1005 lines
22 KiB
C
1005 lines
22 KiB
C
#include "motor.h"
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#define STEP_LIN 16 //直行程步长单位数值（脉冲数）
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#define STEP_ROT 20 //角行程步长单位数值（脉冲数）
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#define DATA_LEN 10 //角行程步长单位数值（脉冲数）
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bit Travle_Flag = 0; //0 直 1 角
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char xdata Motor_Run = 0; //0 停止 1 运行 2 运行到起始点 3 运行到结束点
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char xdata Run_Mode = 0; //0 点动 1 方案一 2 方案二
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unsigned int xdata Run_Step = 0; //电机运行步长
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unsigned int xdata Run_Inter = 0; //电机运行间隔时长
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unsigned int xdata Run_Stop = 0; //到“结束点”后，停止时间
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unsigned int xdata Run_mm = 0; //行进长度（mm）/转动角度（°）
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unsigned int xdata Run_num = 0; //角行程电机转动圈数
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unsigned int xdata ct_num = 0; //磁条长度
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bit mov_flag = 0; //脉冲标志
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bit send_flag = 0; //发送标志
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bit seat_flag = 0; //位置标志
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bit motor_dire = 1; //电机转动方向
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bit flag = 0;
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//步骤
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unsigned char xdata Runmotor_step = 0;
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//次数
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unsigned int xdata Runmotor_Nums = 0;
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//电机启动
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void motor_start(void)
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{
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GPIO_Init(GPIO1, GPIO_PIN_7,GPIO_MODE_OUT_PP);//脉冲引脚设置为输出模式，电机可收到脉冲信号
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GPIO_WriteHigh(GPIO1,GPIO_PIN_7);
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motor_data[1] = 0x01;//电机启动，对应数据01
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}
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//电机停止
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void motor_stop(void)
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{
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GPIO_WriteHigh(GPIO1,GPIO_PIN_7);
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GPIO_Init(GPIO1, GPIO_PIN_7,GPIO_MODE_IN_HI);//脉冲引脚设置为输入模式，电机无法收到脉冲信号
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motor_data[1] = 0x00;//电机停止，对应数据00
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}
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//正转
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void FWD(void)
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{
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GPIO_WriteLow(GPIO1,GPIO_PIN_6);//引脚电平置低，电机正转
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}
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//反转
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void REV(void)
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{
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GPIO_WriteHigh(GPIO1,GPIO_PIN_6);//引脚电平置高，电机反转
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}
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//清除电机标记
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void ClrRunmotorStep(void)
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{
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//步骤
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Runmotor_step = 0;
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//次数
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Runmotor_Nums = 0;
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//脉冲标记清0
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mov_flag = 0;
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//发送标记清0
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send_flag = 0;
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//位置标记清0
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seat_flag = 0;
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}
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//处理马达运行
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void Deal_Motor(void)
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{
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//判断直行程还是角行程
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if(Travle_Flag == 0)//直行程——电机旋转一圈，磁条水平位移5mm
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{
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motor_data[0] = 0x00;//00 直行程 01 角行程
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//判断电机停止还是运行，运行到起始位还是结束位
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if( Motor_Run == 0)//停止
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{
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motor_stop();
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}
