument.Errorcodesfrom64to127arefordriverspecificerrorcodesnotdefinedintheHISIODriverdocumentandnumbersstartingfrom128arereservedforfutureuse.

OCStepMotor_R_OK

3GlobalVariable

Thischapterdescribestheglobalvariableusedbyscheduler.

Varialbes

Type

Description

N_Coef

int

Controlwalksteplength

counter

int

Controlwalksteplength

StepMotor

STEP_STATUS

Thestatusofstepmotor

StepMotor.step

Setthegoalstepposition

StepMotor.NowPosition

Thepositionofcurrentstep

4FunctionDefinitions

4.1WritePin

Syntax

OCStepMotor_ErrorTypeWritePin（void）;

Parameters

none

Return

OCStepMotor_R_OK:

writepinwassuccessful.

Notification

Description

WritetostepmotorcontrolpinaccordingtoStepMotor.NowPosition

Reentrancy

No

Remarks

StepMotor.NowPosition

P1.8

P1.9

P1.10

P1.11

0

1

0

1

0

1

1

0

0

0

2

1

0

0

1

3

0

0

0

1

4

0

1

0

1

5

0

1

0

0

6

0

1

1

0

7

0

0

1

0

4.2

StepMotorReset

Syntax

OCStepMotor_ErrorTypeStepMotorReset（void）

Parameters

None

Return

OCStepMotor_R_OK:

currentresetwassuccessful.

Notification

Description

Resetstepmotortotheposition“0”

Reentrancy

No

Remarks

4.3

StepMotor_AccSlowdown

Syntax

OCStepMotor_ErrorTypeStepMotor_AccSlowdown（void）

Parameters

none

Return

OCStepMotor_R_OK:

Acceleratingorslowdownfunctionsteparesuccessful

Notification

Description

Thefunctionacceleratesthewalksteporslowsdownthewalkstep.

Forexample,whenStepMotor.step=300,changeStepMotor.stepto10,andcurrentpositionisbetween10and300,thesethingswillhappen:

Slowdown（forward）—Accelerates（backward）—SlowDown（backward）

—Resetallpins.

Reentrancy

No

Remarks

4.4

StepMotorC

Syntax

OCStepMotor_ErrorTypeStepMotorC（void）

Parameters

none

Return

OCStepmotor_R_OK:

Controlstepmotorsuccessfully.

Notification

Description

Thefunctionwasthewholecontrolfunctionofstepmotor,otherfunctionwasembeddedinthisfunction.

Reentrancy

No

Remarks

5ResourcesConfiguration

Theresourceusedbystepmotordriver

5.1PeriperalConfig

Source

Description

P2.6

Asstepmotorenablepin,highlevelenable

P2.7

Asstepmotorenablepin,highlevelenable

P1.8

StepA+

P1.9

StepA-

P1.10

StepB+

P1.11

StepB-

5.2InterruptConfig

Source

SRN

TOS

Priority

Name

Description

6CompileEnvironment

CompileTool:

TaskingforTricore