141 lines
3.9 KiB
C
141 lines
3.9 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 "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 BIT00
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#define MD_GCONF_stepdir1Enable BIT01
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#define MD_GCONF_stepdir2Enable BIT02
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#define MD_GCONF_motor1Revers BIT08
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#define MD_GCONF_motor2Revers BIT09
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#define MD_GCONF_lockGCONF BIT10
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// register 0x01 GSTAT
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#define MD_GSTAT 0x01
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#define MD_GSTAT_recet BIT00
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#define MD_GSTAT_drv_err1 BIT01
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#define MD_GSTAT_drv_err2 BIT02
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#define MD_GSTAT_un_cp BIT03
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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 // 5 bitts ( (x+1)/32 A )
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#define MD_IHIR_iRun 8 // 5 bits
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#define md_IHIR_iHoldDelay 16 // 4
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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 MC_CC_FULLSTEP 8ul << MD_CC_mres
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#define MC_CC_2US 7ul << MD_CC_mres
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#define MC_CC_4US 6ul << MD_CC_mres
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#define MC_CC_8US 5ul << MD_CC_mres
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#define MC_CC_16US 4ul << MD_CC_mres
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#define MC_CC_32US 3ul << MD_CC_mres
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#define MC_CC_64US 2ul << MD_CC_mres
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#define MC_CC_128US 1ul << MD_CC_mres
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#define MC_CC_256US 0ul << MD_CC_mres
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#define MD_CC_vsens BIT17
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#define MD_CC_tbl 15 // 2 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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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, SPI_Clock_4MHz);
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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();
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}
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ulong 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, SPI_Clock_4MHz);
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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();
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// wait for SPI bus to be available
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SPIInitSend(MD_CS, SPI_Mode3, SPI_Clock_4MHz);
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SPI_packet[0] = addr;
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SPISend();
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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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enum bool MDStatus(){
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ulong 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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MDInit();
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}else{ // one of the motors 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_cycles(16000000);
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MDStatus();
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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 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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MDStatus();
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MD_write(MD_GCONF, MD_GCONF_stepdir2Enable | MD_GCONF_stepdir1Enable | MD_GCONF_motor2Revers | MD_GCONF_motor1Revers);
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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);
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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);
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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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MDStatus();
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}
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