Eric Lieser / dSPIN

Library for ST's new dSpin stepper motor driver. Works with their demo board L6470EVAL.

dSPIN.cpp@0:3a9b958ba85f, 2012-07-09 (annotated)

Committer:
thorlabs
Date:
Mon Jul 09 14:40:14 2012 +0000
Revision:
0:3a9b958ba85f
[mbed] converted /RS485_Repeater_11U24_beta/dSPIN

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thorlabs 0:3a9b958ba85f 1 /**
thorlabs 0:3a9b958ba85f 2 * @author Eric Lieser
thorlabs 0:3a9b958ba85f 3 *
thorlabs 0:3a9b958ba85f 4 * @section LICENSE
thorlabs 0:3a9b958ba85f 5 *
thorlabs 0:3a9b958ba85f 6 * Copyright (c) 2010 ARM Limited
thorlabs 0:3a9b958ba85f 7 *
thorlabs 0:3a9b958ba85f 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
thorlabs 0:3a9b958ba85f 9 * of this software and associated documentation files (the "Software"), to deal
thorlabs 0:3a9b958ba85f 10 * in the Software without restriction, including without limitation the rights
thorlabs 0:3a9b958ba85f 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
thorlabs 0:3a9b958ba85f 12 * copies of the Software, and to permit persons to whom the Software is
thorlabs 0:3a9b958ba85f 13 * furnished to do so, subject to the following conditions:
thorlabs 0:3a9b958ba85f 14 *
thorlabs 0:3a9b958ba85f 15 * The above copyright notice and this permission notice shall be included in
thorlabs 0:3a9b958ba85f 16 * all copies or substantial portions of the Software.
thorlabs 0:3a9b958ba85f 17 *
thorlabs 0:3a9b958ba85f 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
thorlabs 0:3a9b958ba85f 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
thorlabs 0:3a9b958ba85f 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
thorlabs 0:3a9b958ba85f 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
thorlabs 0:3a9b958ba85f 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
thorlabs 0:3a9b958ba85f 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
thorlabs 0:3a9b958ba85f 24 * THE SOFTWARE.
thorlabs 0:3a9b958ba85f 25 *
thorlabs 0:3a9b958ba85f 26 * @section DESCRIPTION
thorlabs 0:3a9b958ba85f 27 *
thorlabs 0:3a9b958ba85f 28 * ST Microelectronics L6470 dSPIN fully integrated microstepping motor driver
thorlabs 0:3a9b958ba85f 29 * with motion engine and SPI
thorlabs 0:3a9b958ba85f 30 *
thorlabs 0:3a9b958ba85f 31 * Datasheet: http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00255075.pdf
thorlabs 0:3a9b958ba85f 32 *
thorlabs 0:3a9b958ba85f 33 *
thorlabs 0:3a9b958ba85f 34 */
thorlabs 0:3a9b958ba85f 35
thorlabs 0:3a9b958ba85f 36 /**
thorlabs 0:3a9b958ba85f 37 * Includes
thorlabs 0:3a9b958ba85f 38 */
thorlabs 0:3a9b958ba85f 39 #include "dSPIN.h"
thorlabs 0:3a9b958ba85f 40
thorlabs 0:3a9b958ba85f 41 dSPIN::dSPIN(PinName mosi,
thorlabs 0:3a9b958ba85f 42 PinName miso,
thorlabs 0:3a9b958ba85f 43 PinName sck,
thorlabs 0:3a9b958ba85f 44 PinName cs) : spi_(mosi, miso, sck), nCS_(cs) {
