118 lines
6.2 KiB
C++
118 lines
6.2 KiB
C++
//dSPIN_main.ino - Contains the setup() and loop() functions.
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float testSpeed = 10;
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void setup()
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{
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// Standard serial port initialization for debugging.
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Serial.begin(9600);
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// pin configurations for the test jig
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pinMode(STAT1, OUTPUT);
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pinMode(STAT2, OUTPUT);
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pinMode(SWITCH, INPUT);
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digitalWrite(STAT1, LOW);
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digitalWrite(STAT2, LOW);
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// dSPIN_init() is implemented in the dSPIN_support.ino file. It includes
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// all the necessary port setup and SPI setup to allow the Arduino to
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// control the dSPIN chip and relies entirely upon the pin redefinitions
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// in dSPIN_example.ino
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dSPIN_init();
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// First things first: let's check communications. The CONFIG register should
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// power up to 0x2E88, so we can use that to check the communications.
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// On the test jig, this causes an LED to light up.
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if (dSPIN_GetParam(dSPIN_CONFIG) == 0x2E88) digitalWrite(STAT1, HIGH);
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// The following function calls are for this demo application- you will
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// need to adjust them for your particular application, and you may need
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// to configure additional registers.
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// First, let's set the step mode register:
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// - dSPIN_SYNC_EN controls whether the BUSY/SYNC pin reflects the step
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// frequency or the BUSY status of the chip. We want it to be the BUSY
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// status.
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// - dSPIN_STEP_SEL_x is the microstepping rate- we'll go full step.
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// - dSPIN_SYNC_SEL_x is the ratio of (micro)steps to toggles on the
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// BUSY/SYNC pin (when that pin is used for SYNC). Make it 1:1, despite
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// not using that pin.
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dSPIN_SetParam(dSPIN_STEP_MODE, !dSPIN_SYNC_EN | dSPIN_STEP_SEL_1 | dSPIN_SYNC_SEL_1);
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// Configure the MAX_SPEED register- this is the maximum number of (micro)steps per
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// second allowed. You'll want to mess around with your desired application to see
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// how far you can push it before the motor starts to slip. The ACTUAL parameter
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// passed to this function is in steps/tick; MaxSpdCalc() will convert a number of
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// steps/s into an appropriate value for this function. Note that for any move or
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// goto type function where no speed is specified, this value will be used.
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dSPIN_SetParam(dSPIN_MAX_SPEED, MaxSpdCalc(400));
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// Configure the FS_SPD register- this is the speed at which the driver ceases
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// microstepping and goes to full stepping. FSCalc() converts a value in steps/s
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// to a value suitable for this register; to disable full-step switching, you
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// can pass 0x3FF to this register.
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dSPIN_SetParam(dSPIN_FS_SPD, FSCalc(400));
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// Configure the acceleration rate, in steps/tick/tick. There is also a DEC register;
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// both of them have a function (AccCalc() and DecCalc() respectively) that convert
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// from steps/s/s into the appropriate value for the register. Writing ACC to 0xfff
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// sets the acceleration and deceleration to 'infinite' (or as near as the driver can
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// manage). If ACC is set to 0xfff, DEC is ignored. To get infinite deceleration
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// without infinite acceleration, only hard stop will work.
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dSPIN_SetParam(dSPIN_ACC, 0xfff);
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// Configure the overcurrent detection threshold. The constants for this are defined
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// in the dSPIN_example.ino file.
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dSPIN_SetParam(dSPIN_OCD_TH, dSPIN_OCD_TH_6000mA);
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// Set up the CONFIG register as follows:
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// PWM frequency divisor = 1
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// PWM frequency multiplier = 2 (62.5kHz PWM frequency)
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// Slew rate is 290V/us
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// Do NOT shut down bridges on overcurrent
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// Disable motor voltage compensation
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// Hard stop on switch low
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// 16MHz internal oscillator, nothing on output
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dSPIN_SetParam(dSPIN_CONFIG,
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dSPIN_CONFIG_PWM_DIV_1 | dSPIN_CONFIG_PWM_MUL_2 | dSPIN_CONFIG_SR_290V_us
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| dSPIN_CONFIG_OC_SD_DISABLE | dSPIN_CONFIG_VS_COMP_DISABLE
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| dSPIN_CONFIG_SW_HARD_STOP | dSPIN_CONFIG_INT_16MHZ);
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// Configure the RUN KVAL. This defines the duty cycle of the PWM of the bridges
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// during running. 0xFF means that they are essentially NOT PWMed during run; this
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// MAY result in more power being dissipated than you actually need for the task.
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// Setting this value too low may result in failure to turn.
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// There are ACC, DEC, and HOLD KVAL registers as well; you may need to play with
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// those values to get acceptable performance for a given application.
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dSPIN_SetParam(dSPIN_KVAL_RUN, 0xFF);
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// Calling GetStatus() clears the UVLO bit in the status register, which is set by
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// default on power-up. The driver may not run without that bit cleared by this
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// read operation.
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dSPIN_GetStatus();
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}
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// Test jig behavior- rotate one full revolution forward, then one full revolution
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// backwards, then slowly tick forwards until the hard stop button is pressed.
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void loop()
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{
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// 200 steps is one revolution on a 1.8 deg/step motor.
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dSPIN_Move(FWD, 200);
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while (digitalRead(dSPIN_BUSYN) == LOW); // Until the movement completes, the
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// BUSYN pin will be low.
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dSPIN_SoftStop(); // Inserting a soft stop between
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// motions ensures that the driver
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// will execute the next motion with
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// the right speed.
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while (digitalRead(dSPIN_BUSYN) == LOW); // Wait for the soft stop to complete.
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delay(500); // Pause. Not necessary for proper operation.
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dSPIN_Move(REV, 200); // Now do it again, but backwards.
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while (digitalRead(dSPIN_BUSYN) == LOW);
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dSPIN_SoftStop();
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while (digitalRead(dSPIN_BUSYN) == LOW);
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delay(500);
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dSPIN_Run(FWD, SpdCalc(testSpeed)); // Now we'll test the hard stop switch...
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while (digitalRead(SWITCH) == HIGH); // The dSPIN will stop on its own; this is
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// so the Arduino knows the button has been
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// pressed.
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while (digitalRead(dSPIN_BUSYN) == LOW);
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delay(50);
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// Finally check to see if the motor has actually stopped. If so, light the second
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// LED and wait forever, until the board is removed and the test jig is reset.
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if (dSPIN_GetParam(dSPIN_SPEED) == 0) digitalWrite(STAT2, HIGH);
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while(1);
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}
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