/*
1 L6219的介绍及电路设计
1.1 L6219的性能介绍
L6219是一个有两极的集成电路，它能控制和驱动具有两极步进电机的绕组，
还可以双向控制两个直流电机。L6219可以非常方便地与微处理器连接成控制步进电机的系统，
其电压范围可以从10V~46V，输出的电流可达到750mA，峰值电流高达1A。因为内部具有保护二极管及PWM电流控制，
所以在可靠性和稳定性方面提供了保障。
1.2 L6219电路的具体实现：
1.3 L6219的电路说明
L6219是一个24脚的芯片，功能说明如下：
1.3.1 PCA（Programmable Counter Array）的简介
P89V51RD内部含有一个PCA模块，输出复用P1口的P1.3、P1.4、P1.5、P1.6、P1.7。
PCA有上升下降沿捕捉、定时、高速输出、看门狗、PWM输出5个工作模式，
通过编程控制P1.3——P1.7工作于任意模式。这里只对8位PWM输出模式做详细介绍，其他工作模式可参考相关资料。
1.3.2 PWM相关寄存器的介绍
PCA有一些相关的控制寄存器：计数模式寄存器(CMOD)、计数控制寄存器（CCON）PCA定时器（CH、CL）、
工作模式寄存器（CCAPMn，其中n对应为：0、1、2、3、4）可对这些寄存器编程来控制PWM的输出。
CMOD：计数模式寄存器
CIDL WDTE —— —— —— CPS1 CPS0 ECF
CCON：计数控制寄存器
CF CR —— CCF4 CCF3 CCF2 CCF1 CCF0
CCAPMn：工作模式寄存器
—— ECOMn CAPPn CAPNn MATn TOGn PWMn
3细分技术的实现
单片机实现时将0~360℃作细分，一个步距角度是1.8℃，首先根据矢量合成图建立相应的向量表，
程序再根据向量表运行控制马达的旋转，可以是步距的1、2、4、8、16、……2n的倍数。
程序的具体实现如下：
*/
#define CMOD 0XD9
#define CCAP0G 0XFA
#define CCAP1G 0XFB
#define CCAP2G 0XFC
#define CCAP3G 0XFD
#define CCAP4G 0XFE
#define CCAP5G 0XFF
#define CCAP0L 0XEA
#define CCAP1L 0XEB
#define CCAO2L 0XEC
#define CCAP3L 0XED
#define CCAP4L 0XEE
#define CCAP5L 0XEF
// IPH EQU 0B7H
#define CH 0XF9//H
#define CL 0XE9//H
#define CCON 0D8H
// CCF0 EQU CCON.0
// CCF1 EQU CCON.1
// CCF2 EQU CCON.2
// CCF3 EQU CCON.3
// CCF4 EQU CCON.4
// CCF5 EQU CCON.5
sbit CR =0XD8^6
// CF EQU CCON.7
#define PWM0enable(); CCAPM0|=0x42; //配置P1.3引脚为PWM输出
#define PWM1enable(); CCAPM1|=0x42; //配置P1.4引脚为PWM输出
#define PWM2enable(); CCAPM2|=0x42; //配置P1.5引脚为PWM输出
#define PWM3enable(); CCAPM3|=0x42; //配置P1.6引脚为PWM输出
#define PWM4enable(); CCAPM4|=0x42; //配置P1.7引脚为PWM输出
#define PWM0disable(); CCAPM0&=0xBD; //停止P1.3引脚输出PWM
#define PWM1disable(); CCAPM1&=0xBD; //停止P1.4引脚输出PWM
#define PWM2disable(); CCAPM2&=0xBD; //停止P1.5引脚输出PWM
#define PWM3disable(); CCAPM3&=0xBD; //停止P1.6引脚输出PWM
#define PWM4disable(); CCAPM4&=0xBD; //停止P1.7引脚输出PWM
#define MotorIdel 0x00 //电机空闲模式
#define MotorPowerOn 0x01 //电机上电
#define MotorNormalState 0x02 //电机正常运转
#define MotorPowerOff 0x03 //电机掉电
//定义细分表结构
typedef struct tagSubdivideTable{
unsigned char mQuardrant; //象限0-3
unsigned char mA_PWM; //A相输出的PWM
unsigned char mB_PWM; //B相输出的PWM
}SubdivideTable;
typedef struct tagWorkInformation{
unsigned int SubdivideTableID; //细分表ID
unsigned char MotorDirect; //马达旋转方向
unsigned char SubdivideNumber; //细分倍数,这里的细分倍数就是访问细分表 //的步长，如果选用128倍细分，那么//SubdivideNumber=1,选用64倍细分，//SubdivideNumber=2
unsigned int MotorSteps; //马达旋转总的步距，一个步距角1.8度
unsigned char WorkState; //马达工作状态
unsigned char MaxStep; //马达一个脉冲走过的最大步距，对应细分表//的间隔取值是：1、2、4、8、16...2的倍数
