352 lines
14 KiB
C++
352 lines
14 KiB
C++
//dSPIN_commands.ino - Contains high-level command implementations- movement
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// and configuration commands, for example.
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// Realize the "set parameter" function, to write to the various registers in
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// the dSPIN chip.
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void dSPIN_SetParam(byte param, unsigned long value)
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{
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dSPIN_Xfer(dSPIN_SET_PARAM | param);
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dSPIN_ParamHandler(param, value);
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}
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// Realize the "get parameter" function, to read from the various registers in
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// the dSPIN chip.
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unsigned long dSPIN_GetParam(byte param)
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{
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dSPIN_Xfer(dSPIN_GET_PARAM | param);
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return dSPIN_ParamHandler(param, 0);
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}
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// Much of the functionality between "get parameter" and "set parameter" is
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// very similar, so we deal with that by putting all of it in one function
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// here to save memory space and simplify the program.
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unsigned long dSPIN_ParamHandler(byte param, unsigned long value)
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{
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unsigned long ret_val = 0; // This is a temp for the value to return.
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// This switch structure handles the appropriate action for each register.
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// This is necessary since not all registers are of the same length, either
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// bit-wise or byte-wise, so we want to make sure we mask out any spurious
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// bits and do the right number of transfers. That is handled by the dSPIN_Param()
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// function, in most cases, but for 1-byte or smaller transfers, we call
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// dSPIN_Xfer() directly.
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switch (param)
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{
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// ABS_POS is the current absolute offset from home. It is a 22 bit number expressed
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// in two's complement. At power up, this value is 0. It cannot be written when
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// the motor is running, but at any other time, it can be updated to change the
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// interpreted position of the motor.
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case dSPIN_ABS_POS:
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ret_val = dSPIN_Param(value, 22);
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break;
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// EL_POS is the current electrical position in the step generation cycle. It can
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// be set when the motor is not in motion. Value is 0 on power up.
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case dSPIN_EL_POS:
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ret_val = dSPIN_Param(value, 9);
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break;
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// MARK is a second position other than 0 that the motor can be told to go to. As
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// with ABS_POS, it is 22-bit two's complement. Value is 0 on power up.
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case dSPIN_MARK:
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ret_val = dSPIN_Param(value, 22);
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break;
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// SPEED contains information about the current speed. It is read-only. It does
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// NOT provide direction information.
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case dSPIN_SPEED:
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ret_val = dSPIN_Param(0, 20);
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break;
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// ACC and DEC set the acceleration and deceleration rates. Set ACC to 0xFFF
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// to get infinite acceleration/decelaeration- there is no way to get infinite
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// deceleration w/o infinite acceleration (except the HARD STOP command).
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// Cannot be written while motor is running. Both default to 0x08A on power up.
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// AccCalc() and DecCalc() functions exist to convert steps/s/s values into
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// 12-bit values for these two registers.
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case dSPIN_ACC:
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ret_val = dSPIN_Param(value, 12);
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break;
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case dSPIN_DEC:
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ret_val = dSPIN_Param(value, 12);
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break;
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// MAX_SPEED is just what it says- any command which attempts to set the speed
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// of the motor above this value will simply cause the motor to turn at this
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// speed. Value is 0x041 on power up.
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// MaxSpdCalc() function exists to convert steps/s value into a 10-bit value
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// for this register.
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case dSPIN_MAX_SPEED:
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ret_val = dSPIN_Param(value, 10);
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break;
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// MIN_SPEED controls two things- the activation of the low-speed optimization
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// feature and the lowest speed the motor will be allowed to operate at. LSPD_OPT
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// is the 13th bit, and when it is set, the minimum allowed speed is automatically
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// set to zero. This value is 0 on startup.
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// MinSpdCalc() function exists to convert steps/s value into a 12-bit value for this
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// register. SetLSPDOpt() function exists to enable/disable the optimization feature.
