282 lines
13 KiB
Arduino
282 lines
13 KiB
Arduino
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/*****************************************************************
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Example code for the STMicro L6470 dSPIN stepper motor driver.
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This code is public domain beerware/Sunny-D-ware. If you find it useful and
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run into me someday, I'd appreciate a cold one.
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12/12/2011- Mike Hord, SparkFun Electronics
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The breakout board for the dSPIN chip has 7 data lines:
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BSYN- this line is LOW when the chip is busy; busy generally means things
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like executing a move command.
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STBY- drag low to reset the device to default conditions. Also should be
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performed after power up to ensure a known-good initial state.
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FLGN- when the dSPIN raises a flag it usually means an error has occurred
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STCK- used as a step clock input; the direction (and activation of this input
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is done by setting registers on the chip.
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SDI- SPI data FROM the uC TO the dSPIN
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SDO- SPI data TO the uC FROM the dSPIN
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CSN- active-low slave select for the SPI bus
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CK- data clock for the SPI bus
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A note about connecting motors:
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It's unclear from the datasheet what gets connected to which terminal.
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Bridge one (terminals 01A and 01B) gets one coil, and bridge two gets
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the other coil. For our mid-small stepper (ROB-9238), that translates to
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01A -> RED
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01B -> GREEN
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02A -> BLUE
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02B -> YELLOW
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ERRATA: IMPORTANT!!! READ THIS!!!
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There are several errors in the datasheet for the L6470:
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- the internal oscillator is specified as 16MHz +/- 3%. Experimentally, it
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seems to be more like a 6% tolerance.
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- when transitioning from one movement command to another, it may be necessary
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to include a dSPIN_SoftStop() between the two to ensure proper operation. For
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example, if dSPIN_Move(FWD, 800) is used to move 800 steps FWD, and
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immediately after that, with no soft stop between them, a dSPIN_Run(FWD, 200)
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command is issued, the 'run' command will execute with a speed based on the
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value in the 'MAX_SPEED' register, the way the 'move' command did, and NOT
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with the speed passed to it by the function call.
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Initial release.
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FILENAMES
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dSPIN_example.ino - This file. Constant definitions for register names, pin
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redefinitions, and bit field names.
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dSPIN_commands.ino - Contains high-level command implementations- movement
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and configuration commands, for example.
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dSPIN_support.ino - Contains functions used to implement the high-level commands,
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as well as utility functions for converting real-world units (eg, steps/s) to
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values usable by the dsPIN controller. Also contains the specialized configuration
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function for the dsPIN chip and the onboard peripherals needed to use it.
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dSPIN_main.ino - Contains the setup() and loop() functions.
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*****************************************************************/
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// include the SPI library:
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#include <SPI.h>
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#define SLAVE_SELECT_PIN 10 // Wire this to the CSN pin
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#define MOSI 11 // Wire this to the SDI pin
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#define MISO 12 // Wire this to the SDO pin
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#define SCK 13 // Wire this to the CK pin
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#define dSPIN_RESET 6 // Wire this to the STBY line
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#define dSPIN_BUSYN 4 // Wire this to the BSYN line
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#define STAT1 14 // Hooked to an LED on the test jig
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#define STAT2 15 // Hooked to an LED on the test jig
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#define SWITCH 8 // Hooked to the switch input and a pB on the jig
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// constant definitions for overcurrent thresholds. Write these values to
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// register dSPIN_OCD_TH to set the level at which an overcurrent even occurs.
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#define dSPIN_OCD_TH_375mA 0x00
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#define dSPIN_OCD_TH_750mA 0x01
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#define dSPIN_OCD_TH_1125mA 0x02
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#define dSPIN_OCD_TH_1500mA 0x03
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#define dSPIN_OCD_TH_1875mA 0x04
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#define dSPIN_OCD_TH_2250mA 0x05
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#define dSPIN_OCD_TH_2625mA 0x06
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#define dSPIN_OCD_TH_3000mA 0x07
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#define dSPIN_OCD_TH_3375mA 0x08
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#define dSPIN_OCD_TH_3750mA 0x09
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#define dSPIN_OCD_TH_4125mA 0x0A
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#define dSPIN_OCD_TH_4500mA 0x0B
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#define dSPIN_OCD_TH_4875mA 0x0C
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#define dSPIN_OCD_TH_5250mA 0x0D
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#define dSPIN_OCD_TH_5625mA 0x0E
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#define dSPIN_OCD_TH_6000mA 0x0F
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// STEP_MODE option values.
