//////////////////////////////////////////////////////////// //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 #include #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