}WorkInformation;
sbit PhaseA = 0X90^4
sbit PhaseB = 0X90^5
#define Quardrant0 1 //+iA,+iB 第一象限
#define Quardrant1 2 //-iA,+iB 第二象限
#define Quardrant2 3 //-iA,-iB 第三象限
#define Quardrant3 4 //+iA,-iB 第四象限
WorkInformation MotorWorking;
//细分表
//0-360度的细分，128倍细分表,iA=255*cos(a),iB=255*sin(a)
SubdivideTable code MotorSubdividedTab[]={
//第一象限， +iA, +iB
Quardrant3, 255, 0,
Quardrant0, 255, 3,
Quardrant0, 255, 6,
Quardrant0, 255, 9,
Quardrant0, 255, 13,
Quardrant0, 255, 16,
Quardrant0, 254, 19,
Quardrant0, 254, 22,
Quardrant0, 254, 25,
Quardrant0, 253, 28,
Quardrant0, 253, 31,
Quardrant0, 253, 34,
Quardrant0, 252, 37,
Quardrant0, 252, 41,
Quardrant0, 251, 44,
Quardrant0, 251, 47,
Quardrant0, 250, 50,
Quardrant0, 249, 53,
Quardrant0, 249, 56,
Quardrant0, 248, 59,
Quardrant0, 247, 62,
Quardrant0, 247, 65,
Quardrant0, 246, 68,
Quardrant0, 245, 71,
Quardrant0, 244, 74,
Quardrant0, 243, 77,
Quardrant0, 242, 80,
Quardrant0, 241, 83,
Quardrant0, 240, 86,
Quardrant0, 239, 89,
Quardrant0, 238, 92,
Quardrant0, 237, 95,
Quardrant0, 236, 98,
Quardrant0, 234, 100,
Quardrant0, 233, 103,
Quardrant0, 232, 106,
Quardrant0, 231, 109,
Quardrant0, 229, 112,
Quardrant0, 228, 115,
Quardrant0, 226, 117,
Quardrant0, 225, 120,
Quardrant0, 223, 123,
Quardrant0, 222, 126,
Quardrant0, 220, 128,
Quardrant0, 219, 131,
Quardrant0, 217, 134,
Quardrant0, 215, 136,
Quardrant0, 214, 139,
Quardrant0, 212, 142,
Quardrant0, 210, 144,
Quardrant0, 208, 147,
Quardrant0, 207, 149,
Quardrant0, 205, 152,
Quardrant0, 203, 154,
Quardrant0, 201, 157,
Quardrant0, 199, 159,
Quardrant0, 197, 162,
Quardrant0, 195, 164,
Quardrant0, 193, 167,
Quardrant0, 191, 169,
Quardrant0, 189, 171,
Quardrant0, 187, 174,
Quardrant0, 185, 176,
Quardrant0, 183, 178,
Quardrant0, 180, 180,
Quardrant0, 178, 183,
Quardrant0, 176, 185,
Quardrant0, 174, 187,
Quardrant0, 171, 189,
Quardrant0, 169, 191,
Quardrant0, 167, 193,
Quardrant0, 164, 195,
Quardrant0, 162, 197,
Quardrant0, 159, 199,
Quardrant0, 157, 201,
Quardrant0, 154, 203,
Quardrant0, 152, 205,
Quardrant0, 149, 207,
Quardrant0, 147, 208,
Quardrant0, 144, 210,
Quardrant0, 142, 212,
Quardrant0, 139, 214,
Quardrant0, 136, 215,
Quardrant0, 134, 217,
Quardrant0, 131, 219,
Quardrant0, 128, 220,
Quardrant0, 126, 222,
Quardrant0, 123, 223,
Quardrant0, 120, 225,
Quardrant0, 117, 226,
Quardrant0, 115, 228,
Quardrant0, 112, 229,
Quardrant0, 109, 231,
Quardrant0, 106, 232,
Quardrant0, 103, 233,
Quardrant0, 100, 234,
Quardrant0, 98, 236,
Quardrant0, 95, 237,
Quardrant0, 92, 238,
Quardrant0, 89, 239,
