HR/PEE20_motionController
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add MDStatus() and some cleanup

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This commit is contained in:
Mats van Reenen 2020-05-27 09:14:29 +02:00
parent 7e38aa9a64
commit fe237f8f09
2 changed files with 48 additions and 29 deletions
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74
motorDriver.c
View File

@ -6,7 +6,6 @@
*/
#include <msp430.h>
#include "typedefExtention.h"
#include "SPI.h"
#include "motorDriver.h"
@ -14,22 +13,26 @@ 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
#define MD_GCONF_singgelMotor BIT00
#define MD_GCONF_stepdir1Enable BIT01
#define MD_GCONF_stepdir2Enable BIT02
#define MD_GCONF_motor1Revers BIT08
#define MD_GCONF_motor1Revers BIT09
#define MD_GCONF_lockGCONF BIT10
// register 0x01 GSTAT
#define MD_GSTAT 0X01
#define MD_GSTAT_recet BIT00
#define MD_GSTAT_drv_err1 BIT01
#define MD_GSTAT_drv_err2 BIT02
#define MD_GSTAT_un_cp BIT03
// 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
#define MD_IHIR_iHold 0 // 5 bitts ( (x+1)/32 A )
#define MD_IHIR_iRun 8 // 5 bits
#define md_IHIR_iHoldDelay 16 // 4
// register 0x6C, 7C CHOPCONF
#define MD_CC1 0X6C
@ -38,8 +41,17 @@ const uchar MD_CS = BIT3;
#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 MC_CC_FULLSTEP 8ul << MD_CC_mres
#define MC_CC_2US 7ul << MD_CC_mres
#define MC_CC_4US 6ul << MD_CC_mres
#define MC_CC_8US 5ul << MD_CC_mres
#define MC_CC_16US 4ul << MD_CC_mres
#define MC_CC_32US 3ul << MD_CC_mres
#define MC_CC_64US 2ul << MD_CC_mres
#define MC_CC_128US 1ul << MD_CC_mres
#define MC_CC_256US 0ul << MD_CC_mres
#define MD_CC_vsens BIT17
#define MD_CC_tbl 15 // 2 bits
#define MD_CC_cmh BIT14
#define MD_CC_rndtf 0x00002000
#define MD_CC_disfdcc 0x00001000
@ -48,21 +60,21 @@ const uchar MD_CS = BIT3;
#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;
// }
enum bool MDStatus(){
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 motors stopt due to short or overheated or a undervoltage in chargepump
// wait a while for checking again
__delay_cycles(16000000);
MDStatus();
}
return true;
}
return false;
}
void MD_write(uchar addr, ulong data) {
char i;
@ -116,9 +128,13 @@ void MDInit(){
P1DIR |= MD_CS; // set MD_CS (pin 3) as output
P1OUT |= MD_CS; // set MD_CS high
MDStatus();
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_CC1, 3ul<<MD_CC_toff | (4ul<<MD_CC_hstrt) | (1ul<<MD_CC_hend) | (2ul<<MD_CC_tbl) | MC_CC_FULLSTEP | MD_CC_16ustapI);
MD_write(MD_CC2, 3ul<<MD_CC_toff | (4ul<<MD_CC_hstrt) | (1ul<<MD_CC_hend) | (2ul<<MD_CC_tbl) | MC_CC_FULLSTEP | 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);
MDStatus();
}

3
motorDriver.h
View File

@ -8,6 +8,9 @@
#ifndef MOTORDRIVER_H_
#define MOTORDRIVER_H_
#include "typedefExtention.h"
void MDInit();
enum bool MDStatus();
#endif /* MOTORDRIVER_H_ */