Nathaniel Honka / Mbed 2 deprecated Motion-Control

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   FiniteStateMachine HipControl Knee LinearBlend1 LocalFileSystem_Read dataComm hapticFeedback initExoVars mbed Blend_Generator Brad_poly_gait Gait_Generator MM_gait Encoders IMUdriver

Fork of Motion Control by HEL's Angels

Knee/StepperDriver/StepperDriver.h@0:d38d627c922f, 2014-11-14 (annotated)

Committer:
perr1940
Date:
Fri Nov 14 22:39:10 2014 +0000
Revision:
0:d38d627c922f
Child:
3:9719ad064a2c
this is without encoders going to test the knee steppers alone.  They work alone but not with the encoders.  Strange huh?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
perr1940 0:d38d627c922f 1 /* L6482 Driver code communicated via SPI
perr1940 0:d38d627c922f 2 * file name: StepperDriver.h
perr1940 0:d38d627c922f 3 * 07/15/2014 edited by Grace
perr1940 0:d38d627c922f 4 */
perr1940 0:d38d627c922f 5
perr1940 0:d38d627c922f 6 #ifndef STEPPERDRIVER_H
perr1940 0:d38d627c922f 7 #define STEPPERDRIVER_H
perr1940 0:d38d627c922f 8
perr1940 0:d38d627c922f 9 #include "mbed.h"
perr1940 0:d38d627c922f 10
perr1940 0:d38d627c922f 11 class StepperDriver
perr1940 0:d38d627c922f 12 {
perr1940 0:d38d627c922f 13 public:
perr1940 0:d38d627c922f 14 // Constructor
perr1940 0:d38d627c922f 15 StepperDriver(PinName CSPin, PinName mosi, PinName miso, PinName sck);
perr1940 0:d38d627c922f 16
perr1940 0:d38d627c922f 17 // Provide access to the parameter
perr1940 0:d38d627c922f 18 void setParam (char param, unsigned long value);
perr1940 0:d38d627c922f 19 unsigned long getParam(char param);
perr1940 0:d38d627c922f 20 void setAcc(float stepsPerSecPerSec);
perr1940 0:d38d627c922f 21 void setDec(float stepsPerSecPerSec);
perr1940 0:d38d627c922f 22 void setMaxSpeed(float stepsPerSecond);
perr1940 0:d38d627c922f 23 void setDecTVAL(char tvalInput);
perr1940 0:d38d627c922f 24 void setAccTVAL(char tvalInput);
perr1940 0:d38d627c922f 25 void setRunTVAL(char tvalInput);
perr1940 0:d38d627c922f 26 void setHoldTVAL(char tvalInput);
perr1940 0:d38d627c922f 27 int getStatus();
perr1940 0:d38d627c922f 28 void resetDev();
perr1940 0:d38d627c922f 29 void hardHiZ();
perr1940 0:d38d627c922f 30 void softHiZ();
perr1940 0:d38d627c922f 31
perr1940 0:d38d627c922f 32 // Operational commands
perr1940 0:d38d627c922f 33 void run (char dir, float stepsPerSec);
perr1940 0:d38d627c922f 34 void move(char dir, unsigned long numSteps);
perr1940 0:d38d627c922f 35
perr1940 0:d38d627c922f 36 private:
perr1940 0:d38d627c922f 37
perr1940 0:d38d627c922f 38 char SPIWrite (char data);
perr1940 0:d38d627c922f 39 unsigned long writeParam (unsigned long value, char bitLength);
