📄 lm629_1.c

📁 The LM628/LM629 are dedicated motion-control processors designed for use with a variety of DC and b
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//lm629.h
//lm629驱动程序
/////////////////////////////////////////////////////////////OK
unsigned char LM629_RDSTAT(void)//ReaD STATus Byte
{
	unsigned char rt;
	RD_STATUS();
	DDRA=0X00;
	rt=PINA; //读取Status byte
	DDRA=0XFF;
	RD_HIGH();
	return rt;
}
/////////////////////////////////////////////////////////////OK
void LM629_BUSY(void)
{
	while(LM629_RDSTAT()&0X01); // if busy then loop
}
/////////////////////////////////////////////////////////////
// LM629 共22条指令 所有指令定义为同名函数加前缀LM629_
// 1.初始化指令（3条）==================================================
/////////////////////////////////////////////////////////////OK
//循环直到复位成功
void LM629_RESET_CHK(void)
{
	unsigned char chk_char1,chk_char2;//应该是0xC4
	BREAK_ON();//复位前先停止电机
	while(chk_char1!=0xC4 || chk_char2!=0xC0)
	{
		LM629_RESET();
		delay_ms(2);
		chk_char1=LM629_RDSTAT();
		// UDR1=LM629_RDSTAT();		
		LM629_MSKI(0x0000);
		LM629_RSTI(0x0000);
		delay_ms(2);
		chk_char2=LM629_RDSTAT();
		// UDR1=LM629_RDSTAT();
		delay_ms(2);
	}
	LED1_ON();
	BREAK_OFF();//重新打开电机
	flag_629_OK=TRUE;
}
/////////////////////////////////////////////////////////////OK
void LM629_RESET(void)//RESET the LM629
{
	PORTD&=0x7F;//PD.7=0,Low reset
	delay_ms(2);
	PORTD|=0x80;//PD.7=0,Low reset
	delay_ms(2);
	// DELAY 1.5 ms
}
/////////////////////////////////////////////////////////////not tested
void LM629_PORT8(void)//Set Output PORT Size to 8 Bits
{
	DDRA=0xFF;
	PORTA=0X05;
	WR_COMMAND();
	WR_HIGH();
	LM629_BUSY();
}
/////////////////////////////////////////////////////////////not tested
void LM629_DFH(void)//DeFine Home
{
	DDRA=0xFF;
	PORTA=0X02;
	WR_COMMAND();
	WR_HIGH();
	LM629_BUSY();
}
// 2.中断指令 （6条）==================================================
/////////////////////////////////////////////////////////////not tested
void LM629_SIP(void)//Set Index Position
{
	DDRA=0xFF;
	PORTA=0X03;
	WR_COMMAND();
	WR_HIGH();
	LM629_BUSY();
}
/////////////////////////////////////////////////////////////

void LM629_LPEI(unsigned int PositionError)//Load Position Error for Interrupt
{
	DDRA=0xFF;
	PORTA=0X1B;
	WR_COMMAND();
	WR_HIGH();
	LM629_BUSY();
	PORTA=(unsigned char)((PositionError&0xff00)>> ;
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)(PositionError&0x00ff);
	WR_DATA();
	WR_HIGH();
	LM629_BUSY();
}
/////////////////////////////////////////////////////////////
void LM629_LPES(unsigned int PositionError)//Load Position Error for Stopping
{
	DDRA=0xFF;
	PORTA=0X1A;
	WR_COMMAND();
	WR_HIGH();
	LM629_BUSY();
	PORTA=(unsigned char)((PositionError&0xff00)>> ;
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)(PositionError&0x00ff);
	WR_DATA();
	WR_HIGH();
	LM629_BUSY();
}
/////////////////////////////////////////////////////////////
void LM629_SBPA(unsigned long BreakPoint) // 设置绝对位置断点
{
	LM629_BUSY();
	PORTA=0X20;
	WR_COMMAND();
	WR_HIGH();
	LM629_BUSY();
	PORTA=(unsigned char)((BreakPoint&0xff000000)>>24);
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)((BreakPoint&0x00ff0000)>>16);
	LM629_BUSY();
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)((BreakPoint&0x0000ff00)>> ;
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)(BreakPoint&0x000000ff);
	WR_DATA();
	WR_HIGH();
}
/////////////////////////////////////////////////////////////
void LM629_SBPR(unsigned long BreakPoint)// 设置相对断点
{
	LM629_BUSY();
	PORTA=0X21;
	WR_COMMAND();
	WR_HIGH();
	LM629_BUSY();
	PORTA=(unsigned char)((BreakPoint&0xff000000)>>24);
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)((BreakPoint&0x00ff0000)>>16);
	LM629_BUSY();
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)((BreakPoint&0x0000ff00)>> ;
