Diff: StepperDriver/StepperDriver.cpp

Revision:

0:a1abeb6aa42c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StepperDriver/StepperDriver.cpp	Fri Oct 10 22:30:40 2014 +0000
@@ -0,0 +1,303 @@
+/* L6482 Driver code communicated via SPI
+ * file name: StepperDriver.cpp
+ * 07/15/2014 edited by Grace (Yi-Wen Liao)
+ */
+#include "StepperDriver.h"
+#include "mbed.h"
+ 
+StepperDriver::StepperDriver(PinName CSPin, PinName mosi, PinName miso, PinName sck) : _CSPin(CSPin), SPIPin(mosi,miso,sck)
+{
+    // When CSPin is high the device is unselected
+    _CSPin = 1;
+    SPIPin.format(8,3); // 8 bit data, Mode 3 
+    SPIPin.frequency(5000000); // 8MHz clock rate
+}
+
+// StepperDrive Command Management (datasheet p.61)
+void StepperDriver::setParam(char param, unsigned long value)
+{
+    param |= SET_PARAM;
+    SPIWrite((char)param);
+    paramHandler(param, value);
+}
+
+unsigned long StepperDriver::getParam(char param)
+{
+    SPIWrite(param|GET_PARAM);
+    return paramHandler(param,0);
+}
+
+int StepperDriver::getStatus()
+{
+  int temp = 1;
+  char* bytePointer = (char*)&temp;
+  SPIWrite(GET_STATUS);
+  bytePointer[1] = SPIWrite(0);
+  bytePointer[0] = SPIWrite(0);
+  return temp;
+}    
+    
+void StepperDriver::run(char dir, float stepsPerSec)
+{
+    SPIWrite(RUN|dir);
+    unsigned long integerSpeed = spdCalc(stepsPerSec);
+    if (integerSpeed > 0xFFFFF) integerSpeed = 0xFFFFF;
+    
+    char *bytepointer = (char *)&integerSpeed;
+    for (int i=2; i>=0; i--)  // most significant bytr first (datasheet p.61)
+    {
+        SPIWrite(bytepointer[i]);
+    }
+} 
+
+void StepperDriver::move(char dir, unsigned long numSteps)
+{ 
+  SPIWrite(MOVE|dir);
+  if (numSteps > 0x3FFFFF) numSteps = 0x3FFFFF;
+  char* bytePointer = (char*)&numSteps;
+  
+  for (int i = 2; i >= 0; i--)
+  {
+    SPIWrite(bytePointer[i]);
+  }
+}
+
+// StepperDriver Programming Manual (Datasheet p.43)
+void StepperDriver::setAcc(float stepsPerSecondPerSecond)
+{
+  unsigned long integerAcc = accCalc(stepsPerSecondPerSecond);
+  setParam(ACC, integerAcc);
+}
+
+void StepperDriver::setDec(float stepsPerSecondPerSecond)
+{
+  unsigned long integerDec = decCalc(stepsPerSecondPerSecond);
+  setParam(DEC, integerDec);
+}
+
+void StepperDriver::setMaxSpeed(float stepsPerSecond)
+{
+  unsigned long integerSpeed = maxSpdCalc(stepsPerSecond);
+  setParam(MAX_SPEED, integerSpeed);
+}
+
+void StepperDriver::setFullSpeed(float stepsPerSecond)
+{
+  unsigned long integerSpeed = FSCalc(stepsPerSecond);
+  setParam(FS_SPD, integerSpeed);
+}
+
+void StepperDriver::setAccTVAL(char tvalInput)
+{
+    setParam(TVAL_ACC, (unsigned long)tvalInput);
+}
+
+void StepperDriver::setDecTVAL(char tvalInput)
+{
+    setParam(TVAL_DEC, (unsigned long)tvalInput);
+}
+
+void StepperDriver::setRunTVAL(char tvalInput)
+{
+    setParam(TVAL_RUN, (unsigned long)tvalInput);
+}
+
+void StepperDriver::setHoldTVAL(char tvalInput)
+{
+    setParam(TVAL_HOLD, (unsigned long)tvalInput);
+}
+
+unsigned long StepperDriver::accCalc(float stepsPerSecSec)
+{
+    float temp = stepsPerSecSec*0.06871947674;
+    if( (unsigned long) long(temp) > 0x00000FFF) return 0x00000FFF;
+    else return (unsigned long) long(temp);
+}
+
+unsigned long StepperDriver::decCalc(float stepsPerSecSec)
+{
+    float temp = stepsPerSecSec*0.06871947674;
+    if( (unsigned long) long(temp) > 0x00000FFF) return 0x00000FFF;
+    else return (unsigned long) long(temp);
+}
+
+unsigned long StepperDriver::spdCalc(float stepsPerSec)
+{
+    float temp = stepsPerSec*67.106;
+    if( (unsigned long) long(temp) > 0x000FFFFF) return 0x000FFFFF;
+    else return (unsigned long) temp;
+}
+
+unsigned long StepperDriver::maxSpdCalc(float stepsPerSec)
+{
+  unsigned long temp = ceil(stepsPerSec * 0.065536);
+  if(temp > 0x000003FF) return 0x000003FF;
