/*This?file?has?been?prepared?for?Doxygen?automatic?documentation?generation.*/
/*!?\file?*********************************************************************
?*
?*?\brief?Demo?of?Linear?speed?ramp?controller.
?*
?*?Demo?of?linear?speed?ramp?controller.?Control?of?stepper?motor?by?the
?*?serial?port.?A?menu?gives?the?user?status?and?shows?the?avaliable?commands.
?*
?*?-?File:???????????????main.c
?*?-?Compiler:???????????IAR?EWAAVR?4.11A
?*?-?Supported?devices:??All?devices?with?a?16?bit?timer?can?be?used.
?*???????????????????????The?example?is?written?for?ATmega48
?*?-?AppNote:????????????AVR446?-?Linear?speed?control?of?stepper?motor
?*
?*?\author???????????????Atmel?Corporation:?http://www.atmel.com?\n
?*???????????????????????Support?email:?avr@atmel.com
?*
?*?$Name:?RELEASE_1_0?$
?*?$Revision:?1.2?$
?*?$RCSfile:?main.cv?$
?*?$Date:?2006/05/08?12:25:58?$
?*****************************************************************************/

#include?
#include?
#include?
#include?“global.h“
#include?“uart.h“
#include?“sm_driver.h“
#include?“speed_cntr.h“

//!?Global?status?flags
struct?GLOBAL_FLAGS?status?=?{FALSE?FALSE?0};

void?ShowHelp（void）;
void?ShowData（int?position?int?acceleration?int?deceleration?int?speed?int?steps）;

/*!?\brief?Init?of?peripheral?devices.
?*
?*??Setup?IO?uart?stepper?timer?and?interrupt.
?*/
void?Init（void）
{
??//?Init?of?IO?pins
??sm_driver_Init_IO（）;
??//?Init?of?uart
??InitUART（）;

??//?Set?stepper?motor?driver?output
??sm_driver_StepOutput（0）;

??//?Init?of?Timer/Counter1
??speed_cntr_Init_Timer1（）;

??__enable_interrupt（）;
}

/*!?\brief?Demo?of?linear?speed?controller.
?*
?*??Serial?interface?frontend?to?test?linear?speed?controller.
?*/
void?main（void）
{
??//?Number?of?steps?to?move.
??int?steps?=?1000;
??//?Accelration?to?use.
??int?acceleration?=?100;
??//?Deceleration?to?use.
??int?deceleration?=?100;
??//?Speed?to?use.
??int?speed?=?800;
??//?Tells?if?the?received?string?was?a?valid?command.
??char?okCmd?=?FALSE;

??Init（）;

??//?Outputs?help?screen.
??uart_SendString（“\n\r“）;
??ShowHelp（）;
??ShowData（stepPosition?acceleration?deceleration?speed?steps）;

??while（1）?{
????//?If?a?command?is?received?check?the?command?and?act?on?it.
????if（status.cmd?==?TRUE）{
??????if（UART_RxBuffer[0]?==?‘m‘）{
????????//?Move?with...
????????if（UART_RxBuffer[1]?==?‘?‘）{
??????????//?...number?of?steps?given.
??????????steps?=?atoi（（char?const?*）UART_RxBuffer+2）;
??????????speed_cntr_Move（steps?acceleration?deceleration?speed）;
??????????okCmd?=?TRUE;
??????????uart_SendString（“\n\r??“）;
????????}
????????else?if（UART_RxBuffer[1]?==?‘o‘）{
??????????if（UART_RxBuffer[2]?==?‘v‘）{
????????????if（UART_RxBuffer[3]?==?‘e‘）{
??????????????//?...all?parameters?given
??????????????if（UART_RxBuffer[4]?==?‘?‘）{
????????????????int?i?=?6;
????????????????steps?=?atoi（（char?const?*）UART_RxBuffer+5）;

?屬性????????????大小?????日期????時間???名稱
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