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else if(Motor_Run == 1)//运行
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{
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if(Motor_Run >= 1 && Runmotor_step == 0)
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{
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Runmotor_step = 1;
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}
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//判断电机运行方式是点动还是连续，点动为方案三，方案一和方案二为连续
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if(Run_Mode == 0)//点动（方案三）
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{
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motor_data[2] = 0x00;//发送时反馈的数据
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mov_step();//点动
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}
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else if(Run_Mode == 1)//连续（方案一）“步长过大可能会越过限位开关”
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{
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motor_data[2] = 0x01;//发送时反馈的数据
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mov_loop1();//方案一
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}
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else if(Run_Mode == 2)//连续（方案二）“步长过大可能会越过限位开关”
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{
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motor_data[2] = 0x02;//发送时反馈的数据
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//磁条循环“起始点-结束点-起始点”，一定次数后停在起始点
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mov_loop2();//方案二
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}
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else//初始化
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{
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motor_stop();
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}
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}
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else if(Motor_Run == 2)//运行到起始位
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{
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mov_begin();//回到起始位
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}
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else if(Motor_Run == 3)//运行到结束位
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{
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mov_end();//移动至结束位
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}
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else//数据错误
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SC_Init();
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}
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else //角行程——电机旋转一圈，磁条旋转4°
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{
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motor_data[0] = 0x01;//00 直行程 01 角行程
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//判断电机停止还是运行，运行到起始位还是结束位
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if( Motor_Run == 0)//停止
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{
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motor_stop();
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}
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else if(Motor_Run == 1)//运行
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{
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if(Motor_Run >= 1 && Runmotor_step == 0)
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{
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Runmotor_step = 1;
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}
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//判断电机运行方式是点动还是连续，点动为方案三，方案一和方案二为连续
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if(Run_Mode == 0)//点动（方案三）
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{
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motor_data[2] = 0x00;//发送时反馈的数据
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mov_step_ang();//电机点动运行
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}
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else if(Run_Mode == 1)//连续（方案一）
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{
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motor_data[2] = 0x01;//发送时反馈的数据
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mov_loop1_ang();//磁条旋转一圈
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}
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else if(Run_Mode == 2)//连续（方案二）
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{
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motor_data[2] = 0x02;//发送时反馈的数据
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if(seat_flag == 0)
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{
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if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0) //判断是否到达限位处
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{
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motor_stop(); //电机停止
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Run_mm = 0;
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seat_flag = 1;//位置标记
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}
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else
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{
