New Micros NMIY-0031, Руководство пользователя

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2 / 2 6 / 2 0 0 2 2 : 0 6 P M 2 / 2 6 / 2 0 0 2 1 3 5
N M I L - 7 0 5 6 S E R V O M O T O R D R I V E R
C S A M P L E P R O G R A M
#include c:\NMIY0031\clib\common51.c
#include c:\NMIY0031\clib\syslib51.c
#include c:\NMIY0031\clib\stdio.h
#include c:\NMIY0031\clib\atoi.c
#include c:\NMIY0031\clib\fgetc.c
#include c:\NMIY0031\clib\fprintf.c
#include c:\NMIY0031\clib\fputc.c
#include c:\NMIY0031\clib\fscanf.c
#include c:\NMIY0031\clib\is.c
#include c:\NMIY0031\clib\itoa.c
#include c:\NMIY0031\clib\itoab.c
#include c:\NMIY0031\clib\peekpoke.c
#include c:\NMIY0031\clib\reverse.c
#include c:\NMIY0031\clib\strlen.c
#include c:\NMIY0031\clib\ungetc.c
#include c:\NMIY0031\clib\utoi.c
#define CMDPORT 0xFFE0
#define DATAPORT 0xFFE1
#define LFIL 0x1E
#define LTRJ 0x1F
#define MSKI 0x1C
#define RESET 0x00
#define RSTI 0x1D
#define STT 0x01
#define UDF 0x04
int commnd, /* command byte to be sent to NMIL-7056 */
status, /* status byte returned from NMIL-7056 */
/* trajectory varaibles */
accel4, accel3, accel2, accel1, /* acceleration variables */
posit4, posit3, posit2, posit1, /* position variables */
veloc4, veloc3, veloc2, veloc1, /* velocity variables */
/* filter double word variables */
kd2, kd1, ki2, ki1, kp2, kp1, il2, il1,
/* temp variables used to hold word values */
/* to be sent as data to the NMIL-7056 */
dbyte2, dbyte1,
/* filter control word */
filter2, filter1,
/* trajectory control word */
trajec2, trajec1;
/**************************************************************************************/
/* This C program demonstrates the NMIY-0031 as a host processor */
/* for the NMIL-7056 servo motor driver. */
/* */
/* The NMIL-7056 uses two memory mapped registers. There is a */
/* command port and a data port. The examples are written for a */
/* command port at 0xFFE0 and a data port at 0xFFE1. */
/* */
/* Each command is a single byte written to the command port, */
/* followed by an even number of bytes. Some commands require no */
/* data, some require a fixed number of bytes, and others require */
/* a variable number of bytes. Commands with a variable number of */
/* data bytes use a control word as the first two data bytes. */
/* The data byte pairs represent either a word or a double word */
/* value. Data transfers are written most significant byte first. */
/* */
/* Filter parameters must be adjusted to fit each system. System */