Diff: dSPIN.cpp

Revision:

0:3a9b958ba85f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dSPIN.cpp	Mon Jul 09 14:40:14 2012 +0000
@@ -0,0 +1,169 @@
+/**
+ * @author Eric Lieser
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * ST Microelectronics L6470 dSPIN fully integrated microstepping motor driver
+ * with motion engine and SPI
+ *
+ * Datasheet: http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00255075.pdf
+ *
+ *
+ */
+
+/**
+* Includes
+*/
+#include "dSPIN.h"
+
+dSPIN::dSPIN(PinName mosi,
+             PinName miso,
+             PinName sck,
+             PinName cs) : spi_(mosi, miso, sck), nCS_(cs) {
+
+    //5MHz, see page 13 of datasheet for max clock.  May need to be reduces if using long wires
+    spi_.frequency(5000000);
+    spi_.format(8,3);
+
+    nCS_ = 1;
+
+    wait_us(500);
+
+}
+
+void dSPIN::run(int dir, int speed) {
+    char val[3];
+    val[0] = (speed & 0xff0000UL) >> 16;
+    val[1] = (speed & 0x00ff00UL) >>  8;
+    val[2] = (speed & 0x0000ffUL)      ;
+    nCS_ = 0;
+    if (dir == 1)
+        spi_.write(0x51);
+    else spi_.write(0x50);
+    nCS_ = 1;
+    for (int i = 0; i < 3; i++) {
+        wait_us(1);
+        nCS_ = 0;
+        spi_.write(val[i]);
+        nCS_ = 1;
+    }
+}
+
+void dSPIN::move(int dir, int steps) {
+    char val[3];
+    val[0] = (steps & 0xff0000UL) >> 16;
+    val[1] = (steps & 0x00ff00UL) >>  8;
+    val[2] = (steps & 0x0000ffUL)      ;
+    nCS_ = 0;
+    if (dir == 1)
+        spi_.write(0x41);
+    else spi_.write(0x40);
+    nCS_ = 1;
+    for (int i = 0; i < 3; i++) {
+        wait_us(1);
+        nCS_ = 0;
+        spi_.write(val[i]);
+        nCS_ = 1;
+    }
+}
+
+void dSPIN::soft_stop() {
+    nCS_ = 0;
+    spi_.write(0xB0);
+    nCS_ = 1;
+}
+
+void dSPIN::set_param(char parameter, int length, int value) {
+    char val[3];
+    switch (length) {
+        case 1:
+            val[0] = (value & 0x0000ffUL)      ;
+            break;
+        case 2:
+            val[0] = (value & 0x00ff00UL) >>  8;
+            val[1] = (value & 0x0000ffUL)      ;
+            break;
+        case 3:
+            val[0] = (value & 0xff0000UL) >> 16;
+            val[1] = (value & 0x00ff00UL) >>  8;
+            val[2] = (value & 0x0000ffUL)      ;
+            break;
+    }
+    nCS_ = 0;
+    spi_.write(parameter);
+    nCS_ = 1;
+    for (int i = 0; i < length; i++) {
+        wait_us(1);
+        nCS_ = 0;
+        spi_.write(val[i]);
+        nCS_ = 1;
+    }
+
+}
+
+int dSPIN::get_param(char parameter, int length) {
+    char output = 0x20 | parameter;
+    char buf[3] = {0, 0, 0};
+    nCS_ = 0;
+    spi_.write(output);
+    nCS_ = 1;
+    for (int i = 0; i < length; i++) {
+        wait_us(1);
+        nCS_ = 0;
+        buf[i] = spi_.write(0x00);
+        nCS_ = 1;
+    }
+    switch (length) {
+        case 1:
+            return buf[0];
+        case 2:
+            return buf[0] << 8 | buf[1];
+        case 3:
+            return buf[0] << 16 | buf[1] << 8 | buf[2];
+    }
+    return 0;
+}
+
+int dSPIN::get_status() {
+    int ret_bytes[2];
+    nCS_ = 0;
+    spi_.write(0xD0); //write request for status return
+    nCS_ = 1;
+    wait_us(1);
+    nCS_ = 0;
+    ret_bytes[0] = spi_.write(0x00);  //read first byte
+    nCS_ = 1;
+    wait_us(1);
+    nCS_ = 0;
+    ret_bytes[1] = spi_.write(0x00);  //read second byte
+    nCS_ = 1;
+    return ret_bytes[0] << 8 | ret_bytes[1];  //return i16 response
+}
+
+void dSPIN::reset_device() {
+    nCS_ = 0;
+    spi_.write(0xC0);
+    nCS_ = 1;
+}
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