Jon Buckman
Slightly altered version of Arduino OneStep
This library is specific to the ST L6474 stepper driver.
OneStep.h
- Committer:
- jonebuckman
- Date:
- 2015-09-02
- Revision:
- 0:92e1b5622620
File content as of revision 0:92e1b5622620:
/**
* @file OneStep.h
*
* @author Jon Buckman
*
* @section LICENSE
*
* Copyright (c) 2014 Jon Buckman
*
* Copyright (C) 2009-2013 Mike McCauley
* $Id: AccelStepper.cpp,v 1.19 2014/10/31 06:05:27 mikem Exp mikem $
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* @section DESCRIPTION
*
* OneStep stepper motor accelerate and manipulate.
*
* Datasheet:
*
*
*
* Example:
* @code
* #include "mbed.h"
* #include "OneStep.h"
*
* Serial pc(USBTX, USBRX); // tx, rx
*
* OneStep stepper(D11, D12, D13, D10, D9, D7, D8, D2); // mosi, miso, sck, nCS_(cs), step, direction, reset, flag
*
* int main() {
* while(1)
* {
* if (stepper.distanceToGo() == 0)
* {
* // Random change to speed, position and acceleration
* // Make sure we dont get 0 speed or accelerations
* wait_us(1000);
* stepper.moveTo(rand() % 200);
* stepper.setMaxSpeed((rand() % 200) + 1);
* stepper.setAcceleration((rand() % 200) + 1);
* if(stepper.getAlarm() == 0) {
* pc.printf("alarm\r\n");
* }
* }
* stepper.run();
* }
* }
* @endcode
*/
#ifndef ONESTEP_H
#define ONESTEP_H
/**
* Includes
*/
#include <mbed.h>
/**
* Defines
*/
#define min(a,b) ((a)<(b)?(a):(b))
#define max(a,b) ((a)>(b)?(a):(b))
#define abs(x) ((x)>0?(x):-(x))
#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
#define radians(deg) ((deg)*DEG_TO_RAD)
#define degrees(rad) ((rad)*RAD_TO_DEG)
#define sq(x) ((x)*(x))
/**
* @brief easySPIN Init structure definition
*/
typedef struct {
uint32_t ABS_POS;
uint16_t EL_POS;
uint32_t MARK;
uint8_t TVAL;
uint8_t T_FAST;
uint8_t TON_MIN;
uint8_t TOFF_MIN;
uint8_t ADC_OUT;
uint8_t OCD_TH;
uint8_t STEP_MODE;
uint8_t ALARM_EN;
uint16_t CONFIG;
} RegsStruct_TypeDef;
/* easySPIN TVAL register options */
typedef enum {
TVAL_31_25mA = ((uint8_t) 0x00),
TVAL_62_5mA = ((uint8_t) 0x01),
TVAL_93_75mA = ((uint8_t) 0x02),
TVAL_125mA = ((uint8_t) 0x03),
TVAL_156_25mA = ((uint8_t) 0x04),
TVAL_187_5mA = ((uint8_t) 0x05),
TVAL_218_75mA = ((uint8_t) 0x06),
TVAL_250mA = ((uint8_t) 0x07),
TVAL_281_25mA = ((uint8_t) 0x08),
TVAL_312_5mA = ((uint8_t) 0x09),
TVAL_343_75mA = ((uint8_t) 0x0A),
TVAL_375mA = ((uint8_t) 0x0B),
TVAL_406_25mA = ((uint8_t) 0x0C),
TVAL_437_5mA = ((uint8_t) 0x0D),
TVAL_468_75mA = ((uint8_t) 0x0E),
TVAL_500mA = ((uint8_t) 0x0F),
TVAL_531_25mA = ((uint8_t) 0x10),
