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subdevices [2023/12/06 14:31] – [Stepper Motor] ursgraf | subdevices [2024/04/09 20:46] (current) – [DAC] ursgraf | ||
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|0x28|4|value_1|r|no|channel 1: digitized input value| | |0x28|4|value_1|r|no|channel 1: digitized input value| | ||
|..|4|..|r/ | |..|4|..|r/ | ||
- | The status register in the subheader is unused with this function. In the configuration register setting the bit 0 will reset the subdevice. This subdevice uses a pin on the FPGA device for each channel. | + | The status register in the subheader is unused with this function. In the configuration register setting the bit 0 will reset the subdevice. This subdevice uses 3 to 4 pins for the SPI depending |
==== Subtypes ==== | ==== Subtypes ==== | ||
Currently there are three subtypes of this subdevice. The subtype information can be found in the '' | Currently there are three subtypes of this subdevice. The subtype information can be found in the '' | ||
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|0x28|4|value_1|r/ | |0x28|4|value_1|r/ | ||
|..|4|..|r/ | |..|4|..|r/ | ||
- | The status register in the subheader is unused with this function. In the configuration register setting the bit 0 will reset the subdevice. This subdevice uses a pin on the FPGA device for each channel. | + | The status register in the subheader is unused with this function. In the configuration register setting the bit 0 will reset the subdevice. This subdevice uses 5 pins. |
==== Subtypes ==== | ==== Subtypes ==== | ||
Currently there is one subtype of this subdevice. The subtype information can be found in the '' | Currently there is one subtype of this subdevice. The subtype information can be found in the '' | ||
^Subtype ID^Description^Example^ | ^Subtype ID^Description^Example^ | ||
|0x1|Simple DAC where the outputs are continuously set. All channels are updated at the same time|AD5668| | |0x1|Simple DAC where the outputs are continuously set. All channels are updated at the same time|AD5668| | ||
+ | |0x2|Simple DAC where the outputs are continuously set. All channels are individually updated, +-10V|AD5754| | ||
===== GPIO ===== | ===== GPIO ===== | ||
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|0xnn+4|4|acc_1|r/ | |0xnn+4|4|acc_1|r/ | ||
|..|4|..|r/ | |..|4|..|r/ | ||
- | |0xoo|4|stepps_todo_0|r/ | + | |0xoo|4|dest_steps_0|r/ |
- | |0xoo+4|4|stepps_todo_1|r/ | + | |0xoo+4|4|dest_steps_1|r/ |
|..|4|..|r/ | |..|4|..|r/ | ||
- | |0xpp|4|stepps_done_0|r|no|motor 0: current position (number of steps)| | + | |0xpp|4|curr_steps_0|r|no|motor 0: current position (number of steps)| |
- | |0xpp+4|4|stepps_done_1|r|no|motor 1: current position (number of steps)| | + | |0xpp+4|4|curr_steps_1|r|no|motor 1: current position (number of steps)| |
|..|4|..|r|no|..| | |..|4|..|r|no|..| | ||
=== Motor Configuration Register === | === Motor Configuration Register === | ||
| 31 | ... | 06 | 05 | 04..03 | 02 | 01 | 00 | | | 31 | ... | 06 | 05 | 04..03 | 02 | 01 | 00 | | ||
- | | | | Reset Stepcounter | + | | | | Reset Step Counter |
* Direction: 1 => CW; 0=> CCW | * Direction: 1 => CW; 0=> CCW | ||
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* Two Phase: 1 => two phase operation, 0 => one phase operation. Only required in full step mode. | * Two Phase: 1 => two phase operation, 0 => one phase operation. Only required in full step mode. | ||
* Run Mode: 00 => free running, no holding torque, 01 => stepping mode, 10 => speed mode, 11 => reserved | * Run Mode: 00 => free running, no holding torque, 01 => stepping mode, 10 => speed mode, 11 => reserved | ||
- | * Start: if set to 1 the motor will start until stopped by a 0 or the number of steps is reached in stepping mode | + | * Start: if set to 1 the motor will start. Writing |
- | * Reset Stepcounter: A ' | + | * Reset Step Counter: A ' |
The motor configuration register can be reading or writing at address //conf_x//. You can set a given set of bits to ' | The motor configuration register can be reading or writing at address //conf_x//. You can set a given set of bits to ' | ||
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^Offset^Size [byte] ^Name^r/ | ^Offset^Size [byte] ^Name^r/ | ||
- | |0x20|4|irq_line_0|r/ | + | |0x20|4|irq_line_0|r/ |
- | |0x24|4|irq_line_1|r/ | + | |0x24|4|irq_line_1|r/ |
|..|4|..|r/ | |..|4|..|r/ | ||
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1 => first signal (LSB) of the input vector.\\ | 1 => first signal (LSB) of the input vector.\\ | ||
2 => second signal of the input vector.\\ | 2 => second signal of the input vector.\\ | ||
- | ... (and so on) | + | ... |