Silicon Laboratories Stepper Machine Manual de usuario descargar pdf (Pagina 28)

AN155

28 Rev. 1.1

putc('>');

}

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

void delay (void) // used by main

{

unsigned char i,j;

for(i=255;i>0;i--) // simple delay for display update

{

for(j=255;j>0;j--);

}

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

void doneMsg(void) // called from Timer_ISR

{

putc('\r'); // overwrite final position

putuint(Position); // display int as string

newline();

puts("done!"); // indicate move complete

newline();

putc('>'); // display prompt

doneFlag=0;

}

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

void INT0_ISR (void) interrupt 2 // external interrupt 0 used for switch

{

if(LED==OFF) // ignore switch if moving

{

if(Position==0) // if home move to 100

{

move(1600);

}

else // if not home move to home

{

move(0);

}

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

// move

// This function calculates the profile and initializes the stepper

// motor. Function will abort if the target equals the Position or if

// the motor is still moving. Forward is set to 1 if target>Position.

// the length is calculated as the absolute value of Position minus

// target. For short moves less than 1024, MaxTableIndex is length

// divided by 4. For long moves, MaxTableIndex is set to 255.

// slewCount = length - 2 * MaxTableIndex - 1

// The slewcount is calculated by subtracting MaxTableIndex twice and

// decrementing. The TableIndex is initialized to zero.

void move (unsigned int target)

{

unsigned int length; // used to calculate length of move

if (target != Position) // abort if already there

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