TVAL_562_5mA = ((uint8_t) 0x11),
TVAL_593_75mA = ((uint8_t) 0x12),
TVAL_625mA = ((uint8_t) 0x13),
TVAL_656_25mA = ((uint8_t) 0x14),
TVAL_687_5mA = ((uint8_t) 0x15),
TVAL_718_75mA = ((uint8_t) 0x16),
TVAL_750mA = ((uint8_t) 0x17),
TVAL_781_25mA = ((uint8_t) 0x18),
TVAL_812_5mA = ((uint8_t) 0x19),
TVAL_843_75mA = ((uint8_t) 0x1A),
TVAL_875mA = ((uint8_t) 0x1B),
TVAL_906_25mA = ((uint8_t) 0x1C),
TVAL_937_5mA = ((uint8_t) 0x1D),
TVAL_968_75mA = ((uint8_t) 0x1E),
TVAL_1000mA = ((uint8_t) 0x1F),
TVAL_1031_25mA = ((uint8_t) 0x20),
TVAL_1062_5mA = ((uint8_t) 0x21),
TVAL_1093_75mA = ((uint8_t) 0x22),
TVAL_1125mA = ((uint8_t) 0x23),
TVAL_1156_25mA = ((uint8_t) 0x24),
TVAL_1187_5mA = ((uint8_t) 0x25),
TVAL_1218_75mA = ((uint8_t) 0x26),
TVAL_1250mA = ((uint8_t) 0x27),
TVAL_1281_25mA = ((uint8_t) 0x28),
TVAL_1312_5mA = ((uint8_t) 0x29),
TVAL_1343_75mA = ((uint8_t) 0x2A),
TVAL_1375mA = ((uint8_t) 0x2B),
TVAL_1406_25mA = ((uint8_t) 0x2C),
TVAL_1437_5mA = ((uint8_t) 0x2D),
TVAL_1468_75mA = ((uint8_t) 0x2E),
TVAL_1500mA = ((uint8_t) 0x2F),
TVAL_1531_25mA = ((uint8_t) 0x30),
TVAL_1562_5mA = ((uint8_t) 0x31),
TVAL_1593_75mA = ((uint8_t) 0x32),
TVAL_1625mA = ((uint8_t) 0x33),
TVAL_1656_25mA = ((uint8_t) 0x34),
TVAL_1687_5mA = ((uint8_t) 0x35),
TVAL_1718_75mA = ((uint8_t) 0x36),
TVAL_1750mA = ((uint8_t) 0x37),
TVAL_1781_25mA = ((uint8_t) 0x38),
TVAL_1812_5mA = ((uint8_t) 0x39),
TVAL_1843_75mA = ((uint8_t) 0x3A),
TVAL_1875mA = ((uint8_t) 0x3B),
TVAL_1906_25mA = ((uint8_t) 0x3C),
TVAL_1937_5mA = ((uint8_t) 0x3D),
TVAL_1968_75mA = ((uint8_t) 0x3E),
TVAL_2000mA = ((uint8_t) 0x3F),
TVAL_2031_25mA = ((uint8_t) 0x40),
TVAL_2062_5mA = ((uint8_t) 0x41),
TVAL_2093_75mA = ((uint8_t) 0x42),
TVAL_2125mA = ((uint8_t) 0x43),
TVAL_2156_25mA = ((uint8_t) 0x44),
TVAL_2187_5mA = ((uint8_t) 0x45),
TVAL_2218_75mA = ((uint8_t) 0x46),
TVAL_2250mA = ((uint8_t) 0x47),
TVAL_2281_25mA = ((uint8_t) 0x48),
TVAL_2312_5mA = ((uint8_t) 0x49),
TVAL_2343_75mA = ((uint8_t) 0x4A),
TVAL_2375mA = ((uint8_t) 0x4B),
TVAL_2406_25mA = ((uint8_t) 0x4C),
TVAL_2437_5mA = ((uint8_t) 0x4D),
TVAL_2468_75mA = ((uint8_t) 0x4E),
TVAL_2500mA = ((uint8_t) 0x4F),
TVAL_2531_25mA = ((uint8_t) 0x50),
TVAL_2562_5mA = ((uint8_t) 0x51),
TVAL_2593_75mA = ((uint8_t) 0x52),
TVAL_2625mA = ((uint8_t) 0x53),
TVAL_2656_25mA = ((uint8_t) 0x54),
TVAL_2687_5mA = ((uint8_t) 0x55),
TVAL_2718_75mA = ((uint8_t) 0x56),
TVAL_2750mA = ((uint8_t) 0x57),
TVAL_2781_25mA = ((uint8_t) 0x58),
TVAL_2812_5mA = ((uint8_t) 0x59),
