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Diffstat (limited to 'ArduinoAddons/Arduino_1.6.x/libraries/L6470/L6470.h')
| -rwxr-xr-x | ArduinoAddons/Arduino_1.6.x/libraries/L6470/L6470.h | 286 |
1 files changed, 286 insertions, 0 deletions
diff --git a/ArduinoAddons/Arduino_1.6.x/libraries/L6470/L6470.h b/ArduinoAddons/Arduino_1.6.x/libraries/L6470/L6470.h new file mode 100755 index 000000000..8b5768646 --- /dev/null +++ b/ArduinoAddons/Arduino_1.6.x/libraries/L6470/L6470.h @@ -0,0 +1,286 @@ +//////////////////////////////////////////////////////////// +//ORIGINAL CODE 12/12/2011- Mike Hord, SparkFun Electronics +//LIBRARY Created by Adam Meyer of bildr Aug 18th 2012 +//Released as MIT license +//////////////////////////////////////////////////////////// +#ifndef L6470_h +#define L6470_h + +#include <Arduino.h> +#include <SPI.h> + +#define SLAVE_SELECT_PIN 38 // Wire this to the CSN pin +// #define RESET 6 // Wire this to the STBY line +#define BUSYN 7 // Wire this to the BSYN line + +// constant definitions for overcurrent thresholds. Write these values to +// register dSPIN_OCD_TH to set the level at which an overcurrent even occurs. +#define OCD_TH_375mA 0x00 +#define OCD_TH_750mA 0x01 +#define OCD_TH_1125mA 0x02 +#define OCD_TH_1500mA 0x03 +#define OCD_TH_1875mA 0x04 +#define OCD_TH_2250mA 0x05 +#define OCD_TH_2625mA 0x06 +#define OCD_TH_3000mA 0x07 +#define OCD_TH_3375mA 0x08 +#define OCD_TH_3750mA 0x09 +#define OCD_TH_4125mA 0x0A +#define OCD_TH_4500mA 0x0B +#define OCD_TH_4875mA 0x0C +#define OCD_TH_5250mA 0x0D +#define OCD_TH_5625mA 0x0E +#define OCD_TH_6000mA 0x0F + +// STEP_MODE option values. +// First comes the "microsteps per step" options... +#define STEP_MODE_STEP_SEL 0x07 // Mask for these bits only. +#define STEP_SEL_1 0x00 +#define STEP_SEL_1_2 0x01 +#define STEP_SEL_1_4 0x02 +#define STEP_SEL_1_8 0x03 +#define STEP_SEL_1_16 0x04 +#define STEP_SEL_1_32 0x05 +#define STEP_SEL_1_64 0x06 +#define STEP_SEL_1_128 0x07 + +// ...next, define the SYNC_EN bit. When set, the BUSYN pin will instead +// output a clock related to the full-step frequency as defined by the +// SYNC_SEL bits below. +#define STEP_MODE_SYNC_EN 0x80 // Mask for this bit +#define SYNC_EN 0x80 + +// ...last, define the SYNC_SEL modes. The clock output is defined by +// the full-step frequency and the value in these bits- see the datasheet +// for a matrix describing that relationship (page 46). +#define STEP_MODE_SYNC_SEL 0x70 +#define SYNC_SEL_1_2 0x00 +#define SYNC_SEL_1 0x10 +#define SYNC_SEL_2 0x20 +#define SYNC_SEL_4 0x30 +#define SYNC_SEL_8 0x40 +#define SYNC_SEL_16 0x50 +#define SYNC_SEL_32 0x60 +#define SYNC_SEL_64 0x70 + +// Bit names for the ALARM_EN register. +// Each of these bits defines one potential alarm condition. +// When one of these conditions occurs and the respective bit in ALARM_EN is set, +// the FLAG pin will go low. The register must be queried to determine which event +// caused the alarm. +#define ALARM_EN_OVERCURRENT 0x01 +#define ALARM_EN_THERMAL_SHUTDOWN 0x02 +#define ALARM_EN_THERMAL_WARNING 0x04 +#define ALARM_EN_UNDER_VOLTAGE 0x08 +#define ALARM_EN_STALL_DET_A 0x10 +#define ALARM_EN_STALL_DET_B 0x20 +#define ALARM_EN_SW_TURN_ON 0x40 +#define ALARM_EN_WRONG_NPERF_CMD 0x80 + +// CONFIG register renames. + +// Oscillator options. +// The dSPIN needs to know what the clock frequency is because it uses that for some +// calculations during operation. +#define CONFIG_OSC_SEL 0x000F // Mask for this bit field. +#define CONFIG_INT_16MHZ 0x0000 // Internal 16MHz, no output +#define CONFIG_INT_16MHZ_OSCOUT_2MHZ 