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case dSPIN_MIN_SPEED:
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ret_val = dSPIN_Param(value, 12);
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break;
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// FS_SPD register contains a threshold value above which microstepping is disabled
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// and the dSPIN operates in full-step mode. Defaults to 0x027 on power up.
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// FSCalc() function exists to convert steps/s value into 10-bit integer for this
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// register.
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case dSPIN_FS_SPD:
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ret_val = dSPIN_Param(value, 10);
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break;
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// KVAL is the maximum voltage of the PWM outputs. These 8-bit values are ratiometric
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// representations: 255 for full output voltage, 128 for half, etc. Default is 0x29.
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// The implications of different KVAL settings is too complex to dig into here, but
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// it will usually work to max the value for RUN, ACC, and DEC. Maxing the value for
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// HOLD may result in excessive power dissipation when the motor is not running.
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case dSPIN_KVAL_HOLD:
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ret_val = dSPIN_Xfer((byte)value);
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break;
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case dSPIN_KVAL_RUN:
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ret_val = dSPIN_Xfer((byte)value);
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break;
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case dSPIN_KVAL_ACC:
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ret_val = dSPIN_Xfer((byte)value);
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break;
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case dSPIN_KVAL_DEC:
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ret_val = dSPIN_Xfer((byte)value);
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break;
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// INT_SPD, ST_SLP, FN_SLP_ACC and FN_SLP_DEC are all related to the back EMF
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// compensation functionality. Please see the datasheet for details of this
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// function- it is too complex to discuss here. Default values seem to work
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// well enough.
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case dSPIN_INT_SPD:
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ret_val = dSPIN_Param(value, 14);
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break;
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case dSPIN_ST_SLP:
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ret_val = dSPIN_Xfer((byte)value);
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break;
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case dSPIN_FN_SLP_ACC:
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ret_val = dSPIN_Xfer((byte)value);
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break;
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case dSPIN_FN_SLP_DEC:
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ret_val = dSPIN_Xfer((byte)value);
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break;
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// K_THERM is motor winding thermal drift compensation. Please see the datasheet
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// for full details on operation- the default value should be okay for most users.
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case dSPIN_K_THERM:
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ret_val = dSPIN_Xfer((byte)value & 0x0F);
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break;
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// ADC_OUT is a read-only register containing the result of the ADC measurements.
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// This is less useful than it sounds; see the datasheet for more information.
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case dSPIN_ADC_OUT:
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ret_val = dSPIN_Xfer(0);
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break;
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// Set the overcurrent threshold. Ranges from 375mA to 6A in steps of 375mA.
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// A set of defined constants is provided for the user's convenience. Default
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// value is 3.375A- 0x08. This is a 4-bit value.
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case dSPIN_OCD_TH:
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ret_val = dSPIN_Xfer((byte)value & 0x0F);
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break;
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// Stall current threshold. Defaults to 0x40, or 2.03A. Value is from 31.25mA to
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// 4A in 31.25mA steps. This is a 7-bit value.
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case dSPIN_STALL_TH:
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ret_val = dSPIN_Xfer((byte)value & 0x7F);
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break;
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// STEP_MODE controls the microstepping settings, as well as the generation of an
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// output signal from the dSPIN. Bits 2:0 control the number of microsteps per
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// step the part will generate. Bit 7 controls whether the BUSY/SYNC pin outputs
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// a BUSY signal or a step synchronization signal. Bits 6:4 control the frequency
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// of the output signal relative to the full-step frequency; see datasheet for
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// that relationship as it is too complex to reproduce here.
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// Most likely, only the microsteps per step value will be needed; there is a set
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// of constants provided for ease of use of these values.
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case dSPIN_STEP_MODE:
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ret_val = dSPIN_Xfer((byte)value);
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break;
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// ALARM_EN controls which alarms will cause the FLAG pin to fall. A set of constants
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// is provided to make this easy to interpret. By default, ALL alarms will trigger the
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// FLAG pin.