TVAL_2843_75mA = ((uint8_t) 0x5A),
TVAL_2875mA = ((uint8_t) 0x5B),
TVAL_2906_25mA = ((uint8_t) 0x5C),
TVAL_2937_5mA = ((uint8_t) 0x5D),
TVAL_2968_75mA = ((uint8_t) 0x5E),
TVAL_3000mA = ((uint8_t) 0x5F),
TVAL_3031_25mA = ((uint8_t) 0x60),
TVAL_3062_5mA = ((uint8_t) 0x61),
TVAL_3093_75mA = ((uint8_t) 0x62),
TVAL_3125mA = ((uint8_t) 0x63),
TVAL_3156_25mA = ((uint8_t) 0x64),
TVAL_3187_5mA = ((uint8_t) 0x65),
TVAL_3218_75mA = ((uint8_t) 0x66),
TVAL_3250mA = ((uint8_t) 0x67),
TVAL_3281_25mA = ((uint8_t) 0x68),
TVAL_3312_5mA = ((uint8_t) 0x69),
TVAL_3343_75mA = ((uint8_t) 0x6A),
TVAL_3375mA = ((uint8_t) 0x6B),
TVAL_3406_25mA = ((uint8_t) 0x6C),
TVAL_3437_5mA = ((uint8_t) 0x6D),
TVAL_3468_75mA = ((uint8_t) 0x6E),
TVAL_3500mA = ((uint8_t) 0x6F),
TVAL_3531_25mA = ((uint8_t) 0x70),
TVAL_3562_5mA = ((uint8_t) 0x71),
TVAL_3593_75mA = ((uint8_t) 0x72),
TVAL_3625mA = ((uint8_t) 0x73),
TVAL_3656_25mA = ((uint8_t) 0x74),
TVAL_3687_5mA = ((uint8_t) 0x75),
TVAL_3718_75mA = ((uint8_t) 0x76),
TVAL_3750mA = ((uint8_t) 0x77),
TVAL_3781_25mA = ((uint8_t) 0x78),
TVAL_3812_5mA = ((uint8_t) 0x79),
TVAL_3843_75mA = ((uint8_t) 0x7A),
TVAL_3875mA = ((uint8_t) 0x7B),
TVAL_3906_25mA = ((uint8_t) 0x7C),
TVAL_3937_5mA = ((uint8_t) 0x7D),
TVAL_3968_75mA = ((uint8_t) 0x7E),
TVAL_4000mA = ((uint8_t) 0x7F)
} TVAL_TypeDef;
/* easySPIN T_FAST register options */
typedef enum {
TOFF_FAST_0_5_us = ((uint8_t) 0x00 << 4),
TOFF_FAST_1_0_us = ((uint8_t) 0x01 << 4),
TOFF_FAST_1_5_us = ((uint8_t) 0x02 << 4),
TOFF_FAST_2_0_us = ((uint8_t) 0x03 << 4),
TOFF_FAST_2_5_us = ((uint8_t) 0x04 << 4),
TOFF_FAST_3_0_us = ((uint8_t) 0x05 << 4),
TOFF_FAST_3_5_us = ((uint8_t) 0x06 << 4),
TOFF_FAST_4_0_us = ((uint8_t) 0x07 << 4),
TOFF_FAST_4_5_us = ((uint8_t) 0x08 << 4),
TOFF_FAST_5_0_us = ((uint8_t) 0x09 << 4),
TOFF_FAST_5_5_us = ((uint8_t) 0x0A << 4),
TOFF_FAST_6_0_us = ((uint8_t) 0x0B << 4),
TOFF_FAST_6_5_us = ((uint8_t) 0x0C << 4),
TOFF_FAST_7_0_us = ((uint8_t) 0x0D << 4),
TOFF_FAST_7_5_us = ((uint8_t) 0x0E << 4),
TOFF_FAST_8_0_us = ((uint8_t) 0x0F << 4)
} TOFF_FAST_TypeDef;
typedef enum {
FAST_STEP_0_5_us = ((uint8_t) 0x00),
FAST_STEP_1_0_us = ((uint8_t) 0x01),
FAST_STEP_1_5_us = ((uint8_t) 0x02),
FAST_STEP_2_0_us = ((uint8_t) 0x03),
FAST_STEP_2_5_us = ((uint8_t) 0x04),
FAST_STEP_3_0_us = ((uint8_t) 0x05),
FAST_STEP_3_5_us = ((uint8_t) 0x06),
FAST_STEP_4_0_us = ((uint8_t) 0x07),
FAST_STEP_4_5_us = ((uint8_t) 0x08),
FAST_STEP_5_0_us = ((uint8_t) 0x09),
FAST_STEP_5_5_us = ((uint8_t) 0x0A),
FAST_STEP_6_0_us = ((uint8_t) 0x0B),
