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