perr1940 0:d38d627c922f 40 unsigned long paramHandler (char param, unsigned long value);
perr1940 0:d38d627c922f 41
perr1940 0:d38d627c922f 42 // converting the units to L6482 units
perr1940 0:d38d627c922f 43
perr1940 0:d38d627c922f 44 unsigned long accCalc (float stepsPerSecPerSec);
perr1940 0:d38d627c922f 45 unsigned long decCalc (float stepsPerSecPerSec);
perr1940 0:d38d627c922f 46 unsigned long spdCalc (float stepsPerSec);
perr1940 0:d38d627c922f 47 unsigned long maxSpdCalc(float stepsPerSec);
perr1940 0:d38d627c922f 48 unsigned long minSpdCalc(float stepsPerSec);
perr1940 0:d38d627c922f 49 void setFullSpeed(float stepsPerSecond);
perr1940 0:d38d627c922f 50 unsigned long FSCalc(float stepsPerSec);
perr1940 0:d38d627c922f 51 DigitalOut _CSPin;
perr1940 0:d38d627c922f 52 SPI SPIPin;
perr1940 0:d38d627c922f 53 //Serial pcS;
perr1940 0:d38d627c922f 54 };
perr1940 0:d38d627c922f 55
perr1940 0:d38d627c922f 56 #define FWD 0x01
perr1940 0:d38d627c922f 57 #define REV 0x00
perr1940 0:d38d627c922f 58
perr1940 0:d38d627c922f 59 #define BUSY_PIN 0x00 // !BUSY/SYNC pin set to !BUSY mode
perr1940 0:d38d627c922f 60 #define SYNC_PIN 0x80 // pin set to SYNC mode
perr1940 0:d38d627c922f 61
perr1940 0:d38d627c922f 62 // configStepMode() options: select the microsteps per full step
perr1940 0:d38d627c922f 63
perr1940 0:d38d627c922f 64 #define STEP_FS 0x00
perr1940 0:d38d627c922f 65 #define STEP_FS_2 0x01
perr1940 0:d38d627c922f 66 #define STEP_FS_4 0x02
perr1940 0:d38d627c922f 67 #define STEP_FS_8 0x03
perr1940 0:d38d627c922f 68 #define STEP_FS_16 0x04
perr1940 0:d38d627c922f 69
perr1940 0:d38d627c922f 70 //cSPIN commands
perr1940 0:d38d627c922f 71 #define NOP 0x00
perr1940 0:d38d627c922f 72 #define SET_PARAM 0x00
perr1940 0:d38d627c922f 73 #define GET_PARAM 0x20
perr1940 0:d38d627c922f 74 #define RUN 0x50
perr1940 0:d38d627c922f 75 #define STEP_CLOCK 0x58
perr1940 0:d38d627c922f 76 #define MOVE 0x40
perr1940 0:d38d627c922f 77 #define GOTO 0x60
perr1940 0:d38d627c922f 78 #define GOTO_DIR 0x68
perr1940 0:d38d627c922f 79 #define GO_UNTIL 0x82
perr1940 0:d38d627c922f 80 #define RELEASE_SW 0x92
perr1940 0:d38d627c922f 81 #define GO_HOME 0x70
perr1940 0:d38d627c922f 82 #define GO_MARK 0x78
perr1940 0:d38d627c922f 83 #define RESET_POS 0xD8
perr1940 0:d38d627c922f 84 #define RESET_DEVICE 0xC0
perr1940 0:d38d627c922f 85 #define SOFT_STOP 0xB0
perr1940 0:d38d627c922f 86 #define HARD_STOP 0xB8
perr1940 0:d38d627c922f 87 #define SOFT_HIZ 0xA0
perr1940 0:d38d627c922f 88 #define HARD_HIZ 0xA8
perr1940 0:d38d627c922f 89 #define GET_STATUS 0xD0
perr1940 0:d38d627c922f 90
perr1940 0:d38d627c922f 91 // Register address redefines.
perr1940 0:d38d627c922f 92 // See the Param_Handler() function for more info about these.