0x0008 // Default; internal 16MHz, 2MHz output +#define CONFIG_INT_16MHZ_OSCOUT_4MHZ 0x0009 // Internal 16MHz, 4MHz output +#define CONFIG_INT_16MHZ_OSCOUT_8MHZ 0x000A // Internal 16MHz, 8MHz output +#define CONFIG_INT_16MHZ_OSCOUT_16MHZ 0x000B // Internal 16MHz, 16MHz output +#define CONFIG_EXT_8MHZ_XTAL_DRIVE 0x0004 // External 8MHz crystal +#define CONFIG_EXT_16MHZ_XTAL_DRIVE 0x0005 // External 16MHz crystal +#define CONFIG_EXT_24MHZ_XTAL_DRIVE 0x0006 // External 24MHz crystal +#define CONFIG_EXT_32MHZ_XTAL_DRIVE 0x0007 // External 32MHz crystal +#define CONFIG_EXT_8MHZ_OSCOUT_INVERT 0x000C // External 8MHz crystal, output inverted +#define CONFIG_EXT_16MHZ_OSCOUT_INVERT 0x000D // External 16MHz crystal, output inverted +#define CONFIG_EXT_24MHZ_OSCOUT_INVERT 0x000E // External 24MHz crystal, output inverted +#define CONFIG_EXT_32MHZ_OSCOUT_INVERT 0x000F // External 32MHz crystal, output inverted + +// Configure the functionality of the external switch input +#define CONFIG_SW_MODE 0x0010 // Mask for this bit. +#define CONFIG_SW_HARD_STOP 0x0000 // Default; hard stop motor on switch. +#define CONFIG_SW_USER 0x0010 // Tie to the GoUntil and ReleaseSW + // commands to provide jog function. + // See page 25 of datasheet. + +// Configure the motor voltage compensation mode (see page 34 of datasheet) +#define CONFIG_EN_VSCOMP 0x0020 // Mask for this bit. +#define CONFIG_VS_COMP_DISABLE 0x0000 // Disable motor voltage compensation. +#define CONFIG_VS_COMP_ENABLE 0x0020 // Enable motor voltage compensation. + +// Configure overcurrent detection event handling +#define CONFIG_OC_SD 0x0080 // Mask for this bit. +#define CONFIG_OC_SD_DISABLE 0x0000 // Bridges do NOT shutdown on OC detect +#define CONFIG_OC_SD_ENABLE 0x0080 // Bridges shutdown on OC detect + +// Configure the slew rate of the power bridge output +#define CONFIG_POW_SR 0x0300 // Mask for this bit field. +#define CONFIG_SR_180V_us 0x0000 // 180V/us +#define CONFIG_SR_290V_us 0x0200 // 290V/us +#define CONFIG_SR_530V_us 0x0300 // 530V/us + +// Integer divisors for PWM sinewave generation +// See page 32 of the datasheet for more information on this. +#define CONFIG_F_PWM_DEC 0x1C00 // mask for this bit field +#define CONFIG_PWM_MUL_0_625 (0x00)<<10 +#define CONFIG_PWM_MUL_0_75 (0x01)<<10 +#define CONFIG_PWM_MUL_0_875 (0x02)<<10 +#define CONFIG_PWM_MUL_1 (0x03)<<10 +#define CONFIG_PWM_MUL_1_25 (0x04)<<10 +#define CONFIG_PWM_MUL_1_5 (0x05)<<10 +#define CONFIG_PWM_MUL_1_75 (0x06)<<10 +#define CONFIG_PWM_MUL_2 (0x07)<<10 + +// Multiplier for the PWM sinewave frequency +#define CONFIG_F_PWM_INT 0xE000 // mask for this bit field. +#define CONFIG_PWM_DIV_1 (0x00)<<13 +#define CONFIG_PWM_DIV_2 (0x01)<<13 +#define CONFIG_PWM_DIV_3 (0x02)<<13 +#define CONFIG_PWM_DIV_4 (0x03)<<13 +#define CONFIG_PWM_DIV_5 (0x04)<<13 +#define CONFIG_PWM_DIV_6 (0x05)<<13 +#define CONFIG_PWM_DIV_7 (0x06)<<13 + +// Status register bit renames- read-only bits conferring information about the +// device to the user. +#define STATUS_HIZ 0x0001 // high when bridges are in HiZ mode +#define STATUS_BUSY 0x0002 // mirrors BUSY pin +#define STATUS_SW_F 0x0004 // low when switch open, high when closed +#define STATUS_SW_EVN 0x0008 // active high, set on switch falling edge, + // cleared by reading STATUS +#define STATUS_DIR 0x0010 // Indicates current motor direction. + // High is FWD, Low is REV. +#define STATUS_NOTPERF_CMD 0x0080 // Last command not performed. +#define STATUS_WRONG_CMD 0x0100 // Last command not valid. +#define STATUS_UVLO 0x0200 // Undervoltage lockout is active +#define