Difference between revisions of "Controller"
| Line 8: | Line 8: | ||
=== Ramp === | === Ramp === | ||
| − | - ramp(' | + | - ramp(8'h9a,36'<acceleration>, 36'<clock count>) |
For the given number of clocks increment the internal acceleration register by the value given in the command. | For the given number of clocks increment the internal acceleration register by the value given in the command. | ||
| Line 14: | Line 14: | ||
=== Start === | === Start === | ||
| − | - start(' | + | - start(8'hb5) |
Start the engine. All commands in the fifo will be executed. | Start the engine. All commands in the fifo will be executed. | ||
=== Configure Rev === | === Configure Rev === | ||
| − | - configure clocks/rev (' | + | - configure clocks/rev (8'ha3, 24'<step per revolution>) |
Set number of steps for one revolution. With a 0.9deg stepper and 256 microstepping set it to 1024000. | Set number of steps for one revolution. With a 0.9deg stepper and 256 microstepping set it to 1024000. | ||
| Line 25: | Line 25: | ||
=== Sync Revcounter === | === Sync Revcounter === | ||
| − | - sync(' | + | - sync(8'h3d) |
Run until the next rising edge of the home sensor. If reached, reset the internal position to 0. | Run until the next rising edge of the home sensor. If reached, reset the internal position to 0. | ||
Revision as of 21:10, 21 March 2018
Currently an Artix-7 FPGA is used as the controller. It has a serial interface with a command width of 80 bytes.
The first byte gives the command. The command has a variable width, with a maximum length of 80 bits. Most commands just get enqueued into an internal FIFO with 64 entries.
The internal clock frequency is 20MHz.
Commands:
Contents
Ramp
- ramp(8'h9a,36'<acceleration>, 36'<clock count>)
For the given number of clocks increment the internal acceleration register by the value given in the command. Acceleration can also be negative.
Start
- start(8'hb5)
Start the engine. All commands in the fifo will be executed.
Configure Rev
- configure clocks/rev (8'ha3, 24'<step per revolution>)
Set number of steps for one revolution. With a 0.9deg stepper and 256 microstepping set it to 1024000. If the internal position counter reaches this value, it is reset to zero and a pulse on the REV pin is generated.
Sync Revcounter
- sync(8'h3d)
Run until the next rising edge of the home sensor. If reached, reset the internal position to 0.