perr1940 0:d38d627c922f 93 #define ABS_POS 0x01
perr1940 0:d38d627c922f 94 #define EL_POS 0x02
perr1940 0:d38d627c922f 95 #define MARK 0x03
perr1940 0:d38d627c922f 96 #define SPEED 0x04
perr1940 0:d38d627c922f 97 #define ACC 0x05
perr1940 0:d38d627c922f 98 #define DEC 0x06
perr1940 0:d38d627c922f 99 #define MAX_SPEED 0x07
perr1940 0:d38d627c922f 100 #define MIN_SPEED 0x08
perr1940 0:d38d627c922f 101 #define FS_SPD 0x15
perr1940 0:d38d627c922f 102 #define TVAL_HOLD 0x09
perr1940 0:d38d627c922f 103 #define TVAL_RUN 0x0A
perr1940 0:d38d627c922f 104 #define TVAL_ACC 0x0B
perr1940 0:d38d627c922f 105 #define TVAL_DEC 0x0C
perr1940 0:d38d627c922f 106 #define RESERVED 0x0D
perr1940 0:d38d627c922f 107 #define T_FAST 0x0E
perr1940 0:d38d627c922f 108 #define TON_MIN 0x0F
perr1940 0:d38d627c922f 109 #define TOFF_MIN 0x10
perr1940 0:d38d627c922f 110 #define GATECFG1 0x18
perr1940 0:d38d627c922f 111 #define GATECFG2 0x19
perr1940 0:d38d627c922f 112 #define ADC_OUT 0x12
perr1940 0:d38d627c922f 113 #define OCD_TH 0x13
perr1940 0:d38d627c922f 114 #define STEP_MODE 0x16
perr1940 0:d38d627c922f 115 #define ALARM_EN 0x17
perr1940 0:d38d627c922f 116 #define GATECFG1 0x18
perr1940 0:d38d627c922f 117 #define GATECFG2 0x19
perr1940 0:d38d627c922f 118 #define CONFIG 0x1A
perr1940 0:d38d627c922f 119 #define STATUS 0x1B
perr1940 0:d38d627c922f 120
perr1940 0:d38d627c922f 121 // STEP_MODE option values.
perr1940 0:d38d627c922f 122
perr1940 0:d38d627c922f 123 #define STEP_SEL_1 0x08
perr1940 0:d38d627c922f 124 #define STEP_SEL_1_2 0x09
perr1940 0:d38d627c922f 125 #define STEP_SEL_1_4 0x0A
perr1940 0:d38d627c922f 126 #define STEP_SEL_1_8 0x0B
perr1940 0:d38d627c922f 127 #define STEP_SEL_1_16 0x0C
perr1940 0:d38d627c922f 128
perr1940 0:d38d627c922f 129
perr1940 0:d38d627c922f 130 // When SYNC_EN is high, the BUSYN pin will instead
perr1940 0:d38d627c922f 131 // output a clock related to the full-step frequency as defined by the
perr1940 0:d38d627c922f 132 // SYNC_SEL bits below.
perr1940 0:d38d627c922f 133 #define BUSYPIN 0x00
perr1940 0:d38d627c922f 134 #define SYNC_EN 0x80
perr1940 0:d38d627c922f 135
perr1940 0:d38d627c922f 136 // The clock output is defined by the full-step frequency
perr1940 0:d38d627c922f 137 // see the datasheet(page 51).
perr1940 0:d38d627c922f 138 #define SYNC_SEL_1_2 0x00
perr1940 0:d38d627c922f 139 #define SYNC_SEL_1 0x10
perr1940 0:d38d627c922f 140 #define SYNC_SEL_2 0x20
perr1940 0:d38d627c922f 141 #define SYNC_SEL_4 0x30
perr1940 0:d38d627c922f 142 #define SYNC_SEL_8 0x40
perr1940 0:d38d627c922f 143
perr1940 0:d38d627c922f 144 #define CONFIG_OSC_SEL 0x000F // Mask for this bit field.
