/* on initialise toutes les valeurs des registres par defaut*/
void drv_init(){
// Set Default Register Settings
// CTRL Register
G_CTRL_REG.Address = 0x00;//adresse du registre
G_CTRL_REG.DTIME = 0x03;
G_CTRL_REG.ISGAIN = 0x03;//40 current max 1.36A
G_CTRL_REG.EXSTALL = 0x00;
G_CTRL_REG.MODE = 0x03;
G_CTRL_REG.RSTEP = 0x00;
G_CTRL_REG.RDIR = 0x00;
G_CTRL_REG.ENBL = 0x01;//motor enable
// TORQUE Register
G_TORQUE_REG.Address = 0x01;
G_TORQUE_REG.SIMPLTH = 0x00;
G_TORQUE_REG.TORQUE = 0xBA;
// OFF Register
G_OFF_REG.Address = 0x02;
G_OFF_REG.PWMMODE = 0x00;
G_OFF_REG.TOFF = 0x30;
// BLANK Register
G_BLANK_REG.Address = 0x03;
G_BLANK_REG.ABT = 0x01;
G_BLANK_REG.TBLANK = 0x08;
// DECAY Register.
G_DECAY_REG.Address = 0x04;
G_DECAY_REG.DECMOD = 0x03;
G_DECAY_REG.TDECAY = 0x10;
// STALL Register
G_STALL_REG.Address = 0x05;
G_STALL_REG.VDIV = 0x03;
G_STALL_REG.SDCNT = 0x03;
G_STALL_REG.SDTHR = 0x40;
// DRIVE Register
G_DRIVE_REG.Address = 0x06;
G_DRIVE_REG.IDRIVEP = 0x00;
G_DRIVE_REG.IDRIVEN = 0x00;
G_DRIVE_REG.TDRIVEP = 0x01;
G_DRIVE_REG.TDRIVEN = 0x01;
G_DRIVE_REG.OCPDEG = 0x01;
G_DRIVE_REG.OCPTH = 0x01;
// STATUS Register
G_STATUS_REG.Address = 0x07;
G_STATUS_REG.STDLAT = 0x00;
G_STATUS_REG.STD = 0x00;
G_STATUS_REG.UVLO = 0x00;
G_STATUS_REG.BPDF = 0x00;
G_STATUS_REG.APDF = 0x00;
G_STATUS_REG.BOCP = 0x00;
G_STATUS_REG.AOCP = 0x00;
G_STATUS_REG.OTS = 0x00;
WriteAllRegisters();
}
void updateStep(){
if(!(P1IN & BIT0)){
G_CTRL_REG.MODE = 0x04;//1/16 step
}
if(!(P1IN & BIT1)){
G_CTRL_REG.MODE = 0x06;//1/64 step
}
if(!(P1IN & BIT2)){
G_CTRL_REG.MODE = 0x07;//1/128 step
}
if(!(P1IN & BIT3)){
G_CTRL_REG.MODE = 0x00;//full step
}
WriteAllRegisters();
}
void drv8711::init ()
{
set_defaults();
WriteAllRegisters();
}