Quardrant0, 86, 240,
Quardrant0, 83, 241,
Quardrant0, 80, 242,
Quardrant0, 77, 243,
Quardrant0, 74, 244,
Quardrant0, 71, 245,
Quardrant0, 68, 246,
Quardrant0, 65, 247,
Quardrant0, 62, 247,
Quardrant0, 59, 248,
Quardrant0, 56, 249,
Quardrant0, 53, 249,
Quardrant0, 50, 250,
Quardrant0, 47, 251,
Quardrant0, 44, 251,
Quardrant0, 41, 252,
Quardrant0, 37, 252,
Quardrant0, 34, 253,
Quardrant0, 31, 253,
Quardrant0, 28, 253,
Quardrant0, 25, 254,
Quardrant0, 22, 254,
Quardrant0, 19, 254,
Quardrant0, 16, 255,
Quardrant0, 13, 255,
Quardrant0, 9, 255,
Quardrant0, 6, 255,
Quardrant0, 3, 255,
//第二象限 -iA, +iB
Quardrant0, 0, 255,
Quardrant1, 3, 255,
Quardrant1, 6, 255,
Quardrant1, 9, 255,
Quardrant1, 13, 255,
Quardrant1, 16, 255,
Quardrant1, 19, 254,
Quardrant1, 22, 254,
Quardrant1, 25, 254,
Quardrant1, 28, 253,
Quardrant1, 31, 253,
Quardrant1, 34, 253,
Quardrant1, 37, 252,
Quardrant1, 41, 252,
Quardrant1, 44, 251,
Quardrant1, 47, 251,
Quardrant1, 50, 250,
Quardrant1, 53, 249,
Quardrant1, 56, 249,
Quardrant1, 59, 248,
Quardrant1, 62, 247,
Quardrant1, 65, 247,
Quardrant1, 68, 246,
Quardrant1, 71, 245,
Quardrant1, 74, 244,
Quardrant1, 77, 243,
Quardrant1, 80, 242,
Quardrant1, 83, 241,
Quardrant1, 86, 240,
Quardrant1, 89, 239,
Quardrant1, 92, 238,
Quardrant1, 95, 237,
Quardrant1, 98, 236,
Quardrant1, 100, 234,
Quardrant1, 103, 233,
Quardrant1, 106, 232,
Quardrant1, 109, 231,
Quardrant1, 112, 229,
Quardrant1, 115, 228,
Quardrant1, 117, 226,
Quardrant1, 120, 225,
Quardrant1, 123, 223,
Quardrant1, 126, 222,
Quardrant1, 128, 220,
Quardrant1, 131, 219,
Quardrant1, 134, 217,
Quardrant1, 136, 215,
Quardrant1, 139, 214,
Quardrant1, 142, 212,
Quardrant1, 144, 210,
Quardrant1, 147, 208,
Quardrant1, 149, 207,
Quardrant1, 152, 205,
Quardrant1, 154, 203,
Quardrant1, 157, 201,
Quardrant1, 159, 199,
Quardrant1, 162, 197,
Quardrant1, 164, 195,
Quardrant1, 167, 193,
Quardrant1, 169, 191,
Quardrant1, 171, 189,
Quardrant1, 174, 187,
Quardrant1, 176, 185,
Quardrant1, 178, 183,
Quardrant1, 180, 180,
Quardrant1, 183, 178,
Quardrant1, 185, 176,
Quardrant1, 187, 174,
Quardrant1, 189, 171,
Quardrant1, 191, 169,
Quardrant1, 193, 167,
Quardrant1, 195, 164,
Quardrant1, 197, 162,
Quardrant1, 199, 159,
Quardrant1, 201, 157,
Quardrant1, 203, 154,
Quardrant1, 205, 152,
Quardrant1, 207, 149,
Quardrant1, 208, 147,
Quardrant1, 210, 144,
Quardrant1, 212, 142,
Quardrant1, 214, 139,
Quardrant1, 215, 136,
Quardrant1, 217, 134,
Quardrant1, 219, 131,
Quardrant1, 220, 128,
Quardrant1, 222, 126,
Quardrant1, 223, 123,