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// First comes the "microsteps per step" options...
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#define dSPIN_STEP_MODE_STEP_SEL 0x07 // Mask for these bits only.
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#define dSPIN_STEP_SEL_1 0x00
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#define dSPIN_STEP_SEL_1_2 0x01
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#define dSPIN_STEP_SEL_1_4 0x02
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#define dSPIN_STEP_SEL_1_8 0x03
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#define dSPIN_STEP_SEL_1_16 0x04
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#define dSPIN_STEP_SEL_1_32 0x05
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#define dSPIN_STEP_SEL_1_64 0x06
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#define dSPIN_STEP_SEL_1_128 0x07
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// ...next, define the SYNC_EN bit. When set, the BUSYN pin will instead
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// output a clock related to the full-step frequency as defined by the
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// SYNC_SEL bits below.
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#define dSPIN_STEP_MODE_SYNC_EN 0x80 // Mask for this bit
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#define dSPIN_SYNC_EN 0x80
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// ...last, define the SYNC_SEL modes. The clock output is defined by
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// the full-step frequency and the value in these bits- see the datasheet
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// for a matrix describing that relationship (page 46).
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#define dSPIN_STEP_MODE_SYNC_SEL 0x70
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#define dSPIN_SYNC_SEL_1_2 0x00
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#define dSPIN_SYNC_SEL_1 0x10
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#define dSPIN_SYNC_SEL_2 0x20
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#define dSPIN_SYNC_SEL_4 0x30
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#define dSPIN_SYNC_SEL_8 0x40
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#define dSPIN_SYNC_SEL_16 0x50
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#define dSPIN_SYNC_SEL_32 0x60
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#define dSPIN_SYNC_SEL_64 0x70
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// Bit names for the ALARM_EN register.
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// Each of these bits defines one potential alarm condition.
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// When one of these conditions occurs and the respective bit in ALARM_EN is set,
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// the FLAG pin will go low. The register must be queried to determine which event
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// caused the alarm.
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#define dSPIN_ALARM_EN_OVERCURRENT 0x01
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#define dSPIN_ALARM_EN_THERMAL_SHUTDOWN 0x02
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#define dSPIN_ALARM_EN_THERMAL_WARNING 0x04
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#define dSPIN_ALARM_EN_UNDER_VOLTAGE 0x08
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#define dSPIN_ALARM_EN_STALL_DET_A 0x10
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#define dSPIN_ALARM_EN_STALL_DET_B 0x20
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#define dSPIN_ALARM_EN_SW_TURN_ON 0x40
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#define dSPIN_ALARM_EN_WRONG_NPERF_CMD 0x80
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// CONFIG register renames.
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// Oscillator options.
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// The dSPIN needs to know what the clock frequency is because it uses that for some
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// calculations during operation.
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#define dSPIN_CONFIG_OSC_SEL 0x000F // Mask for this bit field.
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#define dSPIN_CONFIG_INT_16MHZ 0x0000 // Internal 16MHz, no output
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#define dSPIN_CONFIG_INT_16MHZ_OSCOUT_2MHZ 0x0008 // Default; internal 16MHz, 2MHz output
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#define dSPIN_CONFIG_INT_16MHZ_OSCOUT_4MHZ 0x0009 // Internal 16MHz, 4MHz output
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#define dSPIN_CONFIG_INT_16MHZ_OSCOUT_8MHZ 0x000A // Internal 16MHz, 8MHz output
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#define dSPIN_CONFIG_INT_16MHZ_OSCOUT_16MHZ 0x000B // Internal 16MHz, 16MHz output
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#define dSPIN_CONFIG_EXT_8MHZ_XTAL_DRIVE 0x0004 // External 8MHz crystal
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#define dSPIN_CONFIG_EXT_16MHZ_XTAL_DRIVE 0x0005 // External 16MHz crystal
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#define dSPIN_CONFIG_EXT_24MHZ_XTAL_DRIVE 0x0006 // External 24MHz crystal
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#define dSPIN_CONFIG_EXT_32MHZ_XTAL_DRIVE 0x0007 // External 32MHz crystal
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#define dSPIN_CONFIG_EXT_8MHZ_OSCOUT_INVERT 0x000C // External 8MHz crystal, output inverted
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#define dSPIN_CONFIG_EXT_16MHZ_OSCOUT_INVERT 0x000D // External 16MHz crystal, output inverted
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#define dSPIN_CONFIG_EXT_24MHZ_OSCOUT_INVERT 0x000E // External 24MHz crystal, output inverted
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#define dSPIN_CONFIG_EXT_32MHZ_OSCOUT_INVERT 0x000F // External 32MHz crystal, output inverted
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// Configure the functionality of the external switch input
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#define dSPIN_CONFIG_SW_MODE 0x0010 // Mask for this bit.
