Silicon Laboratories Stepper Machine Bedienungsanleitung PDF herunterladen (Seite 23)

AN155

Rev. 1.1 23

// stepper motor linear velocity profile

// 255 * [sqrt(n+1)-sqrt(n)]

// n = 0 to 255

const unsigned char code StepTable[256]=

{

0xFF, 0x69, 0x51, 0x44, 0x3C, 0x36, 0x32, 0x2E,

0x2B, 0x29, 0x27, 0x25, 0x24, 0x22, 0x21, 0x20,

0x1F, 0x1E, 0x1D, 0x1C, 0x1C, 0x1B, 0x1A, 0x1A,

0x19, 0x19, 0x18, 0x18, 0x17, 0x17, 0x17, 0x16,

0x16, 0x16, 0x15, 0x15, 0x15, 0x14, 0x14, 0x14,

0x14, 0x13, 0x13, 0x13, 0x13, 0x12, 0x12, 0x12,

0x12, 0x12, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11,

0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10,

0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F,

0x0E, 0x0E, 0x0E, 0x0E, 0x0E, 0x0E, 0x0E, 0x0E,

0x0E, 0x0E, 0x0E, 0x0D, 0x0D, 0x0D, 0x0D, 0x0D,

0x0D, 0x0D, 0x0D, 0x0D, 0x0D, 0x0D, 0x0D, 0x0D,

0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C,

0x0C, 0x0B, 0x0B, 0x0B, 0x0B, 0x0B, 0x0B, 0x0B,

0x0B, 0x0B, 0x0B, 0x0B, 0x0B, 0x0B, 0x0B, 0x0B,

0x0B, 0x0B, 0x0B, 0x0B, 0x0B, 0x0B, 0x0A, 0x0A,

0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A,

0x0A, 0x0A, 0x0A, 0x09, 0x09, 0x09, 0x09, 0x09,

0x09, 0x09, 0x09, 0x09, 0x09, 0x09, 0x09, 0x09,

0x09, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08,

0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08,

0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x07, 0x07

};

//-----------------------------------------------------------------------------

// Function PROTOTYPES

//-----------------------------------------------------------------------------

// main and user interface functions

void SYSCLK_Init (void); // initialize port pins and crossbar

void PORT_Init (void); // initialize system clock and watchdog

void Timer_Init (void); // initialize timer for Motor and UART

void UART_Init (void); // initialize UART

void Motor_Init(void); // initialize Motor variables

void doneMsg(void); // display done message

void error(void); // display error message

void delay (void); // delay used for position updating

void INT0_ISR (void); // external interrupt used for SW2

// stepper motor control functions

void move (unsigned int);

void Timer_ISR (void);

unsigned int MUL8x8(unsigned char, unsigned char);

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