Quardrant1, 225, 120,
Quardrant1, 226, 117,
Quardrant1, 228, 115,
Quardrant1, 229, 112,
Quardrant1, 231, 109,
Quardrant1, 232, 106,
Quardrant1, 233, 103,
Quardrant1, 234, 100,
Quardrant1, 236, 98,
Quardrant1, 237, 95,
Quardrant1, 238, 92,
Quardrant1, 239, 89,
Quardrant1, 240, 86,
Quardrant1, 241, 83,
Quardrant1, 242, 80,
Quardrant1, 243, 77,
Quardrant1, 244, 74,
Quardrant1, 245, 71,
Quardrant1, 246, 68,
Quardrant1, 247, 65,
Quardrant1, 247, 62,
Quardrant1, 248, 59,
Quardrant1, 249, 56,
Quardrant1, 249, 53,
Quardrant1, 250, 50,
Quardrant1, 251, 47,
Quardrant1, 251, 44,
Quardrant1, 252, 41,
Quardrant1, 252, 37,
Quardrant1, 253, 34,
Quardrant1, 253, 31,
Quardrant1, 253, 28,
Quardrant1, 254, 25,
Quardrant1, 254, 22,
Quardrant1, 254, 19,
Quardrant1, 255, 16,
Quardrant1, 255, 13,
Quardrant1, 255, 9,
Quardrant1, 255, 6,
Quardrant1, 255, 3,
//第三象限 -iA, -iB
Quardrant1, 255, 0,
Quardrant2, 255, 3,
Quardrant2, 255, 6,
Quardrant2, 255, 9,
Quardrant2, 255, 13,
Quardrant2, 255, 16,
Quardrant2, 254, 19,
Quardrant2, 254, 22,
Quardrant2, 254, 25,
Quardrant2, 253, 28,
Quardrant2, 253, 31,
Quardrant2, 253, 34,
Quardrant2, 252, 37,
Quardrant2, 252, 41,
Quardrant2, 251, 44,
Quardrant2, 251, 47,
Quardrant2, 250, 50,
Quardrant2, 249, 53,
Quardrant2, 249, 56,
Quardrant2, 248, 59,
Quardrant2, 247, 62,
Quardrant2, 247, 65,
Quardrant2, 246, 68,
Quardrant2, 245, 71,
Quardrant2, 244, 74,
Quardrant2, 243, 77,
Quardrant2, 242, 80,
Quardrant2, 241, 83,
Quardrant2, 240, 86,
Quardrant2, 239, 89,
Quardrant2, 238, 92,
Quardrant2, 237, 95,
Quardrant2, 236, 98,
Quardrant2, 234, 100,
Quardrant2, 233, 103,
Quardrant2, 232, 106,
Quardrant2, 231, 109,
Quardrant2, 229, 112,
Quardrant2, 228, 115,
Quardrant2, 226, 117,
Quardrant2, 225, 120,
Quardrant2, 223, 123,
Quardrant2, 222, 126,
Quardrant2, 220, 128,
Quardrant2, 219, 131,
Quardrant2, 217, 134,
Quardrant2, 215, 136,
Quardrant2, 214, 139,
Quardrant2, 212, 142,
Quardrant2, 210, 144,
Quardrant2, 208, 147,
Quardrant2, 207, 149,
Quardrant2, 205, 152,
Quardrant2, 203, 154,
Quardrant2, 201, 157,
Quardrant2, 199, 159,
Quardrant2, 197, 162,
Quardrant2, 195, 164,
Quardrant2, 193, 167,
Quardrant2, 191, 169,
Quardrant2, 189, 171,
Quardrant2, 187, 174,
Quardrant2, 185, 176,
Quardrant2, 183, 178,
Quardrant2, 180, 180,
Quardrant2, 178, 183,
Quardrant2, 176, 185,
Quardrant2, 174, 187,
Quardrant2, 171, 189,
Quardrant2, 169, 191,
Quardrant2, 167, 193,
Quardrant2, 164, 195,
Quardrant2, 162, 197,
Quardrant2, 159, 199,
Quardrant2, 157, 201,
Quardrant2, 154, 203,
