ceph/src/boost/libs/safe_numerics/example/motor_test3.c

   1 /*
   2  * david austin
   3  * http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time
   4  * DECEMBER 30, 2004
   5  *
   6  * Demo program for stepper motor control with linear ramps
   7  * Hardware: PIC18F252, L6219
   8  *
   9  * Compile with on Microchip XC8 compiler with the command line:
  10  * XC8 --chip=18F252 motor_test3.c
  11  *
  12  * Copyright (c) 2015 Robert Ramey
  13  *
  14  * Distributed under the Boost Software License, Version 1.0. (See
  15  * accompanying file LICENSE_1_0.txt or copy at
  16  * http://www.boost.org/LICENSE_1_0.txt)
  17  */
  18
  19 #include <xc.h>
  20
  21 // 8 MHz internal clock
  22 #define _XTAL_FREQ 8000000
  23
  24 #include <stdint.h>
  25 #include <stdbool.h>        /* For true/false definition */
  26
  27 // ***************************
  28 // nullify macro for literals
  29 #define literal(n) n
  30
  31 // ***************************
  32 // map strong types to appropriate underlying types.
  33 typedef uint16_t position_t;
  34 typedef int16_t step_t;
  35 typedef uint32_t ccpr_t;
  36 typedef int32_t c_t;
  37 typedef uint16_t phase_t;
  38 typedef uint8_t phase_ix_t;
  39 typedef int8_t direction_t;
  40
  41 // 1st step=10ms; max speed=300rpm (based on 1MHz timer, 1.8deg steps)
  42 #define C_MIN  literal((1000 << 8))
  43 #define C0    literal((10000 << 8))
  44
  45 #include "motor3.c"
  46
  47 void main() {
  48     initialize();
  49     // move motor to position 200
  50     motor_run(200);
  51     while(busy()) __delay_ms(100);
  52     // move motor to position 1000
  53     motor_run(1000);
  54     while(busy()) __delay_ms(100);
  55     // move back to position 0
  56     motor_run(200);
  57     while(busy()) __delay_ms(100);
  58 } // main()