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REV(); //反转
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motor_start(); //运行
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motor_mov(1); //提供脉冲信号
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}
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}
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else
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{
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mov_loop2_ang();//磁条旋转一圈
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}
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}
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else//初始化
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{
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motor_stop();
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}
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}
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else if(Motor_Run == 2 || Motor_Run == 3)//运行到起始位
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{
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mov_begin();//回到起始位
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}
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else//数据错误
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SC_Init();
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}
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}
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/*****************************************************
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*函数名称: motor_mov
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*函数功能: 电机速度控制
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*参数说明：speed 电机速度设定值，1为最快，5为最慢
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*****************************************************/
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void motor_mov(unsigned int speed)
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{
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switch(speed)//控制电机速度，设定有五档速度
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{
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//脉冲周期2ms
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case 1:
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{
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if(it_1ms_flag) //检查1ms定时标志
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{
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it_1ms_flag = 0;//定时标志清零
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if(mov_flag)
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{
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mov_flag = 0;
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GPIO_WriteHigh(GPIO1,GPIO_PIN_7);//P1.7引脚拉高
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}
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else
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{
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mov_flag = 1;
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GPIO_WriteLow(GPIO1,GPIO_PIN_7);//P1.7引脚拉低
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}
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Runmotor_Nums++; //运行次数
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}
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}
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break;
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//脉冲周期4ms
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case 2:
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{
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if(it_2ms_flag)//检查2ms定时标志
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{
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it_2ms_flag = 0;//定时标志清零
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if(mov_flag)
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{
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mov_flag = 0;
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GPIO_WriteHigh(GPIO1,GPIO_PIN_7);//P1.7引脚拉高
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}
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else
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{
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mov_flag = 1;
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GPIO_WriteLow(GPIO1,GPIO_PIN_7);//P1.7引脚拉低
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}
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Runmotor_Nums++; //运行次数
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}
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}
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break;
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//脉冲周期6ms
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case 3:
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{
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if(it_3ms_flag)//检查3ms定时标志
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{
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it_3ms_flag = 0;//定时标志清零
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if(mov_flag)
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{
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mov_flag = 0;