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)(BreakPoint&0x000000ff);
	WR_DATA();
	WR_HIGH();
}
/////////////////////////////////////////////////////////////OK
void LM629_MSKI(unsigned int mask)//MaSK Interrupts
{
	DDRA=0xFF;
	PORTA=0X1c;
	WR_COMMAND();
	WR_HIGH();
	LM629_BUSY();
	PORTA=(unsigned char)((mask&0xff00)>> ;
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)(mask&0x00ff);
	WR_DATA();
	WR_HIGH();
	LM629_BUSY();
}
///////////////////////////////////////////////////////////// OK
void LM629_RSTI(unsigned int mask)//ReSeT Interrupts
{
	DDRA=0xFF;
	PORTA=0X1d;
	WR_COMMAND();
	WR_HIGH();
	LM629_BUSY();
	PORTA=(unsigned char)((mask&0xff00)>> ;
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)(mask&0x00ff);
	WR_DATA();
	WR_HIGH();
	LM629_BUSY();
}
/////////////////////////////////////////////////////////////
// 3. PID 控制器指令(2条)
=====================================================
/////////////////////////////////////////////////////////////
//OK
void LM629_LFIL(unsigned int command_word,unsigned int kp_data,unsigned int ki_kd_data,unsigned int il_data)//Load FILter Parameters
{
	//写LFIL命令
	DDRA=0xFF;
	PORTA=0X1e;
	WR_COMMAND();
	WR_HIGH();
	LM629_BUSY();
	//写控制字
	PORTA=(unsigned char)((command_word & 0xFF00)>> ;//MSB
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)(command_word & 0x00FF);//LSB
	WR_DATA();
	WR_HIGH();
	LM629_BUSY();
	//写kp
	PORTA=(unsigned char)((kp_data & 0xFF00)>> ;//MSB
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)(kp_data & 0x00FF);//LSB
	WR_DATA();
	WR_HIGH();
	LM629_BUSY();
	//写ki
	PORTA=(unsigned char)((ki_data & 0xFF00)>> ;//MSB
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)(ki_data & 0x00FF);//LSB
	WR_DATA();
	WR_HIGH();
	LM629_BUSY();
	//写kd
	PORTA=(unsigned char)((kd_data & 0xFF00)>> ;//MSB
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)(kd_data & 0x00FF);//LSB
	WR_DATA();
	WR_HIGH();
	LM629_BUSY();
	//写il
	PORTA=(unsigned char)((il_data & 0xFF00)>> ;//MSB
	WR_DATA();
	WR_HIGH();
	PORTA=(unsigned char)(il_data & 0x00FF);//LSB
	WR_DATA();
	WR_HIGH();
	LM629_BUSY();
}
/////////////////////////////////////////////////////////////OK
void LM629_UDF(void)//UpDate Filter
{
	DDRA=0xFF;
	PORTA=0X04;
	WR_COMMAND();
	WR_HIGH();
	LM629_BUSY();
}
// 4.运动指令 (2条)
===========================================================
/////////////////////////////////////////////////////////////OK
void LM629_LTRJ(unsigned int command_word,unsigned long acceleration_data,unsigned velocity_data,signed long position_data)
////Load TRaJectory Parameters
{
	//写LTRJ命令
	DDRA=0xFF;
	PORTA=0X1F;
	WR_COMMAND();
	WR_HIGH();//WR上升沿写入
	LM629_BUSY();
	//写控制字
	PORTA=(unsigned char)((command_word & 0xFF00)>> ;//MSB
	WR_DATA();
	WR_HIGH();//WR上升沿写入
	PORTA=(unsigned char)(command_word & 0x00FF);//LSB
	WR_DATA();
	WR_HIGH();//WR上升沿写入
	LM629_BUSY();
	if(command_word&0x0020)//指令读入加速度，并且目前电机已经停转
	{ //写加速度
		PORTA=(unsigned char)((acceleration_data & 0xFF000000)>>24);//1 MSB
		WR_DATA();
		WR_HIGH();//WR上升沿写入
		PORTA=(unsigned char)((acceleration_data & 0x00FF0000)>>16);//2
		WR_DATA();
		WR_HIGH();//WR上升沿写入
		LM629_BUSY();
		PORTA=(unsigned char)((acceleration_data & 0x0000FF00)>> ;//3
		WR_DATA();
		WR_HIGH();//WR上升沿写入
		PORTA=(unsigned char)(acceleration_data & 0x000000FF);//4 LSB
		WR_DATA();
		WR_HIGH();//WR上升沿写入
	}
	if(command_word&0x0008)
	{//写速度
		PORTA=(unsigned char)((velocity_data & 0xFF000000)>>24);//1 MSB
		WR_DATA();
		WR_HIGH();//WR上升沿写入
		PORTA=(unsigned char)((velocity_data & 0x00FF0000)>>16);//2
		WR_DATA();
		WR_HIGH();//WR上升沿写入
		LM629_BUSY();
		PORTA=(unsigned char)((velocity_data & 0x0000FF00)>> ;//3
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#motion-control #processors #dedicated #designed
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