Quardrant2, 152, 205,
Quardrant2, 149, 207,
Quardrant2, 147, 208,
Quardrant2, 144, 210,
Quardrant2, 142, 212,
Quardrant2, 139, 214,
Quardrant2, 136, 215,
Quardrant2, 134, 217,
Quardrant2, 131, 219,
Quardrant2, 128, 220,
Quardrant2, 126, 222,
Quardrant2, 123, 223,
Quardrant2, 120, 225,
Quardrant2, 117, 226,
Quardrant2, 115, 228,
Quardrant2, 112, 229,
Quardrant2, 109, 231,
Quardrant2, 106, 232,
Quardrant2, 103, 233,
Quardrant2, 100, 234,
Quardrant2, 98, 236,
Quardrant2, 95, 237,
Quardrant2, 92, 238,
Quardrant2, 89, 239,
Quardrant2, 86, 240,
Quardrant2, 83, 241,
Quardrant2, 80, 242,
Quardrant2, 77, 243,
Quardrant2, 74, 244,
Quardrant2, 71, 245,
Quardrant2, 68, 246,
Quardrant2, 65, 247,
Quardrant2, 62, 247,
Quardrant2, 59, 248,
Quardrant2, 56, 249,
Quardrant2, 53, 249,
Quardrant2, 50, 250,
Quardrant2, 47, 251,
Quardrant2, 44, 251,
Quardrant2, 41, 252,
Quardrant2, 37, 252,
Quardrant2, 34, 253,
Quardrant2, 31, 253,
Quardrant2, 28, 253,
Quardrant2, 25, 254,
Quardrant2, 22, 254,
Quardrant2, 19, 254,
Quardrant2, 16, 255,
Quardrant2, 13, 255,
Quardrant2, 9, 255,
Quardrant2, 6, 255,
Quardrant2, 3, 255,
//第四象限 +iA, -iB
Quardrant2, 0, 255,
Quardrant3, 3, 255,
Quardrant3, 6, 255,
Quardrant3, 9, 255,
Quardrant3, 13, 255,
Quardrant3, 16, 255,
Quardrant3, 19, 254,
Quardrant3, 22, 254,
Quardrant3, 25, 254,
Quardrant3, 28, 253,
Quardrant3, 31, 253,
Quardrant3, 34, 253,
Quardrant3, 37, 252,
Quardrant3, 41, 252,
Quardrant3, 44, 251,
Quardrant3, 47, 251,
Quardrant3, 50, 250,
Quardrant3, 53, 249,
Quardrant3, 56, 249,
Quardrant3, 59, 248,
Quardrant3, 62, 247,
Quardrant3, 65, 247,
Quardrant3, 68, 246,
Quardrant3, 71, 245,
Quardrant3, 74, 244,
Quardrant3, 77, 243,
Quardrant3, 80, 242,
Quardrant3, 83, 241,
Quardrant3, 86, 240,
Quardrant3, 89, 239,
Quardrant3, 92, 238,
Quardrant3, 95, 237,
Quardrant3, 98, 236,
Quardrant3, 100, 234,
Quardrant3, 103, 233,
Quardrant3, 106, 232,
Quardrant3, 109, 231,
Quardrant3, 112, 229,
Quardrant3, 115, 228,
Quardrant3, 117, 226,
Quardrant3, 120, 225,
Quardrant3, 123, 223,
Quardrant3, 126, 222,
Quardrant3, 128, 220,
Quardrant3, 131, 219,
Quardrant3, 134, 217,
Quardrant3, 136, 215,
Quardrant3, 139, 214,
Quardrant3, 142, 212,
Quardrant3, 144, 210,
Quardrant3, 147, 208,
Quardrant3, 149, 207,
Quardrant3, 152, 205,
Quardrant3, 154, 203,
Quardrant3, 157, 201,
Quardrant3, 159, 199,
Quardrant3, 162, 197,
Quardrant3, 164, 195,
Quardrant3, 167, 193,
Quardrant3, 169, 191,
Quardrant3, 171, 189,
Quardrant3, 174, 187,
Quardrant3, 176, 185,
Quardrant3, 178, 183,
Quardrant3, 180, 180,
