motor.h

用ＴＭＳ３２０ＬＦ２４０７Ａ开发电机控制的源代码

/************************************************************************
Project name: 	motorTest.pjt
File name: 		motor.h
Author: 		胡天亮. 山东大学数控技术研究中心
				Tianliang HU, CNC research center, Shandong University
Description:	Header file of motor control
History:		(1)
*************************************************************************/

#ifndef MOTOR_H
#define MOTOR_H

#define MOTORAB_CTRL		(volatile unsigned int *)0x8000      //for motor AB control I/O signal  

#define MOTORA_ID	0x00
#define MOTORB_ID	0x01
#define MOTORC_ID	0x02
#define MOTORD_ID	0x03

///////////////////////////////////////////////////////////////////////////////////////////
//Motor control value
//Note: motorc serve on signal is mapped to IOPB8, motord serve on signal is mapped to IOPF6
#define MOTORA_SERVEON	0x0002		//motorA serve on value, |=
#define MOTORB_SERVEON	0x0020		//motorB serve on value, |=
#define MOTORC_SERVEON	0xFF7F		//motorC serve on value, &=
#define MOTORD_SERVEON	0xFFBF		//motorD serve on value, &=

////////////////////////////////////////////////////////////////
//SPI channel select
//IOPE5: DLE, IOPE1~IOPE4: Channel A ~ Channel D Clock select, Highe effective
#define DA_DLE_EN		0x0020		//PCM56U DLE High	|=

#define DA_CLKA_EN		0x0004		//&=
#define DA_CLKB_EN		0x0002
#define DA_CLKC_EN		0x0008
#define DA_CLKD_EN		0x0010

////////////////////////////////////////////////////////////////
//PCM56U Value when rpm of Motor is 0
#define DA_ZERO_OFFSETA		(-60)
#define DA_ZERO_OFFSETB		71
#define	DA_ZERO_OFFSETC		(-11)
#define	DA_ZERO_OFFSETD		(-97)

#endif