void L6470::run(byte dir, float spd) {
// RUN sets the motor spinning in a direction (defined by the constants
// FWD and REV). Maximum speed and minimum speed are defined
// by the MAX_SPEED and MIN_SPEED registers; exceeding the FS_SPD value
// will switch the device into full-step mode.
// The SpdCalc() function is provided to convert steps/s values into
// appropriate integer values for this function.
unsigned long speedVal = SpdCalc(spd);
Xfer(RUN | dir);
if (speedVal > 0xFFFFF) speedVal = 0xFFFFF;
Xfer((byte)(speedVal >> 16));
Xfer((byte)(speedVal >> 8));
Xfer((byte)(speedVal));
}
void run( int speed, int dir){
// First things first: let's check communications. The CONFIG register should
// power up to 0x2E88, so we can use that to check the communications.
// On the test jig, this causes an LED to light up.
if (dSPIN_GetParam(dSPIN_CONFIG) == 0x2E88)
printf("Configuration successful!");
// The following function calls are for this demo application- you will
// need to adjust them for your particular application, and you may need
// to configure additional registers.
// First, let's set the step mode register:
// - dSPIN_SYNC_EN controls whether the BUSY/SYNC pin reflects the step
// frequency or the BUSY status of the chip. We want it to be the BUSY
// status.
// - dSPIN_STEP_SEL_x is the microstepping rate- we'll go full step.
// - dSPIN_SYNC_SEL_x is the ratio of (micro)steps to toggles on the
// BUSY/SYNC pin (when that pin is used for SYNC). Make it 1:1, despite
// not using that pin.
dSPIN_SetParam(dSPIN_STEP_MODE, !dSPIN_SYNC_EN | dSPIN_STEP_SEL_1 | dSPIN_SYNC_SEL_1);
// Configure the MAX_SPEED register- this is the maximum number of (micro)steps per
// second allowed. You'll want to mess around with your desired application to see
// how far you can push it before the motor starts to slip. The ACTUAL parameter
// passed to this function is in steps/tick; MaxSpdCalc() will convert a number of
// steps/s into an appropriate value for this function. Note that for any move or
// goto type function where no speed is specified, this value will be used.
dSPIN_SetParam(dSPIN_MAX_SPEED, MaxSpdCalc(290));
// Configure the FS_SPD register- this is the speed at which the driver ceases
// microstepping and goes to full stepping. FSCalc() converts a value in steps/s
// to a value suitable for this register; to disable full-step switching, you
// can pass 0x3FF to this register.
dSPIN_SetParam(dSPIN_FS_SPD, FSCalc(150));
// Configure the acceleration rate, in steps/tick/tick. There is also a DEC register;
// both of them have a function (AccCalc() and DecCalc() respectively) that convert
// from steps/s/s into the appropriate value for the register. Writing ACC to 0xfff
// sets the acceleration and deceleration to 'infinite' (or as near as the driver can
// manage). If ACC is set to 0xfff, DEC is ignored. To get infinite deceleration
// without infinite acceleration, only hard stop will work.
dSPIN_SetParam(dSPIN_ACC, 0x040);
// Configure the overcurrent detection threshold. The constants for this are defined
// in the dSPIN.h file.
// 3000mA is somewhere a bit above the rated capacity w/o heatsinking.
dSPIN_SetParam(dSPIN_OCD_TH, dSPIN_OCD_TH_1875mA);
// Set up the CONFIG register as follows:
// PWM frequency divisor = 1
// PWM frequency multiplier = 2 (62.5kHz PWM frequency)
// Slew rate is 290V/us
// Do NOT shut down bridges on overcurrent
// Disable motor voltage compensation
// Hard stop on switch low
// 16MHz internal oscillator, nothing on output
dSPIN_SetParam(dSPIN_CONFIG,
dSPIN_CONFIG_PWM_DIV_1 | dSPIN_CONFIG_PWM_MUL_2 | dSPIN_CONFIG_SR_290V_us
| dSPIN_CONFIG_OC_SD_ENABLE | dSPIN_CONFIG_VS_COMP_DISABLE
| dSPIN_CONFIG_SW_USER | dSPIN_CONFIG_INT_16MHZ);
// Configure the RUN KVAL. This defines the duty cycle of the PWM of the bridges
// during running. 0xFF means that they are essentially NOT PWMed during run; this
// MAY result in more power being dissipated than you actually need for the task.
// Setting this value too low may result in failure to turn.
// There are ACC, DEC, and HOLD KVAL registers as well; you may need to play with
// those values to get acceptable performance for a given application.
dSPIN_SetParam(dSPIN_KVAL_RUN, 0xaF);
// Calling GetStatus() clears the UVLO bit in the status register, which is set by
// default on power-up. The driver may not run without that bit cleared by this
// read operation.
printf("Status code is: %x\n"
"It shouldn't be 0, but this is normal at the moment.\n", dSPIN_GetStatus());
while (digitalRead(dSPIN_BUSYN) == LOW);
delay(500);
dSPIN_Run(dir, SpdCalc(speed));
}