64 lines
2.3 KiB
C++
64 lines
2.3 KiB
C++
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// Current control
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//
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// Copyright 2017 Todd Fleming
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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#include "current_control.h"
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#include "grbl.h"
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#include "Driver_I2C.h"
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#ifdef CURRENT_I2C
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extern ARM_DRIVER_I2C CURRENT_I2C;
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static const uint8_t wiperRegs[] = CURRENT_WIPERS;
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#endif
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void current_init()
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{
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#ifdef CURRENT_I2C
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CURRENT_I2C.Initialize(nullptr);
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CURRENT_I2C.PowerControl(ARM_POWER_FULL);
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CURRENT_I2C.Control(ARM_I2C_BUS_SPEED, ARM_I2C_BUS_SPEED_STANDARD);
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CURRENT_I2C.Control(ARM_I2C_BUS_CLEAR, 0);
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uint8_t init1[] = {0x40, 0xff};
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uint8_t init2[] = {0xA0, 0xff};
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CURRENT_I2C.MasterTransmit(CURRENT_MCP44XX_ADDR, init1, 2, false);
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CURRENT_I2C.MasterTransmit(CURRENT_MCP44XX_ADDR, init2, 2, false);
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set_current(0, DEFAULT_X_CURRENT);
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set_current(1, DEFAULT_Y_CURRENT);
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set_current(2, DEFAULT_Z_CURRENT);
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set_current(3, DEFAULT_A_CURRENT);
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#endif
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}
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void set_current(uint8_t motor, float amps)
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{
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#if defined(CURRENT_I2C) && defined(CURRENT_MCP44XX_ADDR)
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uint8_t command[] = {
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uint8_t(wiperRegs[motor] << 4),
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uint8_t(std::round(amps * CURRENT_FACTOR)),
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};
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CURRENT_I2C.MasterTransmit(CURRENT_MCP44XX_ADDR, command, sizeof(command), false);
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while (CURRENT_I2C.GetStatus().busy)
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;
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#endif
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}
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