Ilsoe Peter / motorControl

for controlling stepper motor with A4980

Dependents:   HIDTympDeviceWithPIDController

A4980ControlRegi.h@0:9156e6b6bf46, 2014-10-06 (annotated)

Committer:
piniels
Date:
Mon Oct 06 11:57:45 2014 +0000
Revision:
0:9156e6b6bf46
jkhasd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
piniels 0:9156e6b6bf46 1 /*-----------------------------------------------------------
piniels 0:9156e6b6bf46 2 * COPYRIGHT (C) 2010.
piniels 0:9156e6b6bf46 3 * GN Otometrics. All rights reserved.
piniels 0:9156e6b6bf46 4 *-----------------------------------------------------------
piniels 0:9156e6b6bf46 5 * P R O P R I E T A R Y R I G H T S
piniels 0:9156e6b6bf46 6 * This document must not be used, nor copied in any form or
piniels 0:9156e6b6bf46 7 * handed over to third party, without prior written
piniels 0:9156e6b6bf46 8 * permission from GN Otometrics.
piniels 0:9156e6b6bf46 9 *-----------------------------------------------------------
piniels 0:9156e6b6bf46 10 *
piniels 0:9156e6b6bf46 11 * This source file is part of the 1082 Turtle project.
piniels 0:9156e6b6bf46 12 *
piniels 0:9156e6b6bf46 13 * P4 Info: (P4-filetype must be "ktext" for these to work!)
piniels 0:9156e6b6bf46 14 * Last edit by: $Author:$
piniels 0:9156e6b6bf46 15 * Date: $DateTime:$
piniels 0:9156e6b6bf46 16 * Filename: $File:$
piniels 0:9156e6b6bf46 17 * Revision: $Revision:$
piniels 0:9156e6b6bf46 18 *
piniels 0:9156e6b6bf46 19 * File Info:
piniels 0:9156e6b6bf46 20 * Original author: peilni
piniels 0:9156e6b6bf46 21 * Creation date: Nov 19, 2013
piniels 0:9156e6b6bf46 22 *
piniels 0:9156e6b6bf46 23 * Doxygen Info: *//*!
piniels 0:9156e6b6bf46 24 * @file
piniels 0:9156e6b6bf46 25 * @brief Blah blah blah.
piniels 0:9156e6b6bf46 26 *
piniels 0:9156e6b6bf46 27 * @htmlonly
piniels 0:9156e6b6bf46 28 * @endhtmlonly
piniels 0:9156e6b6bf46 29 *
piniels 0:9156e6b6bf46 30 * Blah blah
piniels 0:9156e6b6bf46 31 */
piniels 0:9156e6b6bf46 32 #ifndef A4980CONTROLREGI_H_
piniels 0:9156e6b6bf46 33 #define A4980CONTROLREGI_H_
piniels 0:9156e6b6bf46 34 #include <stdint.h>
piniels 0:9156e6b6bf46 35
piniels 0:9156e6b6bf46 36 /*
piniels 0:9156e6b6bf46 37 * (*) are default
piniels 0:9156e6b6bf46 38 */
piniels 0:9156e6b6bf46 39 typedef union
piniels 0:9156e6b6bf46 40 {
piniels 0:9156e6b6bf46 41 uint16_t I;
piniels 0:9156e6b6bf46 42
piniels 0:9156e6b6bf46 43 struct
piniels 0:9156e6b6bf46 44 {
piniels 0:9156e6b6bf46 45 uint16_t pwm : 1; // bit0 PWM configuration *0=Fixed off-time, 1=Fixed frequency
piniels 0:9156e6b6bf46 46 uint16_t tofFrq : 3; // bit3-1 Off time (only valid when PWM bit = 0).Replaces FRQ bits(Assumes 4-MHz clock) 000=20us, 001=24us, 010=28us, 011=32us, 100=36us, 101=40us, *110=44us, 111=48us// Frequency )(only valid when PWM bit = 1)Replace TOF bits(Assumes 4-MHz clock) 000=24us/41.7kHz, 001=32us/31.3kHz, 010=40us/25kHz, 011=46us/21.7kHz, 100=52us/19.2kHz 101=56us/17.9kHz, *110=60us/16.7kHz, 111=64us/15.6kHz
piniels 0:9156e6b6bf46 47 uint16_t tbk : 2; // bit5-4 Blank Time (Assumes 4-MHz clock) 00=1us, *01=1.5us, 10=2.5us, 11=3.5us
piniels 0:9156e6b6bf46 48 uint16_t pfd : 3; // bit8-6 Fast decay time for mixed decay. Assumes 4-MHz clock 000=2us, 001=3us, 010=4us, 011=6us, 100=8us, 101=10us, 110=14us, 111=20us