STATUS_TH_WRN 0x0400 // Thermal warning +#define STATUS_TH_SD 0x0800 // Thermal shutdown +#define STATUS_OCD 0x1000 // Overcurrent detected +#define STATUS_STEP_LOSS_A 0x2000 // Stall detected on A bridge +#define STATUS_STEP_LOSS_B 0x4000 // Stall detected on B bridge +#define STATUS_SCK_MOD 0x8000 // Step clock mode is active + +// Status register motor status field +#define STATUS_MOT_STATUS 0x0060 // field mask +#define STATUS_MOT_STATUS_STOPPED (0x0000)<<13 // Motor stopped +#define STATUS_MOT_STATUS_ACCELERATION (0x0001)<<13 // Motor accelerating +#define STATUS_MOT_STATUS_DECELERATION (0x0002)<<13 // Motor decelerating +#define STATUS_MOT_STATUS_CONST_SPD (0x0003)<<13 // Motor at constant speed + +// Register address redefines. +// See the Param_Handler() function for more info about these. +#define ABS_POS 0x01 +#define EL_POS 0x02 +#define MARK 0x03 +#define SPEED 0x04 +#define ACC 0x05 +#define DEC 0x06 +#define MAX_SPEED 0x07 +#define MIN_SPEED 0x08 +#define FS_SPD 0x15 +#define KVAL_HOLD 0x09 +#define KVAL_RUN 0x0A +#define KVAL_ACC 0x0B +#define KVAL_DEC 0x0C +#define INT_SPD 0x0D +#define ST_SLP 0x0E +#define FN_SLP_ACC 0x0F +#define FN_SLP_DEC 0x10 +#define K_THERM 0x11 +#define ADC_OUT 0x12 +#define OCD_TH 0x13 +#define STALL_TH 0x14 +#define STEP_MODE 0x16 +#define ALARM_EN 0x17 +#define CONFIG 0x18 +#define STATUS 0x19 + +//dSPIN commands +#define NOP 0x00 +#define SET_PARAM 0x00 +#define GET_PARAM 0x20 +#define RUN 0x50 +#define STEP_CLOCK 0x58 +#define MOVE 0x40 +#define GOTO 0x60 +#define GOTO_DIR 0x68 +#define GO_UNTIL 0x82 +#define RELEASE_SW 0x92 +#define GO_HOME 0x70 +#define GO_MARK 0x78 +#define RESET_POS 0xD8 +#define RESET_DEVICE 0xC0 +#define SOFT_STOP 0xB0 +#define HARD_STOP 0xB8 +#define SOFT_HIZ 0xA0 +#define HARD_HIZ 0xA8 +#define GET_STATUS 0xD0 + +/* dSPIN direction options */ +#define FWD 0x01 +#define REV 0x00 + +/* dSPIN action options */ +#define ACTION_RESET 0x00 +#define ACTION_COPY 0x01 + + +class L6470{ + + public: + + L6470(int SSPin); + void init(int k_value); + void setMicroSteps(int microSteps); + void setCurrent(int current); + void setMaxSpeed(int speed); + void setMinSpeed(int speed); + void setAcc(float acceleration); + void setDec(float deceleration); + void setOverCurrent(unsigned int ma_current); + void setThresholdSpeed(float threshold); + void setStallCurrent(float ma_current); + + unsigned long ParamHandler(byte param, unsigned long value); + void SetLowSpeedOpt(boolean enable); + void run(byte dir, float spd); + void Step_Clock(byte dir); + void goHome(); + void setAsHome(); + void goMark(); + void move(long n_step); + void goTo(long pos); + void goTo_DIR(byte dir, long pos); + void goUntil(byte act, byte dir, unsigned long spd); + boolean isBusy(); + void releaseSW(byte act, byte dir); + float getSpeed(); + long getPos(); + void setMark(); + void setMark(long value); + void resetPos(); + void resetDev(); + void softStop(); + void hardStop(); + void softFree(); + void free(); + int getStatus(); + void SetParam(byte param, unsigned long value); + + private: + long convert(unsigned long val); + unsigned long GetParam(byte param); + unsigned long AccCalc(float stepsPerSecPerSec); + unsigned long DecCalc(float stepsPerSecPerSec); + unsigned long MaxSpdCalc(float stepsPerSec); + unsigned long MinSpdCalc(float stepsPerSec); + unsigned long FSCalc(float stepsPerSec); + unsigned long IntSpdCalc(float stepsPerSec); + unsigned long SpdCalc(float stepsPerSec); + unsigned long Param(unsigned long value, byte bit_len); + byte Xfer(byte data); + int _SSPin; +}; + +#endif |