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Mats van Reenen 2020-05-13 11:24:21 +02:00
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27
.project Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>MotionController</name>
<comment></comment>
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#include <msp430.h>
#include "SPI.h"
uchar SPI_CS;
int SPIInit(){
UCA0CTL1 = UCSWRST;
// setup A0 for SPI
UCA0CTL0 = SPI_Mode3 | UCMSB | UCMST | (0x10 << 1) | UCSYNC;
UCA0CTL1 |= UCSSEL_2;
UCA0BR1 = 0; //TODO: set corect frequency
UCA0BR0 = 4;
// config port
//set SEL to USCI (0b01); MOSI (pin 1), MISO (pin 2), CLK (pin 4)
P1SEL |= BIT1 | BIT2 | BIT4;
P1SEL2 |= BIT1 | BIT2 | BIT4;
UCA0CTL1 &= ~UCSWRST;
// enable interrupts
IE2 |= UCA0TXIE;
IFG2 &= ~UCA0TXIFG;
// set initial values for vars
SPI_packetC = 0;
SPI_CS = 0;
__enable_interrupt();
return 0;
}
void SPISend(){
P1OUT &= ~SPI_CS;
UCA0TXBUF = SPI_packet[SPI_packetC];
}
void SPIInitSend(uchar cs, enum SPI_Mode mode){
while(SPI_CS != 0)
//TODO: search for a more power effient way for a delay
__delay_cycles (16000);
UCA0CTL0 |= mode;
UCA0CTL0 &= ~mode ^ 0xC0;
SPI_CS = cs;
}
#pragma vector = USCIAB0TX_VECTOR
__interrupt void ISR_EUSCI_A0(){
SPI_packet[SPI_packetC] = UCA0RXIFG;
if(SPI_packetC == 4){
P1OUT |= SPI_CS;
SPI_packetC = 0;
IFG2 &= ~UCA0TXIFG;
SPI_CS = 0;
}else{
SPI_packetC++;
UCA0TXBUF = SPI_packet[SPI_packetC];
}
}

22
SPI.h Normal file
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/*
* SPI.c
*
* Created on: 4 mei 2020
* Author: mreenen
*/
#ifndef SPI_C_
#define SPI_C_
#include "typedefExtention.h"
enum SPI_Mode {SPI_Mode0=0b00<<6, SPI_Mode1=0b01<<6, SPI_Mode2=0b11<<6, SPI_Mode3=0b10<<6};
uchar SPI_packet[5];
char SPI_packetC;
int SPIInit();
void SPISend();
void SPIInitSend(uchar cs, enum SPI_Mode mode);
#endif /* SPI_C_ */

146
lnk_msp430g2553.cmd Normal file
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/* ============================================================================ */
/* Copyright (c) 2020, Texas Instruments Incorporated */
/* All rights reserved. */
/* */
/* Redistribution and use in source and binary forms, with or without */
/* modification, are permitted provided that the following conditions */
/* are met: */
/* */
/* * Redistributions of source code must retain the above copyright */
/* notice, this list of conditions and the following disclaimer. */
/* */
/* * Redistributions in binary form must reproduce the above copyright */
/* notice, this list of conditions and the following disclaimer in the */
/* documentation and/or other materials provided with the distribution. */
/* */
/* * Neither the name of Texas Instruments Incorporated nor the names of */
/* its contributors may be used to endorse or promote products derived */
/* from this software without specific prior written permission. */
/* */
/* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" */
/* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, */
/* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR */
/* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR */
/* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, */
/* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, */
/* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; */
/* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, */
/* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR */
/* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, */
/* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
/* ============================================================================ */
/******************************************************************************/
/* lnk_msp430g2553.cmd - LINKER COMMAND FILE FOR LINKING MSP430G2553 PROGRAMS */
/* */
/* Usage: lnk430 <obj files...> -o <out file> -m <map file> lnk.cmd */
/* cl430 <src files...> -z -o <out file> -m <map file> lnk.cmd */
/* */
/*----------------------------------------------------------------------------*/
/* These linker options are for command line linking only. For IDE linking, */
/* you should set your linker options in Project Properties */
/* -c LINK USING C CONVENTIONS */
/* -stack 0x0100 SOFTWARE STACK SIZE */
/* -heap 0x0100 HEAP AREA SIZE */
/* */
/*----------------------------------------------------------------------------*/
/* Version: 1.209 */
/*----------------------------------------------------------------------------*/
/****************************************************************************/
/* Specify the system memory map */
/****************************************************************************/
MEMORY
{
SFR : origin = 0x0000, length = 0x0010
PERIPHERALS_8BIT : origin = 0x0010, length = 0x00F0
PERIPHERALS_16BIT : origin = 0x0100, length = 0x0100
RAM : origin = 0x0200, length = 0x0200
INFOA : origin = 0x10C0, length = 0x0040
INFOB : origin = 0x1080, length = 0x0040
INFOC : origin = 0x1040, length = 0x0040
INFOD : origin = 0x1000, length = 0x0040
FLASH : origin = 0xC000, length = 0x3FDE
BSLSIGNATURE : origin = 0xFFDE, length = 0x0002, fill = 0xFFFF
INT00 : origin = 0xFFE0, length = 0x0002
INT01 : origin = 0xFFE2, length = 0x0002
INT02 : origin = 0xFFE4, length = 0x0002
INT03 : origin = 0xFFE6, length = 0x0002
INT04 : origin = 0xFFE8, length = 0x0002
INT05 : origin = 0xFFEA, length = 0x0002
INT06 : origin = 0xFFEC, length = 0x0002
INT07 : origin = 0xFFEE, length = 0x0002
INT08 : origin = 0xFFF0, length = 0x0002
INT09 : origin = 0xFFF2, length = 0x0002
INT10 : origin = 0xFFF4, length = 0x0002
INT11 : origin = 0xFFF6, length = 0x0002
INT12 : origin = 0xFFF8, length = 0x0002
INT13 : origin = 0xFFFA, length = 0x0002
INT14 : origin = 0xFFFC, length = 0x0002
RESET : origin = 0xFFFE, length = 0x0002
}
/****************************************************************************/
/* Specify the sections allocation into memory */
/****************************************************************************/
SECTIONS
{
.bss : {} > RAM /* Global & static vars */
.data : {} > RAM /* Global & static vars */
.TI.noinit : {} > RAM /* For #pragma noinit */
.sysmem : {} > RAM /* Dynamic memory allocation area */
.stack : {} > RAM (HIGH) /* Software system stack */
.text : {} > FLASH /* Code */
.cinit : {} > FLASH /* Initialization tables */
.const : {} > FLASH /* Constant data */
.bslsignature : {} > BSLSIGNATURE /* BSL Signature */
.cio : {} > RAM /* C I/O Buffer */
.pinit : {} > FLASH /* C++ Constructor tables */
.binit : {} > FLASH /* Boot-time Initialization tables */
.init_array : {} > FLASH /* C++ Constructor tables */
.mspabi.exidx : {} > FLASH /* C++ Constructor tables */
.mspabi.extab : {} > FLASH /* C++ Constructor tables */
#ifdef __TI_COMPILER_VERSION__
#if __TI_COMPILER_VERSION__ >= 15009000
#ifndef __LARGE_CODE_MODEL__
.TI.ramfunc : {} load=FLASH, run=RAM, table(BINIT)
#else
.TI.ramfunc : {} load=FLASH | FLASH2, run=RAM, table(BINIT)
#endif
#endif