Quardrant3, 183, 178,
Quardrant3, 185, 176,
Quardrant3, 187, 174,
Quardrant3, 189, 171,
Quardrant3, 191, 169,
Quardrant3, 193, 167,
Quardrant3, 195, 164,
Quardrant3, 197, 162,
Quardrant3, 199, 159,
Quardrant3, 201, 157,
Quardrant3, 203, 154,
Quardrant3, 205, 152,
Quardrant3, 207, 149,
Quardrant3, 208, 147,
Quardrant3, 210, 144,
Quardrant3, 212, 142,
Quardrant3, 214, 139,
Quardrant3, 215, 136,
Quardrant3, 217, 134,
Quardrant3, 219, 131,
Quardrant3, 220, 128,
Quardrant3, 222, 126,
Quardrant3, 223, 123,
Quardrant3, 225, 120,
Quardrant3, 226, 117,
Quardrant3, 228, 115,
Quardrant3, 229, 112,
Quardrant3, 231, 109,
Quardrant3, 232, 106,
Quardrant3, 233, 103,
Quardrant3, 234, 100,
Quardrant3, 236, 98,
Quardrant3, 237, 95,
Quardrant3, 238, 92,
Quardrant3, 239, 89,
Quardrant3, 240, 86,
Quardrant3, 241, 83,
Quardrant3, 242, 80,
Quardrant3, 243, 77,
Quardrant3, 244, 74,
Quardrant3, 245, 71,
Quardrant3, 246, 68,
Quardrant3, 247, 65,
Quardrant3, 247, 62,
Quardrant3, 248, 59,
Quardrant3, 249, 56,
Quardrant3, 249, 53,
Quardrant3, 250, 50,
Quardrant3, 251, 47,
Quardrant3, 251, 44,
Quardrant3, 252, 41,
Quardrant3, 252, 37,
Quardrant3, 253, 34,
Quardrant3, 253, 31,
Quardrant3, 253, 28,
Quardrant3, 254, 25,
Quardrant3, 254, 22,
Quardrant3, 254, 19,
Quardrant3, 255, 16,
Quardrant3, 255, 13,
Quardrant3, 255, 9,
Quardrant3, 255, 6,
Quardrant3, 255, 3,
};
//internal clock,Fosc/6,PCA interrupt disable
//system oscillator frequency 12M, 1/6 * 12M=0.5us
/************************************************************/
void ConfigPWM()
{ //CIDL WDTE CPS1 CPS0 ECF
CMOD=0x02; // 0 0 0 0 0 0 1 0
CL=0;
CH=0;
PWM3enable(); // CEX0(P1.3) 8 bit PWM Model,join B winding
PWM4enable(); // CEX1(P1.4) 8 bit PWM Model,join A winding
CR=1; // turn the PCA counter on
}
/************************************************************/
//马达一个脉冲走过的最大步距，对应细分表的间隔
//取值是：1、2、4、8、16...2的倍数
/************************************************************/
void SetMaxStep(unsigned char Steps)
{
MotorWorking.MaxStep=Steps;
}
/************************************************************/
//马达走动一步
//参数：Direct=1,0-->3象限逆时针走细分表
//
/************************************************************/
void MotorRunOneStep(unsigned char Direct)
{
if(Direct)
{ //逆时针走细分表
//下一细分表ID等于当前细分表ID加细分倍数
MotorWorking.SubdivideTableID+=MotorWorking.SubdivideNumber;
if(MotorWorking.SubdivideTableID%128==0)
MotorWorking.MotorSteps-=1; //细分表走完128小步，马达旋转1.8度，走了1步
if(MotorWorking.SubdivideTableID>=512) //细分表走完归零
MotorWorking.SubdivideTableID=0;
}