+  else return temp;
+}
+
+unsigned long StepperDriver::minSpdCalc(float stepsPerSec)
+{
+  float temp = stepsPerSec * 4.194304;
+  if( (unsigned long) long(temp) > 0x00000FFF) return 0x00000FFF;
+  else return (unsigned long) long(temp);
+}
+
+unsigned long StepperDriver::FSCalc(float stepsPerSec)
+{
+  float temp = (stepsPerSec * 0.065536)-0.5;
+  if( (unsigned long) long(temp) > 0x000003FF) return 0x000003FF;
+  else return (unsigned long) long(temp);
+}
+
+void StepperDriver::resetDev()
+{
+  SPIWrite(RESET_DEVICE);
+}
+
+void StepperDriver::hardHiZ()
+{
+  SPIWrite(HARD_HIZ);
+}
+
+void StepperDriver::softHiZ()
+{
+  SPIWrite(SOFT_HIZ);
+}
+
+unsigned long StepperDriver::writeParam(unsigned long value, char bitLength)
+{
+    char byteLength = bitLength/8;
+    if (bitLength%8 > 0) byteLength++;
+    unsigned long mask = 0xFFFFFFFF >> (32-bitLength);
+    if (value > mask) value = mask;
+    char *bytePointer = (char*)&value;
+
+    for(int i=byteLength-1; i>=0; i--)
+    {
+        bytePointer[i] = SPIWrite(bytePointer[i]);
+    }
+
+    return value;
+}
+
+char StepperDriver::SPIWrite(char data)
+{
+    char rxData;
+    _CSPin = 0;
+    rxData = SPIPin.write(data);
+    _CSPin = 1;
+    return rxData;
+}
+
+unsigned long StepperDriver::paramHandler(char param, unsigned long value)
+{
+    unsigned long returnValue = 0;
+    switch (param)
+    {
+        case ABS_POS:
+        returnValue = writeParam(value, 22);
+        break;
+    
+        case EL_POS:
+        returnValue = writeParam(value, 9);
+        break;
+   
+        case MARK:
+        returnValue = writeParam(value, 22);
+        break;
+        
+        case SPEED:
+        returnValue = writeParam(0, 20);
+        break;
+        
+        case MAX_SPEED:
+        returnValue = writeParam(value, 10);
+        break;
+      
+        case ACC:
+        returnValue = writeParam(value, 12);
+        break;
+        
+        case DEC:
+        returnValue = writeParam(value, 12);
+        break;
+        
+        case MIN_SPEED: 
+        returnValue = writeParam(value, 12);
+        break;
+ 
+        case FS_SPD:
+        returnValue = writeParam(value, 10);
+        break;
+        
+        case TVAL_HOLD:
+        value &= 0x7F;
+        returnValue = SPIWrite((char)value);
+        break;
+        
+        case TVAL_RUN:
+        value &= 0x7F;
+        returnValue = SPIWrite((char)value);
+        break;
+        
+        case TVAL_ACC:
+        value &= 0x7F;
+        returnValue = SPIWrite((char)value);
+        break;
+        
+        case TVAL_DEC:
+        value &= 0x7F;
+        returnValue = SPIWrite((char)value);
+        break;
+            
+        case OCD_TH: 
+        value &= 0x1F;
+        returnValue = SPIWrite((char)value);
+        break;
+      
+        case STEP_MODE:
+        returnValue = SPIWrite((char)value);
+        break;
+        
+        case CONFIG: 
+        returnValue = writeParam(value, 16);      
+        break;
+        
+        case STATUS:
+        returnValue = writeParam(0, 16);
+        break;
+        
+        case ALARM_EN: 
+        returnValue = SPIWrite((char)value);
+        break;
+        
+        case GATECFG1:
+        returnValue = writeParam(value, 11);
+        break;
+        
+        case GATECFG2:
+        returnValue = writeParam(value, 11);
+        break;
+        
+        case T_FAST:
+        returnValue = SPIWrite((char)value);
+        break;
+        
+        case TON_MIN:
+        returnValue = SPIWrite((char)value);
+        break;
+        
+        case TOFF_MIN:
+        returnValue = SPIWrite((char)value);
+        break;
+
+        case ADC_OUT:
+        returnValue = SPIWrite((char)value);
+        break;        
+    }
+    return returnValue;
+}
+
+        
+
+