#endif
.infoA : {} > INFOA /* MSP430 INFO FLASH Memory segments */
.infoB : {} > INFOB
.infoC : {} > INFOC
.infoD : {} > INFOD
/* MSP430 Interrupt vectors */
TRAPINT : { * ( .int00 ) } > INT00 type = VECT_INIT
.int01 : {} > INT01
PORT1 : { * ( .int02 ) } > INT02 type = VECT_INIT
PORT2 : { * ( .int03 ) } > INT03 type = VECT_INIT
.int04 : {} > INT04
ADC10 : { * ( .int05 ) } > INT05 type = VECT_INIT
USCIAB0TX : { * ( .int06 ) } > INT06 type = VECT_INIT
USCIAB0RX : { * ( .int07 ) } > INT07 type = VECT_INIT
TIMER0_A1 : { * ( .int08 ) } > INT08 type = VECT_INIT
TIMER0_A0 : { * ( .int09 ) } > INT09 type = VECT_INIT
WDT : { * ( .int10 ) } > INT10 type = VECT_INIT
COMPARATORA : { * ( .int11 ) } > INT11 type = VECT_INIT
TIMER1_A1 : { * ( .int12 ) } > INT12 type = VECT_INIT
TIMER1_A0 : { * ( .int13 ) } > INT13 type = VECT_INIT
NMI : { * ( .int14 ) } > INT14 type = VECT_INIT
.reset : {} > RESET /* MSP430 Reset vector */
}
/****************************************************************************/
/* Include peripherals memory map */
/****************************************************************************/
-l msp430g2553.cmd

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#include <msp430.h>
#include "typedefExtention.h"
#include "SPI.h"
#include "motorDriver.h"
#include "motionController.h"
/**
* main.c
*/
int main(void)
{
int v;
WDTCTL = WDTPW | WDTHOLD; // stop watchdog timer
// set cpu op 16MHz
BCSCTL1 = CALBC1_16MHZ;
DCOCTL = CALDCO_16MHZ;
SPIInit();
// wait some time so the other ic have some time to start
__delay_cycles (1000000);
MDInit(); // initilize motor driver
MCInit(); // initilize motion controller
// set snelheid van motor op 50 (ongeveer 1.7 mm/s of 6 meter/uur)
v = 50;
MCSetV(1, v);
// start een oneinige loop dit elke seconde de senlhied veranderd naar een (pseudo) random waarde
while(1){
__delay_cycles (15500000);
v = 2047.0 * sin((double) v);
MCSetV(1, v);
}
}

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/*
* motionController.c
*
* TMC429
*
* Created on: 5 mei 2020
* Author: mreenen
*/
#include <msp430.h>
#include "typedefExtention.h"
#include "SPI.h"
#include "motionController.h"
const uchar MC_CS = BIT0;
// target position 24RW
#define MC_XTar1 0x00
#define MC_XTar2 0x20
#define MC_XTar3 0x40
// actual position 24R (RW if in velocity or hold mode)
#define MC_XAtu1 0x02
#define MC_XAtu2 0x22
#define MC_XAtu3 0x42
// velocity minimum (can be stopt emidetly) 11uRW
#define MC_VMin1 0x04
#define MC_VMin2 0x24
#define MC_VMin3 0x44
// velocity maximum 11uRW
#define MC_VMax1 0x06
#define MC_VMax2 0x26
#define MC_VMax3 0x46
// velocity target 12sRW
#define MC_VTar1 0x08
#define MC_VTar2 0x28
#define MC_VTar3 0x48
// velocity actual 12sR
#define MC_VAtu1 0x0A
#define MC_VAtu2 0x2A
#define MC_VAtu3 0x4A
// acceleration maximum 11uRW
#define MC_AMax1 0x0C
#define MC_AMax2 0x2C
#define MC_AMax3 0x4C
// acceleration actual 12sRW
#define MC_AAtu1 0x0E
#define MC_AAtu2 0x2E
#define MC_AAtu3 0x4E
// acceleration threshold 11uRW
#define MC_AAtu1 0x0E
#define MC_AAtu2 0x2E
#define MC_AAtu3 0x4E
// P value for ramp mode
#define MC_P1 0x12
#define MC_P2 0x32
#define MC_P3 0x52
// ramp_mode, ref conf and lp
#define MC_Rmcl1 0x14
#define MC_Rmcl2 0x34
#define MC_Rmcl3 0x54
#define MC_lp 0x010000
#define MC_REF_CONF 8
#define MC_RAMP_MODE 0b00
#define MC_SOFT_MODE 0b01
#define MC_VELOCITY_MODE 0b10
#define MC_HOLD_MODE 0b11
// deviders
#define MD_Div1 0x18
#define MD_Div2 0x38