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case dSPIN_ALARM_EN:
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ret_val = dSPIN_Xfer((byte)value);
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break;
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// CONFIG contains some assorted configuration bits and fields. A fairly comprehensive
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// set of reasonably self-explanatory constants is provided, but users should refer
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// to the datasheet before modifying the contents of this register to be certain they
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// understand the implications of their modifications. Value on boot is 0x2E88; this
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// can be a useful way to verify proper start up and operation of the dSPIN chip.
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case dSPIN_CONFIG:
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ret_val = dSPIN_Param(value, 16);
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break;
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// STATUS contains read-only information about the current condition of the chip. A
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// comprehensive set of constants for masking and testing this register is provided, but
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// users should refer to the datasheet to ensure that they fully understand each one of
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// the bits in the register.
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case dSPIN_STATUS: // STATUS is a read-only register
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ret_val = dSPIN_Param(0, 16);
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break;
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default:
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ret_val = dSPIN_Xfer((byte)(value));
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break;
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}
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return ret_val;
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}
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// Enable or disable the low-speed optimization option. If enabling,
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// the other 12 bits of the register will be automatically zero.
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// When disabling, the value will have to be explicitly written by
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// the user with a SetParam() call. See the datasheet for further
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// information about low-speed optimization.
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void SetLSPDOpt(boolean enable)
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{
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dSPIN_Xfer(dSPIN_SET_PARAM | dSPIN_MIN_SPEED);
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if (enable) dSPIN_Param(0x1000, 13);
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else dSPIN_Param(0, 13);
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}
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// RUN sets the motor spinning in a direction (defined by the constants
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// FWD and REV). Maximum speed and minimum speed are defined
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// by the MAX_SPEED and MIN_SPEED registers; exceeding the FS_SPD value
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// will switch the device into full-step mode.
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// The SpdCalc() function is provided to convert steps/s values into
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// appropriate integer values for this function.
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void dSPIN_Run(byte dir, unsigned long spd)
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{
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dSPIN_Xfer(dSPIN_RUN | dir);
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if (spd > 0xFFFFF) spd = 0xFFFFF;
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dSPIN_Xfer((byte)(spd >> 16));
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dSPIN_Xfer((byte)(spd >> 8));
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dSPIN_Xfer((byte)(spd));
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}
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// STEP_CLOCK puts the device in external step clocking mode. When active,
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// pin 25, STCK, becomes the step clock for the device, and steps it in
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// the direction (set by the FWD and REV constants) imposed by the call
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// of this function. Motion commands (RUN, MOVE, etc) will cause the device
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// to exit step clocking mode.
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void dSPIN_Step_Clock(byte dir)
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{
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dSPIN_Xfer(dSPIN_STEP_CLOCK | dir);
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}
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// MOVE will send the motor n_step steps (size based on step mode) in the
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// direction imposed by dir (FWD or REV constants may be used). The motor
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// will accelerate according the acceleration and deceleration curves, and
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// will run at MAX_SPEED. Stepping mode will adhere to FS_SPD value, as well.
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void dSPIN_Move(byte dir, unsigned long n_step)
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{
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dSPIN_Xfer(dSPIN_MOVE | dir);
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if (n_step > 0x3FFFFF) n_step = 0x3FFFFF;
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dSPIN_Xfer((byte)(n_step >> 16));
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dSPIN_Xfer((byte)(n_step >> 8));
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dSPIN_Xfer((byte)(n_step));
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}
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// GOTO operates much like MOVE, except it produces absolute motion instead
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// of relative motion. The motor will be moved to the indicated position
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// in the shortest possible fashion.
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void dSPIN_GoTo(unsigned long pos)
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{
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dSPIN_Xfer(dSPIN_GOTO);
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if (pos > 0x3FFFFF) pos = 0x3FFFFF;
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dSPIN_Xfer((byte)(pos >> 16));
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dSPIN_Xfer((byte)(pos >> 8));
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dSPIN_Xfer((byte)(pos));
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}
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// Same as GOTO, but with user constrained rotational direction.
