Silicon Laboratories Stepper Machine Bedienungsanleitung PDF herunterladen (Seite 25)

AN155

Rev. 1.1 25

unsigned char Tzero; // initial period, sqrt(2/alpha)

unsigned char PatternIndex; // index for step pattern, modulus 8 counter

bit Forward; // 1 for forward, 0 for reverse

bit doneFlag; // done flag used for Timer ISR handshake

unsigned char motorState; // motor state variable

// UART Global Variables

// UART receiver buffer

char idata readBuffer[READ_BUFFER_SIZE];

// UART transmitter buffer

char idata writeBuffer[WRITE_BUFFER_SIZE];

unsigned char writeIndex; // points to next free write byte

unsigned char readIndex; // points to next free read byte

unsigned char writeCount; // number of bytes in write buffer

unsigned char readCount; // number of bytes in read buffer

bit TX_Idle; // flag set when TX buffer is empty

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

// MAIN Routine

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

// The main function initializes everything and then services the user

// interface. The user interface parses characters from the UART and

// executes basic commands. There are three interrupt service routines

// which function in the background - The Timer_ISR which controls the

// stepper motor; The UART_ISR which moves characters to/from the buffers;

// and the INT0_ISR that handles the pushbutton switch commands.

void main (void)

{

char theChar; // the character to be parsed

unsigned int newP; // new position to move to

SYSCLK_Init (); // Init system clock to 24.5MHz

PORT_Init (); // Init crossbar and GPIO

Timer_Init(); // Init T0 for stepper motor and

// T1 for Baud rate

UART_Init(); // Init UART

Motor_Init(); // Init motor global variables

EA = 1; // enable global interrupts

putc('>'); // display prompt

while(1) // main loop

{

if(LED==ON) // display position while moving

{

putuint(Position); // display position

puts(" "); // blank out trailing characters

putc('\r'); // overwrite line by not using linefeed

delay(); // delay sets display update rate

}

else

{

if(doneFlag)

{

doneMsg(); // if done display message

}

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