HR/PEE20_motionController
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turn stap/dir mode on

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This commit is contained in:
Mats van Reenen 2020-05-16 11:20:25 +02:00
parent f11369551e
commit a387a94c14
1 changed files with 16 additions and 0 deletions
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16
motionController.c
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@ -70,6 +70,16 @@ const uchar MC_CS = BIT0;
#define MD_Div3 0x58
#define MD_PULSE_DIV 12
#define MD_RAMP_DIV 8
// IF_CONFIGURATION_429
#define MD_IF_CONF_429 0x68
#define MD_InvRef 0x001
#define MD_SdoInt 0x002
#define MD_StepHalf 0x004
#define MD_InvStp 0x008
#define MD_InvDir 0x010
#define MD_EnSd 0x020
#define MD_PosCompSel 6
#define MD_EnRefr 0x100
//TODO: make function to calculate and write P
@ -128,6 +138,8 @@ ulong MC_read(unsigned char addr) {
}
void MCInit(){
ulong c;
P1DIR |= MC_CS; // set MC_CS (pin 5) as output
P1OUT |= MC_CS; // set MC_CS high
@ -150,6 +162,10 @@ void MCInit(){
MC_write(MC_Rmcl1, (0b0111 << MC_REF_CONF) | MC_VELOCITY_MODE);
MC_write(MC_Rmcl2, (0b0111 << MC_REF_CONF) | MC_VELOCITY_MODE);
// set to stap/dir mode
c = MC_read(MD_IF_CONF_429);
MC_write(MD_IF_CONF_429, c | MD_EnSd);
//DEBUG
MC_read(MC_VMax1);
MC_read(MC_Rmcl2);