#define MD_Div3 0x58
#define MD_PULSE_DIV 12
#define MD_RAMP_DIV 8
//TODO: make function to calculate and write P
void MC_write(uchar addr, ulong data) {
char i;
// wait for SPI bus to be available
SPIInitSend(MC_CS, SPI_Mode3);
// set write bit to write
addr &= ~0x01;
SPI_packet[1] = addr;
// save data to SPI packet buffer
for(i=4; i>1; i--){
SPI_packet[i] = data;
data >>= 8;
}
SPI_packetC = 1; // set counter to one so it skips byte 0 and sends 4 bytes
SPISend();
}
ulong MC_read(unsigned char addr) {
char i;
ulong data;
// wait for SPI bus to be available
SPIInitSend(MC_CS, SPI_Mode3);
// set write bit to read
addr |= 0x01;
SPI_packet[1] = addr;
SPI_packetC = 1; // set counter to one so it skips byte 0 and sends 4 bytes
SPISend();
// wait for SPI bus to be available
SPIInitSend(MC_CS, SPI_Mode3);
// set write bit to read
addr |= 0x01;
SPI_packet[1] = addr;
SPI_packetC = 1; // set counter to one so it skips byte 0 and sends 4 bytes
SPISend();
// read data
for(i=2; i<5; i++){
data |= (ulong) SPI_packet[i];
data <<= 8;
}
return data;
}
void MCInit(){
P1DIR |= MC_CS; // set MC_CS (pin 5) as output
P1OUT |= MC_CS; // set MC_CS high
// set min and max velocity
MC_write(MC_VMin1, 0);
MC_write(MC_VMin2, 0);
MC_write(MC_VMax1, 2047);
MC_write(MC_VMax2, 2047);
// set clock dividers
MC_write(MD_Div1, (9 << MD_PULSE_DIV) | (3 << MD_RAMP_DIV));
MC_write(MD_Div2, (9 << MD_PULSE_DIV) | (3 << MD_RAMP_DIV));
// max acceleration
MC_write(MC_AMax1, 1);
MC_write(MC_AMax2, 1);
// set ramp mode and reference switch configuration
MC_write(MC_Rmcl1, (0b0111 << MC_REF_CONF) | MC_VELOCITY_MODE);
MC_write(MC_Rmcl2, (0b0111 << MC_REF_CONF) | MC_VELOCITY_MODE);
//DEBUG
MC_read(MC_VMax1);
MC_read(MC_Rmcl2);
MC_read(MC_AMax1);
}
void MCSetV(uchar m, int v){
if(v < 0)
v |= 0x0800; // set signed bit
else
v &= ~0x0800; // remove signed bit
v &= 0x0FFF; // contraint to 12 bits
switch (m){
case 1:
MC_write(MC_VTar1, v);
break;
case 2:
MC_write(MC_VTar2, v);
break;
case 3:
MC_write(MC_VTar3, v);
break;
}
}

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motionController.h Normal file
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/*
* modtionController.h
*
* Created on: 5 mei 2020
* Author: mreenen
*/
#ifndef MOTIONCONTROLLER_H_
#define MOTIONCONTROLLER_H_
void MCInit();
void MCSetV(uchar m, int v);
#endif /* MOTIONCONTROLLER_H_ */

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motorDriver.c Normal file
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/*
* motorDriver.c
*
* Created on: 4 mei 2020
* Author: mreenen
*/
#include <msp430.h>
#include "typedefExtention.h"
#include "SPI.h"
#include "motorDriver.h"
const uchar MD_CS = BIT3;
// register 0x00 GCINF
#define MD_GCONF 0X00
#define MD_GCONF_singgelMotor 0x00000001
#define MD_GCONF_stepdir1Enable 0x00000002
#define MD_GCONF_stepdir2Enable 0x00000004
#define MD_GCONF_motor1Revers 0x00000010
#define MD_GCONF_motor1Revers 0x00000010
#define MD_GCONF_lockGCONF 0x00000020
// register 0x01 GSTAT
#define MD_GSTAT 0X01
// register 0x30, 0x50 IHOLD_IRUN
#define MD_IHIR1 0x30
#define MD_IHIR2 0x50
#define MD_IHIR_iHold 0
#define MD_IHIR_iRun 8
#define md_IHIR_iHoldDelay 16ul
// register 0x6C, 7C CHOPCONF
#define MD_CC1 0X6C
#define MD_CC2 0X7C
#define MD_CC_shortProtection 0x40000000
#define MD_CC_doubbleEdge 0x20000000
#define MD_CC_16ustapI 0x10000000
#define MD_CC_mres 24 // 4 bits; 1/(2^x / 2^8) microstappen
#define MD_CC_vsens 0x00020000
#define MD_CC_tbl 15 // 3 bits?
