/************************************************\*	by threewater<threewater@up-tech.com>	**		2003.12.18			**						*\***********************************************/#include <stdio.h>#include <unistd.h>#include <linux/delay.h>#include <sys/types.h>#include <sys/ipc.h>#include <sys/ioctl.h>#include <pthread.h>#include "hardware.h"#include "motor.h"#include "exio.h"#include "../keyboard/get_key.h"#define ADCCON_FLAG		0x40#define ADCCON_SLEEP		0x20#define ADCCON_ADIN0		(0x0<<2)#define ADCCON_ADIN1		(0x1<<2)#define ADCCON_ADIN2		(0x2<<2)#define ADCCON_ADIN3		(0x3<<2)#define ADCCON_ADIN4		(0x4<<2)#define ADCCON_ADIN5		(0x5<<2)#define ADCCON_ADIN6		(0x6<<2)#define ADCCON_ADIN7		(0x7<<2)#define ADCCON_READ_START	0x2#define ADCCON_ENABLE_START	0x1void Delay(int t){	//struct timespec dt={0,10000};	//dt.tv_nsec*=t;	//nanosleep(&dt, NULL);	int i;	for(;t>0;t--)		for(i=0;i<400;i++);}void init_ADdevice(void){	ADCPSR=20;	ADCCON=ADCCON_SLEEP;}int GetADresult(int channel){	ADCCON=(channel<<2)|ADCCON_ENABLE_START;	Delay(1);	while(!( (ADCCON) & ADCCON_FLAG));	return ADCDAT;}static int stop=0;void* comMonitor(void* data){	get_key();	stop=1;	get_key();	stop=2;	return NULL;}#define ADMID		512int main(void){	//////////////////A,  AB,  B,   BC,   C,  CD, D,    DA	int stepdata[]={0x10,0x30,0x20,0x60,0x40,0xc0,0x80,0x90};	int i,j,ADData,count;	float d;	pthread_t th_com;	void * retval;	kbd_init();	//set s3c44b0 AD register and start AD	init_ADdevice();	init_exio();	init_MotorPort();	Delay(1);                                                                                	/* Create the threads */	pthread_create(&th_com, NULL, comMonitor, 0);	printf("\nBegin control DC motor.\nPress Enter to control step motor.\n");	while( stop==0 ){		ADData=GetADresult(0);		Delay(10);		SetPWM((ADData-ADMID)*MOTOR_CONT/1024);		Delay(10);	}	SetPWM(0);	Delay(1000);	exit_MotorPort();	printf("\nBegin control step motor.\nPress Enter to control DC motor.\n");	i=0;	while( stop==1 ){		ADData=GetADresult(0);		//printf("AD=%4.4d, i=%d\n",ADData,i);		count=(ADData-ADMID);		if(count>0){			i++;		}else if (count<0){			i--;			count=-count;		}		i&=0x7;		SETEXIOBITMASK(stepdata[i], 0xf0);		//Delay(3000);		Delay(512*10/count);	}	/* Wait until producer and consumer finish. */	pthread_join(th_com, &retval);	printf("\n");	return 0;}