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#define dSPIN_CONFIG_SW_HARD_STOP 0x0000 // Default; hard stop motor on switch.
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#define dSPIN_CONFIG_SW_USER 0x0010 // Tie to the GoUntil and ReleaseSW
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// commands to provide jog function.
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// See page 25 of datasheet.
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// Configure the motor voltage compensation mode (see page 34 of datasheet)
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#define dSPIN_CONFIG_EN_VSCOMP 0x0020 // Mask for this bit.
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#define dSPIN_CONFIG_VS_COMP_DISABLE 0x0000 // Disable motor voltage compensation.
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#define dSPIN_CONFIG_VS_COMP_ENABLE 0x0020 // Enable motor voltage compensation.
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// Configure overcurrent detection event handling
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#define dSPIN_CONFIG_OC_SD 0x0080 // Mask for this bit.
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#define dSPIN_CONFIG_OC_SD_DISABLE 0x0000 // Bridges do NOT shutdown on OC detect
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#define dSPIN_CONFIG_OC_SD_ENABLE 0x0080 // Bridges shutdown on OC detect
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// Configure the slew rate of the power bridge output
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#define dSPIN_CONFIG_POW_SR 0x0300 // Mask for this bit field.
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#define dSPIN_CONFIG_SR_180V_us 0x0000 // 180V/us
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#define dSPIN_CONFIG_SR_290V_us 0x0200 // 290V/us
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#define dSPIN_CONFIG_SR_530V_us 0x0300 // 530V/us
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// Integer divisors for PWM sinewave generation
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// See page 32 of the datasheet for more information on this.
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#define dSPIN_CONFIG_F_PWM_DEC 0x1C00 // mask for this bit field
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#define dSPIN_CONFIG_PWM_MUL_0_625 (0x00)<<10
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#define dSPIN_CONFIG_PWM_MUL_0_75 (0x01)<<10
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#define dSPIN_CONFIG_PWM_MUL_0_875 (0x02)<<10
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#define dSPIN_CONFIG_PWM_MUL_1 (0x03)<<10
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#define dSPIN_CONFIG_PWM_MUL_1_25 (0x04)<<10
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#define dSPIN_CONFIG_PWM_MUL_1_5 (0x05)<<10
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#define dSPIN_CONFIG_PWM_MUL_1_75 (0x06)<<10
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#define dSPIN_CONFIG_PWM_MUL_2 (0x07)<<10
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// Multiplier for the PWM sinewave frequency
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#define dSPIN_CONFIG_F_PWM_INT 0xE000 // mask for this bit field.
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#define dSPIN_CONFIG_PWM_DIV_1 (0x00)<<13
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#define dSPIN_CONFIG_PWM_DIV_2 (0x01)<<13
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#define dSPIN_CONFIG_PWM_DIV_3 (0x02)<<13
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#define dSPIN_CONFIG_PWM_DIV_4 (0x03)<<13
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#define dSPIN_CONFIG_PWM_DIV_5 (0x04)<<13
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#define dSPIN_CONFIG_PWM_DIV_6 (0x05)<<13
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#define dSPIN_CONFIG_PWM_DIV_7 (0x06)<<13
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// Status register bit renames- read-only bits conferring information about the
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// device to the user.
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#define dSPIN_STATUS_HIZ 0x0001 // high when bridges are in HiZ mode
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#define dSPIN_STATUS_BUSY 0x0002 // mirrors BUSY pin
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#define dSPIN_STATUS_SW_F 0x0004 // low when switch open, high when closed
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#define dSPIN_STATUS_SW_EVN 0x0008 // active high, set on switch falling edge,
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// cleared by reading STATUS
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#define dSPIN_STATUS_DIR 0x0010 // Indicates current motor direction.