FAST_STEP_6_5_us = ((uint8_t) 0x0C),
FAST_STEP_7_0_us = ((uint8_t) 0x0D),
FAST_STEP_7_5_us = ((uint8_t) 0x0E),
FAST_STEP_8_0_us = ((uint8_t) 0x0F)
} FAST_STEP_TypeDef;
/* easySPIN overcurrent threshold options */
typedef enum {
OCD_TH_375mA = ((uint8_t) 0x00),
OCD_TH_750mA = ((uint8_t) 0x01),
OCD_TH_1125mA = ((uint8_t) 0x02),
OCD_TH_1500mA = ((uint8_t) 0x03),
OCD_TH_1875mA = ((uint8_t) 0x04),
OCD_TH_2250mA = ((uint8_t) 0x05),
OCD_TH_2625mA = ((uint8_t) 0x06),
OCD_TH_3000mA = ((uint8_t) 0x07),
OCD_TH_3375mA = ((uint8_t) 0x08),
OCD_TH_3750mA = ((uint8_t) 0x09),
OCD_TH_4125mA = ((uint8_t) 0x0A),
OCD_TH_4500mA = ((uint8_t) 0x0B),
OCD_TH_4875mA = ((uint8_t) 0x0C),
OCD_TH_5250mA = ((uint8_t) 0x0D),
OCD_TH_5625mA = ((uint8_t) 0x0E),
OCD_TH_6000mA = ((uint8_t) 0x0F)
} OCD_TH_TypeDef;
/* easySPIN STEP_MODE register masks */
typedef enum {
STEP_MODE_STEP_SEL = ((uint8_t) 0x07),
STEP_MODE_SYNC_SEL = ((uint8_t) 0x70)
} STEP_MODE_Masks_TypeDef;
/* easySPIN STEP_MODE register options */
/* easySPIN STEP_SEL options */
typedef enum {
STEP_SEL_1 = ((uint8_t) 0x08),
STEP_SEL_1_2 = ((uint8_t) 0x09),
STEP_SEL_1_4 = ((uint8_t) 0x0A),
STEP_SEL_1_8 = ((uint8_t) 0x0B),
STEP_SEL_1_16 = ((uint8_t) 0x0C)
} STEP_SEL_TypeDef;
/* easySPIN SYNC_SEL options */
typedef enum {
SYNC_SEL_1_2 = ((uint8_t) 0x80),
SYNC_SEL_1 = ((uint8_t) 0x90),
SYNC_SEL_2 = ((uint8_t) 0xA0),
SYNC_SEL_4 = ((uint8_t) 0xB0),
SYNC_SEL_8 = ((uint8_t) 0xC0),
SYNC_SEL_UNUSED = ((uint8_t) 0xD0)
} SYNC_SEL_TypeDef;
/* easySPIN ALARM_EN register options */
typedef enum {
ALARM_EN_OVERCURRENT = ((uint8_t) 0x01),
ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t) 0x02),
ALARM_EN_THERMAL_WARNING = ((uint8_t) 0x04),
ALARM_EN_UNDERVOLTAGE = ((uint8_t) 0x08),
ALARM_EN_SW_TURN_ON = ((uint8_t) 0x40),
ALARM_EN_WRONG_NPERF_CMD = ((uint8_t) 0x80)
} ALARM_EN_TypeDef;
/* easySPIN Config register masks */
typedef enum {
CONFIG_OSC_SEL = ((uint16_t) 0x0007),
CONFIG_EXT_CLK = ((uint16_t) 0x0008),
CONFIG_EN_TQREG = ((uint16_t) 0x0020),
CONFIG_OC_SD = ((uint16_t) 0x0080),
CONFIG_POW_SR = ((uint16_t) 0x0300),
CONFIG_TSW = ((uint16_t) 0x7C00)
} CONFIG_Masks_TypeDef;
/* easySPIN Config register options */
typedef enum {
CONFIG_INT_16MHZ = ((uint16_t) 0x0000),
CONFIG_INT_16MHZ_OSCOUT_2MHZ = ((uint16_t) 0x0008),
CONFIG_INT_16MHZ_OSCOUT_4MHZ = ((uint16_t) 0x0009),
CONFIG_INT_16MHZ_OSCOUT_8MHZ = ((uint16_t) 0x000A),
CONFIG_INT_16MHZ_OSCOUT_16MHZ = ((uint16_t) 0x000B),
CONFIG_EXT_8MHZ_XTAL_DRIVE = ((uint16_t) 0x0004),