else
{ //顺时针走细分表
if(MotorWorking.SubdivideTableID==0) //下一步细分表ID等于当前细分表ID减细分倍数
MotorWorking.SubdivideTableID=512-MotorWorking.SubdivideNumber;
else
MotorWorking.SubdivideTableID-=MotorWorking.SubdivideNumber;
if(MotorWorking.SubdivideTableID%128==0)
MotorWorking.MotorSteps-=1; //细分表走完128小步，马达旋转1.8度，走了1步
}
}
/************************************************************/
//马达根据细分ID输出电流
/************************************************************/
void MotorGetEnergy(unsigned int SubdivideID)
{
SubdivideTable *pSubdivideTable;
pSubdivideTable=&(MotorSubdividedTab+SubdivideID);
switch(pSubdivideTable->mQuardrant)
{
case 1: //+iA,+iB
PhaseA=1;
PhaseB=1;
break;
case 2: //-iA,+iB
PhaseA=0;
PhaseB=1;
break;
case 3: //-iA,-iB
PhaseA=0;
PhaseB=0;
break;
case 4: //+iA,-iB
PhaseA=1;
PhaseB=0;
break;
default:
break;
}
CCAP3L=0;
CCAP3G=255-pSubdivideTable->mB_PWM;
CCAP4L=0; //CL<CCAPxL PWMx=0
CCAP4G=255-pSubdivideTable->mA_PWM; //CL>=CCAPxL PWMx=1
}
/************************************************************/
void MotorRun(unsigned char Direct,unsigned int Steps)
{
unsigned int StepCount;
unsigned char Subdivide=1;
switch(MotorWorking.WorkState)
{
case MotorIdel:
MotorWorking.MotorDirect=Direct;
MotorWorking.MotorSteps=Steps;
MotorWorking.SubdivideNumber=1; //马达128倍细分
MotorWorking.WorkState=MotorPowerOn;
case MotorPowerOn: //马达旋转步距角比较小时，在上电过程中完成，速度不上到正常旋转中
while(Subdivide<MotorWorking.MaxStep)
{
StepCount=65; //马达走64个小步，速度上一个台阶
while(--StepCount)
{
MotorRunOneStep(MotorWorking.MotorDirect);
MotorGetEnergy(MotorWorking.SubdivideTableID);
}
Subdivide<<=1;
MotorWorking.SubdivideNumber=Subdivide;
}//当马达速度达到最大速度时进入正常运转状态
MotorWorking.WorkState=MotorNormalState;
case MotorNormalState:
StepCount=MotorWorking.MotorSteps; //这里的StepCount保存的是马达还有多少个步距角
while(StepCount>4) //马达最后一圈进入减速状态
{
MotorRunOneStep(MotorWorking.MotorDirect);
MotorGetEnergy(MotorWorking.SubdivideTableID);
StepCount=MotorWorking.MotorSteps;
}
MotorWorking.WorkState=MotorPowerOff;
case MotorPowerOff:
StepCount=MotorWorking.MotorSteps;
if(MotorWorking.MotorSteps==4)
{
Subdivide=MotorWorking.MaxStep>>1;
while(Subdivide)
{
StepCount=65; //马达走64个小步，速度上一个台阶
while(--StepCount)
{
MotorRunOneStep(MotorWorking.MotorDirect);
MotorGetEnergy(MotorWorking.SubdivideTableID);
}
Subdivide>>=1;
MotorWorking.SubdivideNumber=Subdivide;
} //当马达速度达到最大速度时进入正常运转状态
}
MotorWorking.WorkState=MotorIdel;
break;
default:
break;
}
}
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STM32
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