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GPIO_WriteHigh(GPIO1,GPIO_PIN_7);//P1.7引脚拉高
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}
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else
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{
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mov_flag = 1;
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GPIO_WriteLow(GPIO1,GPIO_PIN_7);//P1.7引脚拉低
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}
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Runmotor_Nums++; //运行次数
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}
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}
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break;
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//脉冲周期8ms
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case 4:
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{
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if(it_4ms_flag)//检查4ms定时标志
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{
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it_4ms_flag = 0;//定时标志清零
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if(mov_flag)
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{
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mov_flag = 0;
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GPIO_WriteHigh(GPIO1,GPIO_PIN_7);//P1.7引脚拉高
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}
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else
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{
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mov_flag = 1;
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GPIO_WriteLow(GPIO1,GPIO_PIN_7);//P1.7引脚拉低
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}
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Runmotor_Nums++; //运行次数
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}
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}
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break;
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//脉冲周期10ms
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case 5:
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{
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if(it_5ms_flag)//检查5ms定时标志
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{
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it_5ms_flag = 0;//定时标志清零
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if(mov_flag)
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{
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mov_flag = 0;
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GPIO_WriteHigh(GPIO1,GPIO_PIN_7);//P1.7引脚拉高
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}
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else
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{
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mov_flag = 1;
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GPIO_WriteLow(GPIO1,GPIO_PIN_7);//P1.7引脚拉低
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}
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Runmotor_Nums++; //运行次数
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}
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}
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break;
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default :
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break;
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}
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}
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//电机连续运行，方案一（直行程）
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void mov_loop1(void)
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{
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if(Run_Step == 0) return;//步长不能为0
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switch(Runmotor_step)
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{
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case 1 : //电机运行准备
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{
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FWD(); //正转
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motor_dire = 1;
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Run_mm = 0;
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Run_num = 0;
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motor_data[2] = 0x00; //发送时反馈的数据
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Runmotor_Nums = 0; //运行次数
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mov_flag = 0;
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Runmotor_step++;
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}
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break;
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case 2 : //电机运行过程
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{
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if(GPIO_ReadPin(GPIO0,GPIO_PIN_5) == 0) //光栅信号判断
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{
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if(it_1s_flag) //检查1ms定时标志
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{
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it_1s_flag = 0;//定时标志清零
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Runmotor_Nums++;
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}
