Motor protocol - Revision history

Cartridge1987: /* Write ports */

2015-11-26T13:14:11Z

Write ports

Cartridge1987 at 09:26, 13 November 2015

2015-11-13T09:26:48Z

Tom at 14:44, 17 July 2014

2014-07-17T14:44:15Z

Rew: /* read ports */

2014-04-29T14:20:27Z

read ports

Rew: /* write ports */

2014-04-29T14:19:15Z

write ports

Tom at 13:57, 16 April 2014

2014-04-16T13:57:24Z

Tom: /* read ports */

2014-04-11T16:03:23Z

read ports

Tom at 15:46, 11 April 2014

2014-04-11T15:46:15Z

Tom: /* read ports */

2014-04-11T15:44:51Z

read ports

Tom: /* write ports */

2014-04-11T15:44:07Z

write ports

@@ Line 21: / Line 21: @@
 ! port !! function
 |-
+| 0xf0 || change address. Requires a write to 0xf1 and 0xf2 first.
-| 0x10 || Set drive intensity for stepper mode (default is 0x20)
+|-
+| 0xf1 || write 0x55 here to start unlocking the change address register.
+|-
+| 0xf2 || write 0xaa here to unlock the change address register.
 |-
 !  !! two separate brushed motors section....
@@ Line 38: / Line 42: @@
 |-
 !  !! Stepper motor section....
+|-
+| 0x10 || Set drive intensity for stepper mode (default is 0x20)
 |-
 | 0x40 || set current position. <4 bytes>
@@ Line 48: / Line 54: @@
 |-
 | 0x44 || Set number of driven coils. Writing 0x00 means driving one coil, other values mean driving two coils
-|-
-| 0xf0 || change address. Requires a write to 0xf1 and 0xf2 first.
-|-
-| 0xf1 || write 0x55 here to start unlocking the change address register.
-|-
-| 0xf0 || write 0xaa here to unlock the change address register.
 |-
 !  !! Simple high-side PWM section....

@@ Line 13: / Line 13: @@
-= write ports =
+= Write ports =
 Some ports just set a single value. So writing more than one byte to such a port is redundant. Other ports are logically a stream of bytes. So writing more than one byte is encouraged.
@@ Line 68: / Line 68: @@
 |}
-= read ports =
+= Read ports =
 The spi_motor boards defines the following read ports:
@@ Line 110: / Line 110: @@
 |}
-= examples =
+= Examples =
-== read identification ==
+== Read identification ==
 read the identification string of the board. (motor)
@@ Line 131: / Line 131: @@
 |}
-== move stepper to step 0x12345678 ==
+== Move stepper to step 0x12345678 ==
 {| border=1

@@ Line 4: / Line 4: @@
 = Introduction =
-The protocol for the SPI_motor board will be explained on this page.
+The protocol for the motor board will be explained on this page.
-The addresses on the SPI bus are 7 bits wide. The lower bit specifies if the transaction is to be a read or a write. Write transactions have the lower bit cleared (0), read transactions have the lower bit set (1).
+The addresses on the bus are 7 bits wide. The lower bit specifies if the transaction is to be a read or a write. Write transactions have the lower bit cleared (0), read transactions have the lower bit set (1).
-Each transaction on the SPI bus starts with the address of the board. The spi_lcd board will ignore any transactions on the SPI bus that do not start with its own address.
+Each transaction on the bus starts with the address of the board. The motor board will ignore any transactions on the bus that do not start with its own address.
 After the address a single byte indicates the "port" on the board that the data is written to. The software can thus define 256 ports on each board.
-Also see the [[general SPI protocol]]
@@ Line 19: / Line 17: @@
 Some ports just set a single value. So writing more than one byte to such a port is redundant. Other ports are logically a stream of bytes. So writing more than one byte is encouraged.
-The spi_motor boards defines several ports.
+The motor boards defines several ports.
 {| border=1
 ! port !! function
@@ Line 116: / Line 114: @@
 == read identification ==
-read the identification string of the board. (spi_motor)
+read the identification string of the board. (motor)
 {| border=1
 ! data sent !! data recieved || explanation

@@ Line 107: / Line 107: @@
 |-
 | 0x53 || get PWM value for output A2
+|-
+| 0x58 || get all 4 PWM values as a 32-bit value.
 |}

@@ Line 66: / Line 66: @@
 |-
 | 0x53 || set PWM value for output A2
+|-
+| 0x58 || set PWM value for all four outputs as a single 32-bit value.
 |}

@@ Line 27: / Line 27: @@
 !  !! two separate brushed motors section....
 |-
-| 0x20 || Spin motor A in direction A with intensity <byte>
+| 0x20 || Spin motor A in direction X with intensity <byte>
 |-
-| 0x21 || Spin motor A in direction B with intensity <byte>
+| 0x21 || Spin motor A in direction Y with intensity <byte>
 |-
 | 0x22 || Stop motor A
 |-
-| 0x30 || Spin motor B in direction A with intensity <byte>
+| 0x30 || Spin motor B in direction X with intensity <byte>
 |-
-| 0x31 || Spin motor B in direction B with intensity <byte>
+| 0x31 || Spin motor B in direction Y with intensity <byte>
 |-
 | 0x32 || Stop motor B
@@ Line 80: / Line 80: @@
 !  !! two separate brushed motors section....
 |-
+| 0x20 || Read back intensity and direction of motor A
-| 0x20 ||
 |-
+| 0x21 || Read back intensity and direction of motor A
-| 0x21 ||
 |-
+| 0x30 || Read back intensity and direction of motor B
-| 0x30 ||
 |-
+| 0x31 || Read back intensity and direction of motor B
-| 0x31 ||
 |-
 !  !! Stepper motor section....

@@ Line 77: / Line 77: @@
 |-
 | 0x02 || read eeprom (serial number).
+|-
+!  !! two separate brushed motors section....
+|-
+|  ||
+|-
+!  !! Stepper motor section....
 |-
 | 0x40 || read current position. <4 bytes>

@@ Line 83: / Line 83: @@
 |-
 | 0x43 || read stepdelay. (in tenths of a microsecond, default 200: 20ms between steps).
+|-
+!  !! Simple high-side PWM section....
+|-
+| 0x50 || get PWM value for output B1
+|-
+| 0x51 || get PWM value for output B2
+|-
+| 0x52 || get PWM value for output A1
+|-
+| 0x53 || get PWM value for output A2
 |}

@@ Line 56: / Line 56: @@
 |-
 | 0xf0 || write 0xaa here to unlock the change address register.
+|-
+!  !! Simple high-side PWM section....
+|-
+| 0x50 || set PWM value for output B1
+|-
+| 0x51 || set PWM value for output B2
+|-
+| 0x52 || set PWM value for output A1
+|-
+| 0x53 || set PWM value for output A2
 |}