DDA输出脉冲序列控制步进电机正反转（加速、减速、匀速）

宏定义：

#define DI_FOWARD (1 << 0)
#define DI_REVERSE (1 << 1)
#define FOWARD_FREQ 1000
#define REVERSE_FREQ 1000
#define MAX_FREQ 2000
#define ACC 20000

main函数的循环：

while (!exit_flag)

{
read_iofpga(fd, 0x30, &di_pdata, sizeof(di_pdata));


if      ((di_pdata & DI_FOWARD) && !(di_pdata & DI_REVERSE))
target_freq = FOWARD_FREQ;
else if (!(di_pdata & DI_FOWARD) && (di_pdata & DI_REVERSE))
target_freq = -REVERSE_FREQ;
else
target_freq = 0;


read_iofpga(fd, 0xe2, &fifo_len, sizeof(fifo_len));
fifo_len = 1024 - fifo_len > 25 ? 0 : 25 - (1024 - fifo_len);


generate_dda_data(fifo_len, &current_freq, target_freq, dda_data);


write_iofpga_fifo(fd, 0x100, dda_data, sizeof(short) * 8 * fifo_len);


usleep(10000);

    }

脉冲发生函数：

void generate_dda_data(int fifo_len, int * current_freq, int target_freq, short dda_data[][8])
{
int i = 0;


*current_freq = *current_freq > MAX_FREQ ? MAX_FREQ : *current_freq;
*current_freq = *current_freq < -MAX_FREQ ? -MAX_FREQ : *current_freq;
target_freq = target_freq > MAX_FREQ ? MAX_FREQ : target_freq;
target_freq = target_freq < -MAX_FREQ ? -MAX_FREQ : target_freq;


while (i < fifo_len)
{
if (*current_freq < target_freq)
{
*current_freq += ACC / 1000;
*current_freq = *current_freq > target_freq ? target_freq : *current_freq;
}
else
{
*current_freq -= ACC / 1000;
*current_freq = *current_freq < target_freq ? target_freq : *current_freq;
}


calcul_freq += *current_freq;
if (calcul_freq > 0)
dda_data[i][0] = calcul_freq / 1000;
else
dda_data[i][0]= (-calcul_freq / 1000) | 0x8000;


calcul_freq %= 1000;


i++;
}
}