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if(Runmotor_Nums >= Run_Stop)//时间
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{
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Runmotor_step++;
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motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
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motor_data[9] = (Run_mm * Run_Step) & 0x00ff; //磁条长度低8位
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motor_seat(); //读取电机当前位置
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send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
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}
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}
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else
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{
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if(send_flag == 0)
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{
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send_flag = 1;
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motor_seat();//读取电机当前位置
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send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
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}
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motor_start(); //运行
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motor_mov(1); //运行1个脉冲
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Run_mm = 1; //磁条移动距离清0
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Runmotor_Nums = 0; //计数清零
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Runmotor_step = 6;
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}
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}
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break;
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case 3 : //延时
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{
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if(motor_dire == 1)
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{
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motor_start(); //运行
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motor_mov(1); //运行1个脉冲
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if(Runmotor_Nums >= (Run_Step * STEP_LIN))//运行一个步长，脉冲数由驱动器的细分数决定
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{
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Runmotor_Nums = 0; //计数清零
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motor_stop(); //马达停止
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motor_data[1] = 0x01; //电机启动，对应数据01
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motor_data[3] = 0x03; //电机方向——始终
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Run_mm++; //磁条移动距离加1
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ct_num = Run_mm; //磁条长度
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motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
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motor_data[9] = (Run_mm * Run_Step) & 0x00ff; //磁条长度低8位
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Runmotor_step++;
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}
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}
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else
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{
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motor_start(); //运行
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motor_mov(1); //运行1个脉冲
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if(Runmotor_Nums >= (Run_Step * STEP_LIN))//运行一个步长，脉冲数由驱动器的细分数决定
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{
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Runmotor_Nums = 0; //计数清零
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motor_stop(); //马达停止
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motor_data[1] = 0x01; //电机启动，对应数据01
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motor_data[3] = 0x04; //电机方向——终始
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ct_num = ct_num - 1; //磁条长度
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Run_mm = ct_num; //磁条移动距离减1
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motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
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motor_data[9] = (Run_mm * Run_Step) & 0x00ff; //磁条长度低8位
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Runmotor_step++;
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}
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}
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}
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break;
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case 4 : //延时
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{
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if(it_1ms_flag) //检查1ms定时标志
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{
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it_1ms_flag = 0;//定时标志清零
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Runmotor_Nums++;
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}
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if(Runmotor_Nums >= Run_Inter)//时间
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{
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Runmotor_Nums = 0;
