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