reverse motor and bug fixes

.gitignore

@@ -11,4 +11,5 @@
 /.cproject
 /.ccsproject
 /.project
+/.launches
 /lnk_*.cmd

Mfrc522.c

@@ -8,6 +8,7 @@
   Lightly modified by Mats van Reenen: use other SPI interface
 */
 
+#include <msp430.h>
 #include <Mfrc522.h>
 #include <SPI.h>
 //#include <SPI2.h>

NFC.c

@@ -1,5 +1,4 @@
 #include <msp430.h>
 #include "NFC.h"
-#include "SPI2.h"
 #include "Mfrc522.h"
 

SPI.c

@@ -78,7 +78,7 @@ void SPISend(){
       while(UCB0STAT & UCBUSY); // wait for SPI TX/RX to finish
 
     // save recieved data
-    SPI_packet[SPI_packetC] = UCA0RXIFG;
+    SPI_packet[SPI_packetC] = UCA0RXBUF;
 
     // increase counter for next byte
     SPI_packetC++;

SPI.h

@@ -10,7 +10,7 @@
 
 #include "typedefExtention.h"
 
-enum SPI_Mode {SPI_Mode0=0b00<<6, SPI_Mode1=0b10<<6, SPI_Mode2=0b11<<6, SPI_Mode3=0b01<<6};
+enum SPI_Mode {SPI_Mode0=0b10<<6, SPI_Mode1=0b00<<6, SPI_Mode2=0b11<<6, SPI_Mode3=0b01<<6};
 enum SPI_Clock {SPI_Clock_1MHz=16, SPI_Clock_2MHz=8, SPI_Clock_4MHz=4, SPI_Clock_8MHz=2};
 
 uchar SPI_packet[5];

main.c

@@ -41,8 +41,6 @@
  */
 int main(void)
 {
-    int v;
-
     WDTCTL = WDTPW | WDTHOLD;   // stop watchdog timer
 
     // set cpu op 16MHz
@@ -52,7 +50,7 @@ int main(void)
     SPIInit();
     MDInit();
     MCInit();
-    NFCInit();
+    //NFCInit();
 
     return 0;
 }

motorDriver.c

@@ -6,40 +6,52 @@
  */
 
 #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
+#define MD_GCONF 0x00
+#define MD_GCONF_singgelMotor   BIT00
+#define MD_GCONF_stepdir1Enable BIT01
+#define MD_GCONF_stepdir2Enable BIT02
+#define MD_GCONF_motor1Revers   BIT08
+#define MD_GCONF_motor2Revers   BIT09
+#define MD_GCONF_lockGCONF      BIT10
 
 // register 0x01 GSTAT
-#define MD_GSTAT 0X01
+#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
-#define MD_CC2 0X7C
+#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 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(){
+  ulong stat = MD_read(MD_GSTAT);
+  if(stat != 0){
+    if(stat == 0x1){ // only a recet has occert
+      // restart the motor driver
+      MDInit();
+    }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;
@@ -80,11 +92,11 @@ void MD_write(uchar addr, ulong data) {
     data >>= 8;
   }
 
-  SPISend(SPI_Mode3);
+  SPISend();
 }
 
 
-unsigned long MD_read(uchar addr) {
+ulong MD_read(uchar addr) {
   char i;
   ulong data;
 
@@ -95,13 +107,13 @@ unsigned long MD_read(uchar addr) {
   addr &= ~0x80;
   SPI_packet[0] = addr;
 
-  SPISend(SPI_Mode3);
+  SPISend();
 
   // wait for SPI bus to be available
   SPIInitSend(MD_CS, SPI_Mode3, SPI_Clock_4MHz);
   
   SPI_packet[0] = addr;
-  SPISend(SPI_Mode3);
+  SPISend();
   
   // read data
   for(i=2; i<5; i++){
@@ -116,9 +128,13 @@ 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);
+  MDStatus();
+
+  MD_write(MD_GCONF, MD_GCONF_stepdir2Enable | MD_GCONF_stepdir1Enable | MD_GCONF_motor2Revers);
+  MD_write(MD_CC1, 3ul<<MD_CC_toff | (4ul<<MD_CC_hstrt) | (1ul<<MD_CC_hend) | (2ul<<MD_CC_tbl) | MC_CC_16US | 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_16US | 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();
 }

motorDriver.h

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

typedefExtention.h

@@ -13,5 +13,39 @@ typedef unsigned char uchar;
 typedef unsigned int  uint;
 typedef unsigned long ulong;
 
+typedef enum bool {false=0, true=1};
+
+#define BIT00 1ul << 0
+#define BIT01 1ul << 1
+#define BIT02 1ul << 2
+#define BIT03 1ul << 3
+#define BIT04 1ul << 4
+#define BIT05 1ul << 5
+#define BIT06 1ul << 6
+#define BIT07 1ul << 7
+#define BIT08 1ul << 8
+#define BIT09 1ul << 9
+#define BIT10 1ul << 10
+#define BIT11 1ul << 11
+#define BIT12 1ul << 12
+#define BIT13 1ul << 13
+#define BIT14 1ul << 14
+#define BIT15 1ul << 15
+#define BIT16 1ul << 16
+#define BIT17 1ul << 17
+#define BIT18 1ul << 18
+#define BIT19 1ul << 19
+#define BIT20 1ul << 20
+#define BIT21 1ul << 21
+#define BIT22 1ul << 22
+#define BIT23 1ul << 23
+#define BIT24 1ul << 24
+#define BIT25 1ul << 25
+#define BIT26 1ul << 26
+#define BIT27 1ul << 27
+#define BIT28 1ul << 28
+#define BIT29 1ul << 29
+#define BIT30 1ul << 30
+#define BIT31 1ul << 31
 
 #endif /* TYPEDEFEXTENTION_H_ */