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Runmotor_step++;
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send_flag = 0;
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//motor_seat(); //读取电机当前位置
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send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
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}
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}
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break;
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case 5 :
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{
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if(GPIO_ReadPin(GPIO0,GPIO_PIN_5) == 1 )//光栅信号判断
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{
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if(flag == 0)
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{
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Runmotor_Nums = 0;
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Runmotor_step = 3;
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if(motor_dire == 1)
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{
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REV();
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flag = 1;
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motor_dire = 0;
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}
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else
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{
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Motor_Run = 2; //运行标记改变，电机回到初始位
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}
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}
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else
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{
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Runmotor_step = 3;
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}
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}
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else
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{
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Runmotor_step = 3;
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flag = 0 ;
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}
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}
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break;
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case 6 :
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{
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if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0)//起始点限位
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{
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FWD();//正转
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motor_dire = 1;//电机转动方向
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}
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if(GPIO_ReadPin(GPIO1,GPIO_PIN_5) == 0)//结束点限位
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{
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REV();//反转
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motor_dire = 0;//电机转动方向
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}
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Runmotor_step = 2;
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}
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break;
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default :
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{
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}
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break;
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}
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}
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//电机连续运行，方案一（角行程）
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void mov_loop1_ang(void)
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{
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if(Run_Step == 0) return;//步长不能为0
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switch(Runmotor_step)
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{
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case 1 : //电机运行准备
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{
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FWD();//正转
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motor_dire = 1;
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motor_data[2] = 0x00;//发送时反馈的数据
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Runmotor_Nums = 0; //运行次数
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mov_flag = 0;
|
||
Run_mm = 0;
|
||
Run_num = 0;
|
||
Runmotor_step++;
|
||
}
|
||
break;
|
||
case 2 : //电机运行过程
|
||
{
|
||
if(motor_dire == 1)
|
||
{
|
||
FWD();//正转
|
||
motor_start(); //运行
|
||
motor_mov(1); //运行1个脉冲
|
||
if(Runmotor_Nums >= (Run_Step * STEP_ROT))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
{
|
||
Runmotor_Nums = 0; //计数清零
|
||
motor_stop(); //马达停止
|
||
motor_data[1] = 0x01; //电机启动，对应数据01
|
||
motor_data[3] = 0x03; //电机方向——始终
|
||
Run_mm++; //磁条移动距离加1
|
||
Run_num = Run_mm * Run_Step;
|
||
motor_data[8] = (Run_num & 0xff00) >> 8;//磁条长度高8位
|
||
motor_data[9] = Run_num & 0x00ff; //磁条长度低8位
|
||