CONFIG_EXT_16MHZ_XTAL_DRIVE = ((uint16_t) 0x0005),
CONFIG_EXT_24MHZ_XTAL_DRIVE = ((uint16_t) 0x0006),
CONFIG_EXT_32MHZ_XTAL_DRIVE = ((uint16_t) 0x0007),
CONFIG_EXT_8MHZ_OSCOUT_INVERT = ((uint16_t) 0x000C),
CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t) 0x000D),
CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t) 0x000E),
CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t) 0x000F)
} CONFIG_OSC_MGMT_TypeDef;
typedef enum {
CONFIG_EN_TQREG_INT_REG = ((uint16_t) 0x0000),
CONFIG_EN_TQREG_ADC_IN = ((uint16_t) 0x0020)
} CONFIG_EN_TQREG_TypeDef;
typedef enum {
CONFIG_OC_SD_DISABLE = ((uint16_t) 0x0000),
CONFIG_OC_SD_ENABLE = ((uint16_t) 0x0080)
} CONFIG_OC_SD_TypeDef;
typedef enum {
CONFIG_SR_180V_us = ((uint16_t) 0x0000),
CONFIG_SR_290V_us = ((uint16_t) 0x0200),
CONFIG_SR_530V_us = ((uint16_t) 0x0300)
} CONFIG_POW_SR_TypeDef;
typedef enum {
CONFIG_TSW_4_us = (((uint16_t) 0x01) << 10),
CONFIG_TSW_8_us = (((uint16_t) 0x02) << 10),
CONFIG_TSW_12_us = (((uint16_t) 0x03) << 10),
CONFIG_TSW_16_us = (((uint16_t) 0x04) << 10),
CONFIG_TSW_20_us = (((uint16_t) 0x05) << 10),
CONFIG_TSW_24_us = (((uint16_t) 0x06) << 10),
CONFIG_TSW_28_us = (((uint16_t) 0x07) << 10),
CONFIG_TSW_32_us = (((uint16_t) 0x08) << 10),
CONFIG_TSW_36_us = (((uint16_t) 0x09) << 10),
CONFIG_TSW_40_us = (((uint16_t) 0x0A) << 10),
CONFIG_TSW_44_us = (((uint16_t) 0x0B) << 10),
CONFIG_TSW_48_us = (((uint16_t) 0x0C) << 10),
CONFIG_TSW_52_us = (((uint16_t) 0x0D) << 10),
CONFIG_TSW_56_us = (((uint16_t) 0x0E) << 10),
CONFIG_TSW_60_us = (((uint16_t) 0x0F) << 10),
CONFIG_TSW_64_us = (((uint16_t) 0x10) << 10),
CONFIG_TSW_68_us = (((uint16_t) 0x11) << 10),
CONFIG_TSW_72_us = (((uint16_t) 0x12) << 10),
CONFIG_TSW_76_us = (((uint16_t) 0x13) << 10),
CONFIG_TSW_80_us = (((uint16_t) 0x14) << 10),
CONFIG_TSW_84_us = (((uint16_t) 0x15) << 10),
CONFIG_TSW_88_us = (((uint16_t) 0x16) << 10),
CONFIG_TSW_92_us = (((uint16_t) 0x17) << 10),
CONFIG_TSW_96_us = (((uint16_t) 0x18) << 10),
CONFIG_TSW_100_us = (((uint16_t) 0x19) << 10),
CONFIG_TSW_104_us = (((uint16_t) 0x1A) << 10),
CONFIG_TSW_108_us = (((uint16_t) 0x1B) << 10),
CONFIG_TSW_112_us = (((uint16_t) 0x1C) << 10),
CONFIG_TSW_116_us = (((uint16_t) 0x1D) << 10),
CONFIG_TSW_120_us = (((uint16_t) 0x1E) << 10),
CONFIG_TSW_124_us = (((uint16_t) 0x1F) << 10)
} CONFIG_TSW_TypeDef;
/* Status Register bit masks */
typedef enum {
STATUS_HIZ = (((uint16_t) 0x0001)),
STATUS_DIR = (((uint16_t) 0x0010)),
STATUS_NOTPERF_CMD = (((uint16_t) 0x0080)),