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void dSPIN_GoTo_DIR(byte dir, unsigned long pos)
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{
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dSPIN_Xfer(dSPIN_GOTO_DIR);
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if (pos > 0x3FFFFF) pos = 0x3FFFFF;
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dSPIN_Xfer((byte)(pos >> 16));
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dSPIN_Xfer((byte)(pos >> 8));
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dSPIN_Xfer((byte)(pos));
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}
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// GoUntil will set the motor running with direction dir (REV or
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// FWD) until a falling edge is detected on the SW pin. Depending
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// on bit SW_MODE in CONFIG, either a hard stop or a soft stop is
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// performed at the falling edge, and depending on the value of
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// act (either RESET or COPY) the value in the ABS_POS register is
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// either RESET to 0 or COPY-ed into the MARK register.
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void dSPIN_GoUntil(byte act, byte dir, unsigned long spd)
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{
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dSPIN_Xfer(dSPIN_GO_UNTIL | act | dir);
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if (spd > 0x3FFFFF) spd = 0x3FFFFF;
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dSPIN_Xfer((byte)(spd >> 16));
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dSPIN_Xfer((byte)(spd >> 8));
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dSPIN_Xfer((byte)(spd));
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}
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// Similar in nature to GoUntil, ReleaseSW produces motion at the
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// higher of two speeds: the value in MIN_SPEED or 5 steps/s.
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// The motor continues to run at this speed until a rising edge
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// is detected on the switch input, then a hard stop is performed
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// and the ABS_POS register is either COPY-ed into MARK or RESET to
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// 0, depending on whether RESET or COPY was passed to the function
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// for act.
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void dSPIN_ReleaseSW(byte act, byte dir)
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{
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dSPIN_Xfer(dSPIN_RELEASE_SW | act | dir);
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}
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// GoHome is equivalent to GoTo(0), but requires less time to send.
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// Note that no direction is provided; motion occurs through shortest
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// path. If a direction is required, use GoTo_DIR().
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void dSPIN_GoHome()
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{
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dSPIN_Xfer(dSPIN_GO_HOME);
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}
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// GoMark is equivalent to GoTo(MARK), but requires less time to send.
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// Note that no direction is provided; motion occurs through shortest
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// path. If a direction is required, use GoTo_DIR().
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void dSPIN_GoMark()
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{
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dSPIN_Xfer(dSPIN_GO_MARK);
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}
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// Sets the ABS_POS register to 0, effectively declaring the current
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// position to be "HOME".
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void dSPIN_ResetPos()
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{
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dSPIN_Xfer(dSPIN_RESET_POS);
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}
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// Reset device to power up conditions. Equivalent to toggling the STBY
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// pin or cycling power.
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void dSPIN_ResetDev()
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{
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dSPIN_Xfer(dSPIN_RESET_DEVICE);
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}
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// Bring the motor to a halt using the deceleration curve.
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void dSPIN_SoftStop()
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{
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dSPIN_Xfer(dSPIN_SOFT_STOP);
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}
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// Stop the motor with infinite deceleration.
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void dSPIN_HardStop()
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{
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dSPIN_Xfer(dSPIN_HARD_STOP);
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}
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// Decelerate the motor and put the bridges in Hi-Z state.
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void dSPIN_SoftHiZ()
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{
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dSPIN_Xfer(dSPIN_SOFT_HIZ);
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}
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// Put the bridges in Hi-Z state immediately with no deceleration.
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void dSPIN_HardHiZ()
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{
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dSPIN_Xfer(dSPIN_HARD_HIZ);
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}
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// Fetch and return the 16-bit value in the STATUS register. Resets
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// any warning flags and exits any error states. Using GetParam()
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// to read STATUS does not clear these values.
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int dSPIN_GetStatus()
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{
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int temp = 0;
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dSPIN_Xfer(dSPIN_GET_STATUS);
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temp = dSPIN_Xfer(0)<<8;
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temp |= dSPIN_Xfer(0);
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return temp;
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}
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