piniels 0:9156e6b6bf46 49 uint16_t mx : 2; // bit10-9. Max phase current as a percentage of I(SMAX) 00=25% 01=50% 10=75% *11=100%
piniels 0:9156e6b6bf46 50 uint16_t ms : 2; // bit12-11. Microstep mode for external STEP input control *00=Full Step 01=Half Step 10=Quarter Step 11=Sixteenth Step
piniels 0:9156e6b6bf46 51 uint16_t syr : 1; // bit13. Synchronous rectification 0=Diode recirculation *1=Synchronous
piniels 0:9156e6b6bf46 52 uint16_t addr : 2; // bit15-14 Address config0 = 0b00
piniels 0:9156e6b6bf46 53
piniels 0:9156e6b6bf46 54 } B;
piniels 0:9156e6b6bf46 55 } t_config_control_regi_0;
piniels 0:9156e6b6bf46 56
piniels 0:9156e6b6bf46 57 /*
piniels 0:9156e6b6bf46 58 * (*) are default
piniels 0:9156e6b6bf46 59 */
piniels 0:9156e6b6bf46 60 typedef union
piniels 0:9156e6b6bf46 61 {
piniels 0:9156e6b6bf46 62 uint16_t I;
piniels 0:9156e6b6bf46 63
piniels 0:9156e6b6bf46 64 struct
piniels 0:9156e6b6bf46 65 {
piniels 0:9156e6b6bf46 66 uint16_t diag : 2; // bit1-0 Selects signal routed to DIAG output *00=Fault-low true, 01=ST-low true, 10=PWN-on Phase A, 11=Temperature
piniels 0:9156e6b6bf46 67 uint16_t cd : 4; // bit5-2 PWM count difference for ST detection default to 8
piniels 0:9156e6b6bf46 68 uint16_t notInUse : 5; // bit10-6 Not in use value = 0
piniels 0:9156e6b6bf46 69 uint16_t tsc : 2; // bit12-11 Overcurrent fault delay(Assumes 4-MHz clock) 00=0.5us, 01=1us, *10=2us, 11=3us
piniels 0:9156e6b6bf46 70 uint16_t osc : 1; // bit13 Selects clock source *0=internal, 1=external
piniels 0:9156e6b6bf46 71 uint16_t addr : 2; // bit15-14 Address config0 = 0b01
piniels 0:9156e6b6bf46 72
piniels 0:9156e6b6bf46 73 } B;
piniels 0:9156e6b6bf46 74 }t_config_control_regi_1;
piniels 0:9156e6b6bf46 75
piniels 0:9156e6b6bf46 76 /*
piniels 0:9156e6b6bf46 77 * (*) are default
piniels 0:9156e6b6bf46 78 */
piniels 0:9156e6b6bf46 79 typedef union
piniels 0:9156e6b6bf46 80 {
piniels 0:9156e6b6bf46 81 uint16_t I;
piniels 0:9156e6b6bf46 82
piniels 0:9156e6b6bf46 83 struct
piniels 0:9156e6b6bf46 84 {
piniels 0:9156e6b6bf46 85 uint16_t sc : 6; // bit5-0 Step change number 2’s complement format. Positive value increases Step Angle Number. Negative value decreases Step Angle Number
piniels 0:9156e6b6bf46 86 uint16_t dcy : 2; // bit7-6 Decay mode selection 00=Slow, *01=Mixed-PFD fixed, 10=Mixed-PFD auto, 11=Fast
piniels 0:9156e6b6bf46 87 uint16_t brk : 1; // bit8 Brake enable *0=Normal operation 1=Brake active
piniels 0:9156e6b6bf46 88 uint16_t slew : 1; // bit9 Slew rate control 0=Disable *1=Enable
piniels 0:9156e6b6bf46 89 uint16_t hlr : 1; // bit10. Selects slow decay and brake recirculation path *0=High side, 1=Low side
piniels 0:9156e6b6bf46 90 uint16_t ol : 2; // bit12-11. Open load current threshold as a percentage of maximum current defined by ISMAX and MXI[1..0] 00=20%, *01=30%, 10=40%, 11=50%
piniels 0:9156e6b6bf46 91 uint16_t en : 1; // bit13. Phase current enable OR with ENABLE pin *0=Output bridges disabled if ENABLE pin = 0, 1=Output bridges enabled
piniels 0:9156e6b6bf46 92 uint16_t addr : 2; // bit15-14 Address run = 0b10
piniels 0:9156e6b6bf46 93
piniels 0:9156e6b6bf46 94 } B;
piniels 0:9156e6b6bf46 95 }t_run_regi;
piniels 0:9156e6b6bf46 96
piniels 0:9156e6b6bf46 97
piniels 0:9156e6b6bf46 98
piniels 0:9156e6b6bf46 99 #endif /* A4980CONTROLREGI_H_ */