Runmotor_step++;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
REV();//反转
|
||
motor_start(); //运行
|
||
motor_mov(1); //运行1个脉冲
|
||
if(Runmotor_Nums >= (Run_Step * STEP_ROT))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
{
|
||
Runmotor_Nums = 0; //计数清零
|
||
motor_stop(); //马达停止
|
||
motor_data[1] = 0x01; //电机启动，对应数据01
|
||
motor_data[3] = 0x04; //电机方向——终始
|
||
Run_mm--; //磁条移动距离减1
|
||
Run_num = Run_mm * Run_Step;
|
||
motor_data[8] = (Run_num & 0xff00) >> 8;//磁条长度高8位
|
||
motor_data[9] = Run_num & 0x00ff; //磁条长度低8位
|
||
Runmotor_step++;
|
||
}
|
||
}
|
||
}
|
||
break;
|
||
case 3 : //延时
|
||
{
|
||
if(it_1ms_flag) //检查1ms定时标志
|
||
{
|
||
it_1ms_flag = 0;//定时标志清零
|
||
Runmotor_Nums++;
|
||
}
|
||
if(Runmotor_Nums >= Run_Inter)//时间
|
||
{
|
||
Runmotor_Nums = 0;
|
||
Runmotor_step++;
|
||
//motor_seat(); //读取电机当前位置
|
||
send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
}
|
||
}
|
||
break;
|
||
case 4 :
|
||
{
|
||
if(Run_num >= Run_Stop * 10&& motor_dire == 1)//判断磁条是否转动设定的角度
|
||
{
|
||
motor_dire = 0;
|
||
Runmotor_step = 2;
|
||
}
|
||
else if(Run_num <= 0 && motor_dire == 0)
|
||
{
|
||
//motor_dire = 1;
|
||
Motor_Run = 1;
|
||
}
|
||
else
|
||
{
|
||
Runmotor_step = 2;
|
||
}
|
||
}
|
||
break;
|
||
default :
|
||
{
|
||
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
|
||
|
||
//电机连续运行，方案二（直行程）
|
||
void mov_loop2(void)
|
||
{
|
||
if(Run_Step == 0) return;//步长不能为0
|
||
|
||
switch(Runmotor_step)
|
||
{
|
||
case 1 : //电机运行准备
|
||
{
|
||
|
||
FWD();//正转
|
||
motor_dire = 1;
|
||
motor_data[2] = 0x00;//发送时反馈的数据
|
||
Runmotor_Nums = 0; //运行次数
|
||
mov_flag = 0; //
|
||
Runmotor_step++;
|
||
}
|
||
break;
|
||
case 2 : //电机运行过程
|
||
{
|
||
if(GPIO_ReadPin(GPIO0,GPIO_PIN_5) == 0)//光栅信号判断
|
||
{
|
||
|
||
if(it_1s_flag) //检查1ms定时标志
|
||
{
|
||
it_1s_flag = 0;//定时标志清零
|
||
Runmotor_Nums++;
|
||
}
|
||
if(Runmotor_Nums >= Run_Stop)//时间
|
||
{
|
||
Runmotor_step++;
|
||
motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
|
||
motor_data[9] = (Run_mm * Run_Step) & 0x00ff; //磁条长度低8位
|
||
motor_seat(); //读取电机当前位置
|
||
send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
}//Run_mm = 1; //磁条移动距离置1
|
||
|
||
}
|
||
else
|
||
{
|
||
if(send_flag == 0)
|
||
{
|
||
send_flag = 1;
|
||
motor_seat();//读取电机当前位置
|
||
send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
}
|
||
motor_start(); //运行
|
||
motor_mov(1); //运行1个脉冲
|
||
Run_mm = 1; //磁条移动距离清0
|
||
Runmotor_Nums = 0; //计数清零
|
||
Runmotor_step = 6;
|
||
}
|
||
}
|
||
break;
|
||
case 3 : //延时
|
||
{
|
||
if(motor_dire == 1)
|
||
{
|
||
motor_start(); //运行
|
||
motor_mov(1); //运行1个脉冲
|
||
if(Runmotor_Nums >= (Run_Step * STEP_LIN))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
{
|
||
Runmotor_Nums = 0; //计数清零
|
||
motor_stop(); //马达停止
|
||
motor_data[1] = 0x01; //电机启动，对应数据01
|
||
motor_data[3] = 0x03; //电机方向——始终
|
||
Run_mm++; //磁条移动距离加1
|
||
ct_num = Run_mm; //磁条长度
|
||
motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
|
||
motor_data[9] = (Run_mm * Run_Step) & 0x00ff; //磁条长度低8位
|
||
Runmotor_step++;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
motor_start(); //运行
|
||
motor_mov(1); //运行1个脉冲
|
||
if(Runmotor_Nums >= (Run_Step * STEP_LIN))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
{
|
||
Runmotor_Nums = 0; //计数清零
|
||
motor_stop(); //马达停止
|
||
motor_data[1] = 0x01; //电机启动，对应数据01
|
||
motor_data[3] = 0x04; //电机方向——终始
|
||
ct_num = ct_num - 1; //磁条长度
|
||
Run_mm = ct_num; //磁条移动距离减1
|
||
motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
|
||
motor_data[9] = (Run_mm * Run_Step) & 0x00ff; //磁条长度低8位
|
||
Runmotor_step++;
|
||
}
|
||
}
|
||
}
|
||
break;
|
||
case 4 : //延时
|
||
{
|
||
if(it_1ms_flag) //检查1ms定时标志
|
||
{
|
||
it_1ms_flag = 0;//定时标志清零
|
||
Runmotor_Nums++;
|
||
}
|
||
if(Runmotor_Nums >= Run_Inter)//时间
|
||
{
|
||
|
||
Runmotor_Nums = 0;
|
||
Runmotor_step++;
|
||
send_flag = 0;
|
||
//motor_seat(); //读取电机当前位置
|
||
send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
}
|
||
|
||
}
|
||
break;
|
||
case 5 :
|
||
{
|
||
if(GPIO_ReadPin(GPIO0,GPIO_PIN_5) == 1 )//光栅信号判断
|
||
{
|
||
if(flag == 0)
|
||
{
|
||
Runmotor_Nums = 0;
|
||
Runmotor_step = 3;
|
||
if(motor_dire == 1)
|
||
{
|
||
REV();
|
||
flag = 1;
|
||
motor_dire = 0;
|
||
}
|
||
else
|
||
{
|
||
FWD();
|
||
flag = 1;
|
||
motor_dire = 1;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
Runmotor_step = 3;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
Runmotor_step = 3;
|
||
flag = 0 ;
|
||
}
|
||
}
|
||
break;
|
||
case 6 :
|
||
{
|
||
if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0)//起始点限位
|
||
{
|
||
FWD();//正转
|
||
motor_dire = 1;//电机转动方向
|
||
}
|
||
if(GPIO_ReadPin(GPIO1,GPIO_PIN_5) == 0)//结束点限位
|
||
{
|
||
REV();//反转
|
||
motor_dire = 0;//电机转动方向
|
||
}
|
||
Runmotor_step = 2;
|
||
}
|
||
break;
|
||
|
||
default :
|
||
{
|
||
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
|
||
//电机连续运行，方案二（角行程）
|
||
void mov_loop2_ang(void)
|
||
{
|
||
if(Run_Step == 0) return;//步长不能为0
|
||
|
||
switch(Runmotor_step)
|
||
{
|
||
case 1 : //电机运行准备
|
||
{
|
||
FWD();//正转
|
||
motor_dire = 1;
|
||
motor_data[2] = 0x00;//发送时反馈的数据
|
||
Runmotor_Nums = 0; //运行次数
|
||
mov_flag = 0;
|
||
Runmotor_step++;
|
||
}
|
||
break;
|
||
case 2 : //电机运行过程
|
||
{
|
||
if(motor_dire == 1)
|
||
{
|
||
FWD();//正转
|
||
motor_start(); //运行
|
||
motor_mov(1); //运行1个脉冲
|
||
if(Runmotor_Nums >= (Run_Step * STEP_ROT))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
