Diff: main.cpp

Revision:

14:062850afdf38

Parent:

13:1faffc2dc651

Child:

15:83bbc18cccbc

diff -r 1faffc2dc651 -r 062850afdf38 main.cpp
--- a/main.cpp	Fri Mar 26 14:27:37 2021 +0000
+++ b/main.cpp	Thu Apr 22 11:35:17 2021 +0000
@@ -11,19 +11,27 @@
     main_init();  /*reset the FPGA!*/ 
     
     /*control codes*/
-    wait_ms(2000);   /* keep FPGA in reset for 5s, to let motor stop*/
-    enbale_fpga();   /* enable FPGA */ 
-    wait_ms(3);
-    led4 = i2c.i2c_window_open();  /*send password 0xd0d0*/
-    //wait_ms(1);
-    //led4 = i2c.i2c_window_open();  /*send password 0xd0d0*/
-    wait_ms(3);
-//    i2c.i2c_clear_spd_ctrl();
-//    wait_ms(1);
+      wait_ms(2000);   /* keep FPGA in reset for 5s, to let motor stop*/
+      enbale_fpga();   /* enable FPGA */ 
+      wait_ms(10);
+      i2c.i2c_window_open();  /*send password 0xd0d0*/
+      wait_ms(1);
+      i2c.i2c_clear_spd_ctrl();
+      wait_ms(1);
+      i2c.i2c_set_input_mode(0x4);
+      wait_ms(1);
+      i2c.i2c_set_open_loop_duty(0xffff);
+      wait_ms(1);
+      i2c.i2c_set_comm_i_thres(15,1);
+      wait_ms(1);
+      i2c.i2c_set_comm_di_thres(0,1);
+      wait_ms(1);
+      i2c.i2c_set_fall_time_blank(4);
+      wait_ms(1);
       i2c.i2c_set_50k_pwm(1);    
-      wait_ms(3);        
-      i2c.i2c_set_position_pulse_width(3,3); /*unsigned int mantisaa_2b, unsigned int exponent_3b*/
-      wait_ms(3);
+      wait_ms(1);        
+      i2c.i2c_set_position_pulse_width(2,2); /*unsigned int mantisaa_2b, unsigned int exponent_3b*/
+      wait_ms(1);
 //    i2c.i2c_set_position_duty(3);
 //    wait_ms(10);
 //    i2c.i2c_set_position_anti_cog(0);
@@ -31,33 +39,25 @@
 //    i2c.i2c_set_start_up_duty(3);
 //    wait_ms(10);
       i2c.i2c_set_start_up_pulse_width(3,5); /*(unsigned int mantisaa_3b, unsigned int exponent_3b*/
-      wait_ms(3);
+      wait_ms(1);
 //    i2c.i2c_set_start_up_num_comm(3);
 //    wait_ms(10);
-//    i2c.i2c_set_curve_type(3);
-//    wait_ms(10);
-//    i2c.i2c_set_loop_mode(0);
-//    wait_ms(10);
 //    //led4 = i2c.i2c_set_soft_start_up(1, 1, 0, 1, 1);
 //    wait_ms(10);
 //    i2c.i2c_clear_spd_ctrl();
-//    wait_ms(10);
-//    i2c.i2c_set_loop_mode(0);
-//    wait_ms(10);
-//    i2c.i2c_set_curve_type(3);
-//      wait_ms(3);
-//      i2c.i2c_set_dc_ini(2);
-//      wait_ms(3);
-//      i2c.i2c_set_dc_sr(2);
-      wait_ms(3);
+      wait_ms(1);
+      i2c.i2c_set_loop_mode(0);
+      wait_ms(1);
+      i2c.i2c_set_curve_type(3);
+      wait_ms(1);
+      i2c.i2c_set_dc_ini(2);
+      wait_ms(1);
+      i2c.i2c_set_dc_sr(0);
+      wait_ms(1);
       i2c.i2c_set_rough_gain(0);
-      wait_ms(3);
-      i2c.i2c_set_open_loop_duty(0xffff);
-//    wait_ms(10);
-//    i2c.i2c_set_comm_i_thres(15,1);
-      wait_ms(3);
-      i2c.i2c_set_comm_di_thres(0,1);
-      wait_ms(10);
+      wait_ms(1);
+      i2c.i2c_set_ehp_reg_gain(0);
+      wait_ms(1);
       led4 = i2c.i2c_motor_start();  /*send password 0xcafe*/
     
     /*enter infinite loop, motor should be running*/