thorlabs 0:3a9b958ba85f 45
thorlabs 0:3a9b958ba85f 46 //5MHz, see page 13 of datasheet for max clock. May need to be reduces if using long wires
thorlabs 0:3a9b958ba85f 47 spi_.frequency(5000000);
thorlabs 0:3a9b958ba85f 48 spi_.format(8,3);
thorlabs 0:3a9b958ba85f 49
thorlabs 0:3a9b958ba85f 50 nCS_ = 1;
thorlabs 0:3a9b958ba85f 51
thorlabs 0:3a9b958ba85f 52 wait_us(500);
thorlabs 0:3a9b958ba85f 53
thorlabs 0:3a9b958ba85f 54 }
thorlabs 0:3a9b958ba85f 55
thorlabs 0:3a9b958ba85f 56 void dSPIN::run(int dir, int speed) {
thorlabs 0:3a9b958ba85f 57 char val[3];
thorlabs 0:3a9b958ba85f 58 val[0] = (speed & 0xff0000UL) >> 16;
thorlabs 0:3a9b958ba85f 59 val[1] = (speed & 0x00ff00UL) >> 8;
thorlabs 0:3a9b958ba85f 60 val[2] = (speed & 0x0000ffUL) ;
thorlabs 0:3a9b958ba85f 61 nCS_ = 0;
thorlabs 0:3a9b958ba85f 62 if (dir == 1)
thorlabs 0:3a9b958ba85f 63 spi_.write(0x51);
thorlabs 0:3a9b958ba85f 64 else spi_.write(0x50);
thorlabs 0:3a9b958ba85f 65 nCS_ = 1;
thorlabs 0:3a9b958ba85f 66 for (int i = 0; i < 3; i++) {
thorlabs 0:3a9b958ba85f 67 wait_us(1);
thorlabs 0:3a9b958ba85f 68 nCS_ = 0;
thorlabs 0:3a9b958ba85f 69 spi_.write(val[i]);
thorlabs 0:3a9b958ba85f 70 nCS_ = 1;
thorlabs 0:3a9b958ba85f 71 }
thorlabs 0:3a9b958ba85f 72 }
thorlabs 0:3a9b958ba85f 73
thorlabs 0:3a9b958ba85f 74 void dSPIN::move(int dir, int steps) {
thorlabs 0:3a9b958ba85f 75 char val[3];
thorlabs 0:3a9b958ba85f 76 val[0] = (steps & 0xff0000UL) >> 16;
thorlabs 0:3a9b958ba85f 77 val[1] = (steps & 0x00ff00UL) >> 8;
thorlabs 0:3a9b958ba85f 78 val[2] = (steps & 0x0000ffUL) ;
thorlabs 0:3a9b958ba85f 79 nCS_ = 0;
thorlabs 0:3a9b958ba85f 80 if (dir == 1)
thorlabs 0:3a9b958ba85f 81 spi_.write(0x41);
thorlabs 0:3a9b958ba85f 82 else spi_.write(0x40);
thorlabs 0:3a9b958ba85f 83 nCS_ = 1;
thorlabs 0:3a9b958ba85f 84 for (int i = 0; i < 3; i++) {
thorlabs 0:3a9b958ba85f 85 wait_us(1);
thorlabs 0:3a9b958ba85f 86 nCS_ = 0;
thorlabs 0:3a9b958ba85f 87 spi_.write(val[i]);
thorlabs 0:3a9b958ba85f 88 nCS_ = 1;
thorlabs 0:3a9b958ba85f 89 }
thorlabs 0:3a9b958ba85f 90 }
thorlabs 0:3a9b958ba85f 91
thorlabs 0:3a9b958ba85f 92 void dSPIN::soft_stop() {
thorlabs 0:3a9b958ba85f 93 nCS_ = 0;
thorlabs 0:3a9b958ba85f 94 spi_.write(0xB0);
thorlabs 0:3a9b958ba85f 95 nCS_ = 1;
thorlabs 0:3a9b958ba85f 96 }
thorlabs 0:3a9b958ba85f 97
thorlabs 0:3a9b958ba85f 98 void dSPIN::set_param(char parameter, int length, int value) {
thorlabs 0:3a9b958ba85f 99 char val[3];
thorlabs 0:3a9b958ba85f 100 switch (length) {
thorlabs 0:3a9b958ba85f 101 case 1:
thorlabs 0:3a9b958ba85f 102 val[0] = (value & 0x0000ffUL) ;
thorlabs 0:3a9b958ba85f 103 break;
thorlabs 0:3a9b958ba85f 104 case 2:
thorlabs 0:3a9b958ba85f 105 val[0] = (value & 0x00ff00UL) >> 8;
thorlabs 0:3a9b958ba85f 106 val[1] = (value & 0x0000ffUL) ;
thorlabs 0:3a9b958ba85f 107 break;