STATUS_WRONG_CMD = (((uint16_t) 0x0100)),
STATUS_UVLO = (((uint16_t) 0x0200)),
STATUS_TH_WRN = (((uint16_t) 0x0400)),
STATUS_TH_SD = (((uint16_t) 0x0800)),
STATUS_OCD = (((uint16_t) 0x1000))
} STATUS_Masks_TypeDef;
/* Status Register options */
typedef enum {
STATUS_DIR_FORWARD = (((uint16_t) 0x0001) << 4),
STATUS_DIR_REVERSE = (((uint16_t) 0x0000) << 4)
} STATUS_DIR_TypeDef;
/* easySPIN internal register addresses */
typedef enum {
ABS_POS = ((uint8_t) 0x01),
EL_POS = ((uint8_t) 0x02),
MARK = ((uint8_t) 0x03),
RESERVED_REG01 = ((uint8_t) 0x04),
RESERVED_REG02 = ((uint8_t) 0x05),
RESERVED_REG03 = ((uint8_t) 0x06),
RESERVED_REG04 = ((uint8_t) 0x07),
RESERVED_REG05 = ((uint8_t) 0x08),
RESERVED_REG06 = ((uint8_t) 0x15),
TVAL = ((uint8_t) 0x09),
RESERVED_REG07 = ((uint8_t) 0x0A),
RESERVED_REG08 = ((uint8_t) 0x0B),
RESERVED_REG09 = ((uint8_t) 0x0C),
RESERVED_REG10 = ((uint8_t) 0x0D),
T_FAST = ((uint8_t) 0x0E),
TON_MIN = ((uint8_t) 0x0F),
TOFF_MIN = ((uint8_t) 0x10),
RESERVED_REG11 = ((uint8_t) 0x11),
ADC_OUT = ((uint8_t) 0x12),
OCD_TH = ((uint8_t) 0x13),
RESERVED_REG12 = ((uint8_t) 0x14),
STEP_MODE = ((uint8_t) 0x16),
ALARM_EN = ((uint8_t) 0x17),
CONFIG = ((uint8_t) 0x18),
STATUS = ((uint8_t) 0x19),
RESERVED_REG13 = ((uint8_t) 0x1A),
RESERVED_REG14 = ((uint8_t) 0x1B)
} Registers_TypeDef;
/* easySPIN command set */
typedef enum {
NOP = ((uint8_t) 0x00),
SET_PARAM = ((uint8_t) 0x00),
GET_PARAM = ((uint8_t) 0x20),
ENBL = ((uint8_t) 0xB8),
DSBL = ((uint8_t) 0xA8),
GET_STATUS = ((uint8_t) 0xD0),
RESERVED_CMD1 = ((uint8_t) 0xEB),
RESERVED_CMD2 = ((uint8_t) 0xF8)
} Commands_TypeDef;
/* easySPIN movement direction options */
typedef enum {
DIR_Forward = ((uint8_t) 0x01), DIR_Reverse = ((uint8_t) 0x00)
} Direction_TypeDef;
/* easySPIN action options */
typedef enum {
ACTION_RESET = ((uint8_t) 0x00), ACTION_COPY = ((uint8_t) 0x01)
} Action_TypeDef;
/**
* OneStep stepper motor accelerate and manipulate.
*/
class OneStep {
public:
/**
* Constructor.
*
* @param step mbed pin to use for stepper motor interface.
* @param direction mbed pin to use for stepper motor interface.
* @param enable mbed pin to use for stepper motor interface.
*/
OneStep(PinName mosi,
PinName miso,
PinName sck,
PinName csn,
PinName step,
PinName dir,
PinName reset,
PinName flag);
/**
* No operation.
*
*/
void nop(void);
/**
* Enable driver
*
*/
void enable(void);
/**
* Disable driver
*
*/
void disable(void);
/**
* Move to a position.
*
* @param parameter Parameter.
* @param length The length of the parameter.