perr1940 0:d38d627c922f 145 #define CONFIG_INT_16MHZ 0x0000 // Internal 16MHz, no output
perr1940 0:d38d627c922f 146 #define CONFIG_INT_16MHZ_OSCOUT_2MHZ 0x0008 // Default; internal 16MHz, 2MHz output
perr1940 0:d38d627c922f 147 #define CONFIG_INT_16MHZ_OSCOUT_4MHZ 0x0009 // Internal 16MHz, 4MHz output
perr1940 0:d38d627c922f 148 #define CONFIG_INT_16MHZ_OSCOUT_8MHZ 0x000A // Internal 16MHz, 8MHz output
perr1940 0:d38d627c922f 149 #define CONFIG_INT_16MHZ_OSCOUT_16MHZ 0x000B // Internal 16MHz, 16MHz output
perr1940 0:d38d627c922f 150 #define CONFIG_EXT_8MHZ_XTAL_DRIVE 0x0004 // External 8MHz crystal
perr1940 0:d38d627c922f 151 #define CONFIG_EXT_16MHZ_XTAL_DRIVE 0x0005 // External 16MHz crystal
perr1940 0:d38d627c922f 152 #define CONFIG_EXT_24MHZ_XTAL_DRIVE 0x0006 // External 24MHz crystal
perr1940 0:d38d627c922f 153 #define CONFIG_EXT_32MHZ_XTAL_DRIVE 0x0007 // External 32MHz crystal
perr1940 0:d38d627c922f 154 #define CONFIG_EXT_8MHZ_OSCOUT_INVERT 0x000C // External 8MHz crystal, output inverted
perr1940 0:d38d627c922f 155 #define CONFIG_EXT_16MHZ_OSCOUT_INVERT 0x000D // External 16MHz crystal, output inverted
perr1940 0:d38d627c922f 156 #define CONFIG_EXT_24MHZ_OSCOUT_INVERT 0x000E // External 24MHz crystal, output inverted
perr1940 0:d38d627c922f 157 #define CONFIG_EXT_32MHZ_OSCOUT_INVERT 0x000F // External 32MHz crystal, output inverted
perr1940 0:d38d627c922f 158
perr1940 0:d38d627c922f 159 #define CONFIG_SW_HARD_STOP 0x0000 // Default; hard stop motor on switch.
perr1940 0:d38d627c922f 160 #define CONFIG_SW_USER 0x0010 // Tie to the GoUntil and ReleaseSW
perr1940 0:d38d627c922f 161
perr1940 0:d38d627c922f 162 #define CONFIG_OC_SD_DISABLE 0x0000 // Bridges do NOT shutdown on OC detect
perr1940 0:d38d627c922f 163 #define CONFIG_OC_SD_ENABLE 0x0080 // Bridges shutdown on OC detect
perr1940 0:d38d627c922f 164
perr1940 0:d38d627c922f 165 #define CONFIG_UVLOVAL_LOW 0x0000
perr1940 0:d38d627c922f 166 #define CONFIG_UVLOVAL_HIGH 0x0100
perr1940 0:d38d627c922f 167
perr1940 0:d38d627c922f 168 #define CONFIG_VCCVAL_LOW 0x0000
perr1940 0:d38d627c922f 169 #define CONFIG_VCCVAL_HIGH 0x0200
perr1940 0:d38d627c922f 170
perr1940 0:d38d627c922f 171 #define CONFIG_EN_TQREG_DISABLE 0x0000
perr1940 0:d38d627c922f 172 #define CONFIG_EN_TQREG_ENABLE 0x0010
perr1940 0:d38d627c922f 173
perr1940 0:d38d627c922f 174 #define CONFIG_TSW_250KHZ 0x0000
perr1940 0:d38d627c922f 175 #define CONFIG_PRED_EN_DISABLE 0x0000
perr1940 0:d38d627c922f 176 #define CONFIG_PRED_EN_ENABLE 0x8000
perr1940 0:d38d627c922f 177
perr1940 0:d38d627c922f 178 #endif
perr1940 0:d38d627c922f 179
perr1940 0:d38d627c922f 180