thorlabs 0:3a9b958ba85f 108 case 3:
thorlabs 0:3a9b958ba85f 109 val[0] = (value & 0xff0000UL) >> 16;
thorlabs 0:3a9b958ba85f 110 val[1] = (value & 0x00ff00UL) >> 8;
thorlabs 0:3a9b958ba85f 111 val[2] = (value & 0x0000ffUL) ;
thorlabs 0:3a9b958ba85f 112 break;
thorlabs 0:3a9b958ba85f 113 }
thorlabs 0:3a9b958ba85f 114 nCS_ = 0;
thorlabs 0:3a9b958ba85f 115 spi_.write(parameter);
thorlabs 0:3a9b958ba85f 116 nCS_ = 1;
thorlabs 0:3a9b958ba85f 117 for (int i = 0; i < length; i++) {
thorlabs 0:3a9b958ba85f 118 wait_us(1);
thorlabs 0:3a9b958ba85f 119 nCS_ = 0;
thorlabs 0:3a9b958ba85f 120 spi_.write(val[i]);
thorlabs 0:3a9b958ba85f 121 nCS_ = 1;
thorlabs 0:3a9b958ba85f 122 }
thorlabs 0:3a9b958ba85f 123
thorlabs 0:3a9b958ba85f 124 }
thorlabs 0:3a9b958ba85f 125
thorlabs 0:3a9b958ba85f 126 int dSPIN::get_param(char parameter, int length) {
thorlabs 0:3a9b958ba85f 127 char output = 0x20 | parameter;
thorlabs 0:3a9b958ba85f 128 char buf[3] = {0, 0, 0};
thorlabs 0:3a9b958ba85f 129 nCS_ = 0;
thorlabs 0:3a9b958ba85f 130 spi_.write(output);
thorlabs 0:3a9b958ba85f 131 nCS_ = 1;
thorlabs 0:3a9b958ba85f 132 for (int i = 0; i < length; i++) {
thorlabs 0:3a9b958ba85f 133 wait_us(1);
thorlabs 0:3a9b958ba85f 134 nCS_ = 0;
thorlabs 0:3a9b958ba85f 135 buf[i] = spi_.write(0x00);
thorlabs 0:3a9b958ba85f 136 nCS_ = 1;
thorlabs 0:3a9b958ba85f 137 }
thorlabs 0:3a9b958ba85f 138 switch (length) {
thorlabs 0:3a9b958ba85f 139 case 1:
thorlabs 0:3a9b958ba85f 140 return buf[0];
thorlabs 0:3a9b958ba85f 141 case 2:
thorlabs 0:3a9b958ba85f 142 return buf[0] << 8 | buf[1];
thorlabs 0:3a9b958ba85f 143 case 3:
thorlabs 0:3a9b958ba85f 144 return buf[0] << 16 | buf[1] << 8 | buf[2];
thorlabs 0:3a9b958ba85f 145 }
thorlabs 0:3a9b958ba85f 146 return 0;
thorlabs 0:3a9b958ba85f 147 }
thorlabs 0:3a9b958ba85f 148
thorlabs 0:3a9b958ba85f 149 int dSPIN::get_status() {
thorlabs 0:3a9b958ba85f 150 int ret_bytes[2];
thorlabs 0:3a9b958ba85f 151 nCS_ = 0;
thorlabs 0:3a9b958ba85f 152 spi_.write(0xD0); //write request for status return
thorlabs 0:3a9b958ba85f 153 nCS_ = 1;
thorlabs 0:3a9b958ba85f 154 wait_us(1);
thorlabs 0:3a9b958ba85f 155 nCS_ = 0;
thorlabs 0:3a9b958ba85f 156 ret_bytes[0] = spi_.write(0x00); //read first byte
thorlabs 0:3a9b958ba85f 157 nCS_ = 1;
thorlabs 0:3a9b958ba85f 158 wait_us(1);
thorlabs 0:3a9b958ba85f 159 nCS_ = 0;
thorlabs 0:3a9b958ba85f 160 ret_bytes[1] = spi_.write(0x00); //read second byte
thorlabs 0:3a9b958ba85f 161 nCS_ = 1;
thorlabs 0:3a9b958ba85f 162 return ret_bytes[0] << 8 | ret_bytes[1]; //return i16 response
thorlabs 0:3a9b958ba85f 163 }
thorlabs 0:3a9b958ba85f 164
thorlabs 0:3a9b958ba85f 165 void dSPIN::reset_device() {
thorlabs 0:3a9b958ba85f 166 nCS_ = 0;
thorlabs 0:3a9b958ba85f 167 spi_.write(0xC0);
thorlabs 0:3a9b958ba85f 168 nCS_ = 1;
thorlabs 0:3a9b958ba85f 169 }