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// High is FWD, Low is REV.
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#define dSPIN_STATUS_NOTPERF_CMD 0x0080 // Last command not performed.
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#define dSPIN_STATUS_WRONG_CMD 0x0100 // Last command not valid.
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#define dSPIN_STATUS_UVLO 0x0200 // Undervoltage lockout is active
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#define dSPIN_STATUS_TH_WRN 0x0400 // Thermal warning
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#define dSPIN_STATUS_TH_SD 0x0800 // Thermal shutdown
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#define dSPIN_STATUS_OCD 0x1000 // Overcurrent detected
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#define dSPIN_STATUS_STEP_LOSS_A 0x2000 // Stall detected on A bridge
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#define dSPIN_STATUS_STEP_LOSS_B 0x4000 // Stall detected on B bridge
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#define dSPIN_STATUS_SCK_MOD 0x8000 // Step clock mode is active
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// Status register motor status field
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#define dSPIN_STATUS_MOT_STATUS 0x0060 // field mask
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#define dSPIN_STATUS_MOT_STATUS_STOPPED (0x0000)<<13 // Motor stopped
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#define dSPIN_STATUS_MOT_STATUS_ACCELERATION (0x0001)<<13 // Motor accelerating
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#define dSPIN_STATUS_MOT_STATUS_DECELERATION (0x0002)<<13 // Motor decelerating
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#define dSPIN_STATUS_MOT_STATUS_CONST_SPD (0x0003)<<13 // Motor at constant speed
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// Register address redefines.
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// See the dSPIN_Param_Handler() function for more info about these.
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#define dSPIN_ABS_POS 0x01
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#define dSPIN_EL_POS 0x02
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#define dSPIN_MARK 0x03
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#define dSPIN_SPEED 0x04
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#define dSPIN_ACC 0x05
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#define dSPIN_DEC 0x06
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#define dSPIN_MAX_SPEED 0x07
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#define dSPIN_MIN_SPEED 0x08
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#define dSPIN_FS_SPD 0x15
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#define dSPIN_KVAL_HOLD 0x09
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#define dSPIN_KVAL_RUN 0x0A
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#define dSPIN_KVAL_ACC 0x0B
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#define dSPIN_KVAL_DEC 0x0C
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#define dSPIN_INT_SPD 0x0D
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#define dSPIN_ST_SLP 0x0E
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#define dSPIN_FN_SLP_ACC 0x0F
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#define dSPIN_FN_SLP_DEC 0x10
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#define dSPIN_K_THERM 0x11
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#define dSPIN_ADC_OUT 0x12
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#define dSPIN_OCD_TH 0x13
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#define dSPIN_STALL_TH 0x14
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#define dSPIN_STEP_MODE 0x16
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#define dSPIN_ALARM_EN 0x17
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#define dSPIN_CONFIG 0x18
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#define dSPIN_STATUS 0x19
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//dSPIN commands
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#define dSPIN_NOP 0x00
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#define dSPIN_SET_PARAM 0x00
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#define dSPIN_GET_PARAM 0x20
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#define dSPIN_RUN 0x50
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#define dSPIN_STEP_CLOCK 0x58
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#define dSPIN_MOVE 0x40
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#define dSPIN_GOTO 0x60
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#define dSPIN_GOTO_DIR 0x68
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#define dSPIN_GO_UNTIL 0x82
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#define dSPIN_RELEASE_SW 0x92
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#define dSPIN_GO_HOME 0x70
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#define dSPIN_GO_MARK 0x78
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#define dSPIN_RESET_POS 0xD8
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#define dSPIN_RESET_DEVICE 0xC0
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#define dSPIN_SOFT_STOP 0xB0
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#define dSPIN_HARD_STOP 0xB8
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#define dSPIN_SOFT_HIZ 0xA0
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#define dSPIN_HARD_HIZ 0xA8
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#define dSPIN_GET_STATUS 0xD0
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/* dSPIN direction options */
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#define FWD 0x01
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#define REV 0x00
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/* dSPIN action options */
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#define ACTION_RESET 0x00
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#define ACTION_COPY 0x01
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