{
|
||
Runmotor_Nums = 0; //计数清零
|
||
motor_stop(); //马达停止
|
||
motor_data[1] = 0x01; //电机启动，对应数据01
|
||
motor_data[3] = 0x03; //电机方向——始终
|
||
Run_mm++; //磁条移动距离加1
|
||
Run_num = Run_mm * Run_Step;
|
||
motor_data[8] = (Run_num & 0xff00) >> 8;//磁条长度高8位
|
||
motor_data[9] = Run_num & 0x00ff; //磁条长度低8位
|
||
Runmotor_step++;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
REV();//反转
|
||
motor_start(); //运行
|
||
motor_mov(1); //运行1个脉冲
|
||
if(Runmotor_Nums >= (Run_Step * STEP_ROT))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
{
|
||
Runmotor_Nums = 0; //计数清零
|
||
motor_stop(); //马达停止
|
||
motor_data[1] = 0x01; //电机启动，对应数据01
|
||
motor_data[3] = 0x04; //电机方向——终始
|
||
Run_mm--; //磁条移动距离减1
|
||
Run_num = Run_mm * Run_Step;
|
||
motor_data[8] = (Run_num & 0xff00) >> 8;//磁条长度高8位
|
||
motor_data[9] = Run_num & 0x00ff; //磁条长度低8位
|
||
Runmotor_step++;
|
||
}
|
||
}
|
||
}
|
||
break;
|
||
case 3 : //延时
|
||
{
|
||
if(it_1ms_flag) //检查1ms定时标志
|
||
{
|
||
it_1ms_flag = 0;//定时标志清零
|
||
Runmotor_Nums++;
|
||
}
|
||
if(Runmotor_Nums >= Run_Inter)//时间
|
||
{
|
||
Runmotor_Nums = 0;
|
||
Runmotor_step++;
|
||
//motor_seat(); //读取电机当前位置
|
||
send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
}
|
||
}
|
||
break;
|
||
case 4 :
|
||
{
|
||
if(Run_num >= Run_Stop * 10)//判断磁条是否转动设定的角度
|
||
{
|
||
motor_dire = 0;
|
||
Runmotor_step = 2;
|
||
}
|
||
else if(Run_num <= 0)
|
||
{
|
||
motor_dire = 1;
|
||
Runmotor_step = 2;
|
||
}
|
||
else
|
||
{
|
||
Runmotor_step = 2;
|
||
}
|
||
}
|
||
break;
|
||
default :
|
||
{
|
||
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
|
||
//电机点动运行，方案三（直行程）
|
||
void mov_step(void)
|
||
{
|
||
if(Run_Step == 0) return;//步长不能为0
|
||
|
||
switch(Runmotor_step)
|
||
{
|
||
case 1 : //电机运行准备
|
||
{
|
||
motor_start(); //运行
|
||
if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0)//判断是否到达始限位
|
||
FWD(); //正转
|
||
if(GPIO_ReadPin(GPIO1,GPIO_PIN_5) == 0)//判断是否到达终限位
|
||
REV(); //反转
|
||
Runmotor_Nums = 0; //运行次数
|
||
mov_flag = 0;
|
||
Runmotor_step++;
|
||
}
|
||
break;
|
||
case 2 : //电机运行过程
|
||
{
|
||
motor_mov(1);//运行1个脉冲
|
||
if(Runmotor_Nums >= (Run_Step * STEP_LIN))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
{
|
||
Runmotor_Nums = 0;
|
||
motor_stop(); //马达停止
|
||
Runmotor_step++;
|
||
Run_mm++; //磁条移动距离加1
|
||
Run_num = Run_mm * Run_Step;
|
||
motor_data[8] = (Run_num & 0xff00) >> 8;//磁条长度高8位
|
||
motor_data[9] = Run_num & 0x00ff; //磁条长度低8位
|
||
// motor_seat(); //读取电机当前位置
|
||
// send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
}
|
||
}
|
||
break;
|
||
case 3 :
|
||
{
|
||
if(it_1ms_flag) //检查1ms定时标志
|
||
{
|
||
it_1ms_flag = 0;//定时标志清零
|
||
Runmotor_Nums++;
|
||
}
|
||
if(Runmotor_Nums >= 50)//时间
|
||
{
|
||
Runmotor_Nums = 0;
|
||
Runmotor_step++;
|
||
motor_seat(); //读取电机当前位置
|
||
send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
}
|
||
}
|
||
break;
|
||
case 4 :
|
||
{
|
||
Runmotor_step = 0;
|
||
Motor_Run = 0; //运行标记清除
|
||
}
|
||
break;
|
||
default :
|
||
{
|
||
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
|
||
//电机点动运行，方案三（角行程）
|
||
void mov_step_ang(void)
|
||
{
|
||
if(Run_Step == 0) return;//步长不能为0
|
||
|
||
switch(Runmotor_step)
|
||
{
|
||
case 1 : //电机运行准备
|
||
{
|
||
motor_start(); //运行
|
||
FWD(); //正转
|
||
Runmotor_Nums = 0; //运行次数
|
||
mov_flag = 0;
|
||
Runmotor_step++;
|
||
}
|
||
break;
|
||
case 2 : //电机运行过程
|
||
{
|
||
motor_mov(1);//运行1个脉冲
|
||
if(Runmotor_Nums >= (Run_Step * STEP_ROT))//运行一个步长，脉冲数由驱动器的细分数决定
|
||
{
|
||
Runmotor_Nums = 0;
|
||
motor_stop(); //马达停止
|
||
Run_mm++; //磁条移动距离加1
|
||
Run_num = Run_mm * Run_Step;
|
||
motor_data[8] = (Run_num & 0xff00) >> 8;//磁条长度高8位
|
||
motor_data[9] = Run_num & 0x00ff; //磁条长度低8位
|
||
motor_seat(); //读取电机当前位置
|
||
send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
Runmotor_step++;
|
||
}
|
||
}
|
||
break;
|
||
case 3 :
|
||
{
|
||
Runmotor_step = 0;
|
||
Motor_Run = 0; //运行标记清除
|
||
if(Run_num >= 3600) //判断磁条是否转动一圈
|
||
Run_mm = 0;
|
||
}
|
||
break;
|
||
default :
|
||
{
|
||
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
|
||
//电机回到起始位
|
||
void mov_begin(void)
|
||
{
|
||
motor_data[1] = 0x02; //电机运行到起始位，对应数据02
|
||
motor_data[8] = 0x00; //磁条长度高8位
|
||
motor_data[9] = 0x00; //磁条长度低8位
|
||
REV(); //电机反转
|
||
motor_start(); //电机启动
|
||
if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0) //判断是否到达限位处
|
||
{
|
||
motor_stop(); //电机停止
|
||
Run_mm = 0;
|
||
Run_num = 0;
|
||
if(send_flag == 1)
|
||
{
|
||
send_flag = 0;
|
||
motor_seat(); //读取电机当前位置
|
||
send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
|
||
}
|
||
}
|
||
else
|
||
motor_mov(1); //提供脉冲
|
||
}
|
||
|
||
//电机回到结束位
|
||
void mov_end(void)
|
||
{
|
||
motor_data[1] = 0x03; //电机运行到结束位，对应数据03
|
||
FWD(); //电机反转
|
||
motor_start(); //电机启动
|
||
//Run_mm = 0;
|
||
if(GPIO_ReadPin(GPIO1,GPIO_PIN_5) == 0)//判断是否到达限位处
|
||
motor_stop(); //电机停止
|
||
else
|
||
motor_mov(1); //提供脉冲
|
||
}
|
||
|
||
//电机位置判断
|
||
void motor_seat(void)
|
||
{
|
||
if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0) //磁条处于起始点限位开关处
|
||
motor_data[3] = 0x01; //发送时反馈的数据
|
||
else if(GPIO_ReadPin(GPIO1,GPIO_PIN_5) == 0)//磁条处于结束点限位开关处
|
||
motor_data[3] = 0x02; //发送时反馈的数据
|
||
else if(GPIO_ReadPin(GPIO0,GPIO_PIN_5) == 0)//磁条正通过光栅
|
||
motor_data[3] = 0x03; //发送时反馈的数据
|
||
else //无状态
|
||
motor_data[3] = 0x00; //发送时反馈的数据
|
||
}
|