* @param value The value of the parameter.
*/
void set_param(char parameter, int length, int value);
/**
* Get parameter value.
*
* @param parameter Parameter.
* @param length The length of the parameter.
* @return Returns parameter.
*/
int get_param(char parameter, int length);
/**
* Get status.
*
* @return Returns status word.
*/
int get_status(void);
/**
* Move to a position.
*
* @param absolute Absolute step count.
*/
void moveTo(long absolute);
/**
* Move to a position relative to the current position.
*
* @param relative Relative step count.
*/
void move(long relative);
/**
* Implements steps according to the current step interval.
*
* @return Returns true if a step occurred.
*/
bool runSpeed();
/**
* Get distance yet to go.
*
* @return The distance count.
*/
long distanceToGo();
/**
* Get target position.
*
* @return The target position count.
*/
long targetPosition();
/**
* Get current position.
*
* @return The current position count.
*/
long currentPosition();
/**
* Set current position to a count. Set speed to 0.
*
* @param position The count at the current position.
*/
void setCurrentPosition(long position);
/**
* Calculate the new speed.
*
*/
void computeNewSpeed();
/**
* Run the motor to implement speed and acceleration in order to proceed to the target position.
*
* @return Returns true if the motor is still running to the target position.
*/
bool run();
/**
* Step once.
*
*/
void step();
/**
* Set the max speed.
*
* @param speed Speed maximum.
*/
void setMaxSpeed(float speed);
/**
* Set the acceleration.
*
* @param acceleration Acceleration.
*/
void setAcceleration(float acceleration);
/**
* Set the speed.
*
* @param speed Speed.
*/
void setSpeed(float speed);
/**
* Get current speed.
*
* @return The speed.
*/
float speed();
/**
* Set the minimum pulse width.
*
* @param minWidth MinWidth pulse width.
*/
void setMinPulseWidth(unsigned int minWidth);
/**
* System reset enable.
*
*/
void enableReset();
/**
* System reset disable.
*
*/
void disableReset();
/**
* Blocks until the target position is reached and stopped.
*
*/
void runToPosition();
/**
* Run at speed to a position.
*
* @return The run speed.
*/
bool runSpeedToPosition();
/**
* Blocks until the new target position is reached.
*
* @param position Position.
*/
void runToNewPosition(long position);
/**
* Stop run to position.
*
*/
void stop();
/**
* Get the alarm flag state.
*
* @return The alarm flag state.
*/
int getAlarm();
protected:
/**
* Symbolic names for the direction the motor is turning.
*
*/
typedef enum
{
DIRECTION_CCW = 0, ///< Clockwise
DIRECTION_CW = 1 ///< Counter-Clockwise
} Direction;
private:
/**
* The current absolution position in steps.
*
*/
long _currentPos; // Steps
/**
* The current interval between steps in microseconds.
* 0 means the motor is currently stopped with _speed == 0
*
*/
unsigned long _stepInterval;
/**
* The last step time in microseconds.
*
*/
unsigned long _lastStepTime;
/**
* The minimum allowed pulse width in microseconds.
*
*/
unsigned int _minPulseWidth;
/**
* The target position in steps. The AccelStepper library will move the
* motor from the _currentPos to the _targetPos, taking into account the
* max speed, acceleration and deceleration.
*
*/
long _targetPos; // Steps
/**
* The current motos speed in steps per second.
* Positive is clockwise.
*
*/
float _speed; // Steps per second
/**
* The acceleration to use to accelerate or decelerate the motor in steps
* per second per second. Must be > 0.
*
*/
float _acceleration;
float _sqrt_twoa; // Precomputed sqrt(2*_acceleration)
/**
* The maximum permitted speed in steps per second. Must be > 0.
*
*/
float _maxSpeed;
/**
* Min step size in microseconds based on maxSpeed.
*
*/
float _cmin; // at max speed
/**
* Initial step size in microseconds.
*
*/
float _c0;
/**
* Last step size in microseconds.
*
*/
float _cn;
/**
* The step counter for speed calculations.
*
*/
long _n;
/**
* Current direction motor is spinning in.
*
*/
bool _direction; // 1 == CW
SPI spi_;
Timer t_;
DigitalOut nCS_;
DigitalOut step_;
DigitalOut dir_;
DigitalOut reset_;
DigitalIn flag_;
};
#endif