Eric Lieser / dSPIN

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

dSPIN.h@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 #ifndef dSPIN_H
thorlabs 0:3a9b958ba85f 37 #define dSPIN_H
thorlabs 0:3a9b958ba85f 38
thorlabs 0:3a9b958ba85f 39
thorlabs 0:3a9b958ba85f 40 /**
thorlabs 0:3a9b958ba85f 41 * Includes
thorlabs 0:3a9b958ba85f 42 */
thorlabs 0:3a9b958ba85f 43 #include "mbed.h"
thorlabs 0:3a9b958ba85f 44
thorlabs 0:3a9b958ba85f 45 /**
thorlabs 0:3a9b958ba85f 46 * Defines
thorlabs 0:3a9b958ba85f 47 */
thorlabs 0:3a9b958ba85f 48 #define ABS_POS 0x01 //length: 22 reset value: 0
thorlabs 0:3a9b958ba85f 49 #define EL_POS 0x02 //length: 9 reset value: 0
thorlabs 0:3a9b958ba85f 50 #define MARK 0x03 //length: 22 reset value: 0
thorlabs 0:3a9b958ba85f 51 #define SPEED 0x04 //length: 20 reset value: 0
thorlabs 0:3a9b958ba85f 52 #define ACC 0x05 //length: 12 reset value: 08A
thorlabs 0:3a9b958ba85f 53 #define DEC 0x06 //length: 12 reset value: 08A
thorlabs 0:3a9b958ba85f 54 #define MAX_SPEED 0x07 //length: 10 reset value: 41
thorlabs 0:3a9b958ba85f 55 #define MIN_SPEED 0x08 //length: 13 reset value: 0
thorlabs 0:3a9b958ba85f 56 #define FS_SPD 0x15 //length: 10 reset value: 027
thorlabs 0:3a9b958ba85f 57 #define KVAL_HOLD 0x09 //length: 8 reset value: 29
thorlabs 0:3a9b958ba85f 58 #define KVAL_RUN 0x0A //length: 8 reset value: 29
thorlabs 0:3a9b958ba85f 59 #define KVAL_ACC 0x0B //length: 8 reset value: 29
thorlabs 0:3a9b958ba85f 60 #define KVAL_DEC 0x0C //length: 8 reset value: 29
thorlabs 0:3a9b958ba85f 61 #define INT_SPD 0x0D //length: 14 reset value: 0408
thorlabs 0:3a9b958ba85f 62 #define ST_SLP 0x0E //length: 8 reset value: 19
thorlabs 0:3a9b958ba85f 63 #define FN_SLP_ACC 0x0F //length: 8 reset value: 29
thorlabs 0:3a9b958ba85f 64 #define FN_SLP_DEC 0x10 //length: 8 reset value: 29
thorlabs 0:3a9b958ba85f 65 #define K_THERM 0x11 //length: 4 reset value: 0
thorlabs 0:3a9b958ba85f 66 #define ADC_OUT 0x12 //length: 5 reset value:
thorlabs 0:3a9b958ba85f 67 #define OCD_TH 0x13 //length: 4 reset value: 8
thorlabs 0:3a9b958ba85f 68 #define STALL_TH 0x14 //length: 7 reset value: 40
thorlabs 0:3a9b958ba85f 69 #define STEP_MODE 0x16 //length: 8 reset value: 7
thorlabs 0:3a9b958ba85f 70 #define ALARM_EN 0x17 //length: 8 reset value: FF
thorlabs 0:3a9b958ba85f 71 #define CONFIG 0x18 //length: 16 reset value: 2E88
thorlabs 0:3a9b958ba85f 72 #define STATUS 0x19 //length: 16 reset value:
thorlabs 0:3a9b958ba85f 73
thorlabs 0:3a9b958ba85f 74 /**
thorlabs 0:3a9b958ba85f 75 * ST Micro dSPIN stepper motor controller
thorlabs 0:3a9b958ba85f 76 */
thorlabs 0:3a9b958ba85f 77 class dSPIN {
thorlabs 0:3a9b958ba85f 78
thorlabs 0:3a9b958ba85f 79 public:
thorlabs 0:3a9b958ba85f 80
thorlabs 0:3a9b958ba85f 81 /**
thorlabs 0:3a9b958ba85f 82 * Constructor.
thorlabs 0:3a9b958ba85f 83 *
thorlabs 0:3a9b958ba85f 84 * @param mosi mbed pin to use for MOSI line of SPI interface.
thorlabs 0:3a9b958ba85f 85 * @param miso mbed pin to use for MISO line of SPI interface.
thorlabs 0:3a9b958ba85f 86 * @param sck mbed pin to use for SCK line of SPI interface.
thorlabs 0:3a9b958ba85f 87 * @param cs mbed pin to use for not chip select line of SPI interface.
thorlabs 0:3a9b958ba85f 88 */
thorlabs 0:3a9b958ba85f 89 dSPIN(PinName mosi, PinName miso, PinName sck, PinName cs);
thorlabs 0:3a9b958ba85f 90
thorlabs 0:3a9b958ba85f 91 void run(int dir, int speed);
thorlabs 0:3a9b958ba85f 92
thorlabs 0:3a9b958ba85f 93 void move(int dir, int steps);
thorlabs 0:3a9b958ba85f 94
thorlabs 0:3a9b958ba85f 95 void soft_stop(void);
thorlabs 0:3a9b958ba85f 96
thorlabs 0:3a9b958ba85f 97 void set_param(char parameter, int length, int value);
thorlabs 0:3a9b958ba85f 98
thorlabs 0:3a9b958ba85f 99 int get_param(char parameter, int length);
thorlabs 0:3a9b958ba85f 100
thorlabs 0:3a9b958ba85f 101 int get_status(void);
thorlabs 0:3a9b958ba85f 102
thorlabs 0:3a9b958ba85f 103 void reset_device(void);
thorlabs 0:3a9b958ba85f 104
thorlabs 0:3a9b958ba85f 105 private:
thorlabs 0:3a9b958ba85f 106
thorlabs 0:3a9b958ba85f 107 SPI spi_;
thorlabs 0:3a9b958ba85f 108 DigitalOut nCS_;
thorlabs 0:3a9b958ba85f 109
thorlabs 0:3a9b958ba85f 110 };
thorlabs 0:3a9b958ba85f 111
thorlabs 0:3a9b958ba85f 112
thorlabs 0:3a9b958ba85f 113
thorlabs 0:3a9b958ba85f 114 #endif /* dSPIN */