#define MD_CC_cmh BIT14
#define MD_CC_rndtf 0x00002000
#define MD_CC_disfdcc 0x00001000
#define MD_CC_fd3 BTI11
#define MD_CC_hend 7 // 4 bits
#define MD_CC_hstrt 4 // 3 bits
#define MD_CC_toff 0 // 4 bits
// bool md_checkError(){
// unsigned long stat = md_read(MD_GSTAT);
// if(stat != 0){
// if(stat == 0x1){ // only a recet has occert
// // restart the motor driver
// md_setup();
// }else{ // one of the motorst stopt due to short or overheated or a undervoltage in chargepump
// // wait a while for checking again
// delay(1000);
// md_checkError();
// }
// return true;
// }
// return false;
// }
void MD_write(uchar addr, ulong data) {
char i;
// wait for SPI bus to be available
SPIInitSend(MD_CS, SPI_Mode3);
// set write bit to write
addr |= 0x80;
SPI_packet[0] = addr;
// save data to packet buffer
for(i=4; i>0; i--){
SPI_packet[i] = data;
data >>= 8;
}
SPISend(SPI_Mode3);
}
unsigned long MD_read(uchar addr) {
char i;
ulong data;
// wait for SPI bus to be available
SPIInitSend(MD_CS, SPI_Mode3);
// set write bit to read
addr &= ~0x80;
SPI_packet[0] = addr;
SPISend(SPI_Mode3);
// wait for SPI bus to be available
SPIInitSend(MD_CS, SPI_Mode3);
SPI_packet[0] = addr;
SPISend(SPI_Mode3);
// read data
for(i=2; i<5; i++){
data |= (ulong) SPI_packet[i];
data <<= 8;
}
return data;
}
void MDInit(){
P1DIR |= MD_CS; // set MD_CS (pin 3) as output
P1OUT |= MD_CS; // set MD_CS high
MD_write(MD_GCONF, MD_GCONF_stepdir2Enable | MD_GCONF_stepdir1Enable);
MD_write(MD_CC1, 3ul<<MD_CC_toff | (4ul<<MD_CC_hstrt) | (1ul<<MD_CC_hend) | (2ul<<MD_CC_tbl) | (4ul<<MD_CC_mres) | MD_CC_16ustapI);
MD_write(MD_CC2, 3ul<<MD_CC_toff | (4ul<<MD_CC_hstrt) | (1ul<<MD_CC_hend) | (2ul<<MD_CC_tbl) | (4ul<<MD_CC_mres) | MD_CC_16ustapI);
MD_write(MD_IHIR1, 10ul<<MD_IHIR_iHold | 31ul<<MD_IHIR_iRun | 6ul<<md_IHIR_iHoldDelay);
MD_write(MD_IHIR2, 10ul<<MD_IHIR_iHold | 31ul<<MD_IHIR_iRun | 6ul<<md_IHIR_iHoldDelay);
}

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/*
* motorDriver.h
*
* Created on: 4 mei 2020
* Author: mreenen
*/
#ifndef MOTORDRIVER_H_
#define MOTORDRIVER_H_
void MDInit();
#endif /* MOTORDRIVER_H_ */

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typedefExtention.h Normal file
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/*
* typedefExtiontion.h
*
* Created on: 4 May 2020
* Author: mreenen
*/
#ifndef TYPEDEFEXTENTION_H_
#define TYPEDEFEXTENTION_H_
typedef unsigned char uchar;
typedef unsigned int uint;
typedef unsigned long ulong;
#endif /* TYPEDEFEXTENTION_H_ */