main() {
// Open i2c:
int fh = open("/dev/i2c-3", O_RDWR);
printf("Opening i2c port...\n");
if(fh!=3)
printf("ERROR opening i2c port.\n");
else
printf("The i2c port is open.\n");
// Reset Device
printf("Reseting device...\n");
if(resetDev(fh)!=1)
printf("ERROR: Device not reset.\n");
else
printf("Device is reset and ready for use.\n");
// Set pwm frequency to 60 Hz (different depending on servo):
float freq = 60;
if(pwmFreq(fh, freq)!=1)
printf("ERROR: setting pwm frequency\n");
else
printf("Frequency set to %f Hz.\n", freq);
// Make loop that rotates servos up and down simultaneously, lapping 10 times
uint16_t pl1 = ServoMin;// small pulse length (may need editind depending on servo)
uint16_t pl2 = ServoMax;// large pulse length (may need editind depending on servo)
int switcher = 0;// Switches between 0 and 1 to change servo directions
int loops = 1;// For loops 1-10
int servo, servo1, servo2;// for calling every other servo inside while() loop
int servonum = 0;
uint16_t pl;
while(loops<=10){
printf("Pulse %d:\n", loops);
for(servo = 0; servo < 8; servo++) {
servo1 = 2*servo;// 0, 2, 4,...14
servo2 = 2*servo+1;// 1, 3, 5,...15
if(switcher == 0) {
pwmPulse(fh, servo1, 0, pl1);
pwmPulse(fh, servo2, 0, pl2);
}
else {
pwmPulse(fh, servo1, 0, pl2);
pwmPulse(fh, servo2, 0, pl1);
}
}
if(switcher == 0)
switcher = 1;
else
switcher = 0;
usleep(1000000);// 0.5 sec delay
loops++;
}
resetDev(fh);// Stop pulses
}
bool LSM303DHLC_Mag::init( uint8_t odr, uint8_t sens )
{
resetDev();
if( send_reg1_8bit( reg_cra, odr ) != 1 ) {
return false;
}
if( send_reg1_8bit( reg_crb, sens ) != 1 ) {
return false;
}
if( send_reg1_8bit( reg_mode, 0 ) != 1 ) { // 0 = continous 1=single_shot
return false;
}
return true;
}
void L6470::init(int k_value) {
// This is the generic initialization function to set up the Arduino to
// communicate with the dSPIN chip.
// set up the input/output pins for the application.
pinMode(SLAVE_SELECT_PIN, OUTPUT); // The SPI peripheral REQUIRES the hardware SS pin-
// pin 10- to be an output. This is in here just
// in case some future user makes something other
// than pin 10 the SS pin.
pinMode(_SSPin, OUTPUT);
digitalWrite(_SSPin, HIGH);
pinMode(MOSI, OUTPUT);
pinMode(MISO, INPUT);
pinMode(SCK, OUTPUT);
pinMode(BUSYN, INPUT);
#if (ENABLE_RESET_PIN == 1)
pinMode(RESET, OUTPUT);
// reset the dSPIN chip. This could also be accomplished by
// calling the "L6470::ResetDev()" function after SPI is initialized.
digitalWrite(RESET, HIGH);
delay(10);
digitalWrite(RESET, LOW);
delay(10);
digitalWrite(RESET, HIGH);
delay(10);
#endif
// initialize SPI for the dSPIN chip's needs:
// most significant bit first,
// SPI clock not to exceed 5MHz,
// SPI_MODE3 (clock idle high, latch data on rising edge of clock)
SPI.begin();
SPI.setBitOrder(MSBFIRST);
SPI.setClockDivider(SPI_CLOCK_DIV16); // or 2, 8, 16, 32, 64
SPI.setDataMode(SPI_MODE3);
// First things first: let's check communications. The CONFIG register should
// power up to 0x2E88, so we can use that to check the communications.
if (GetParam(CONFIG) == 0x2E88) {
//Serial.println('good to go');
}
else {
//Serial.println('Comm issue');
}
#if (ENABLE_RESET_PIN == 0)
resetDev();
#endif
// First, let's set the step mode register:
// - 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.
// - STEP_SEL_x is the microstepping rate- we'll go full step.
// - 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.
//SetParam(STEP_MODE, !SYNC_EN | STEP_SEL_1 | SYNC_SEL_1);
SetParam(KVAL_RUN, k_value);
SetParam(KVAL_ACC, k_value);
SetParam(KVAL_DEC, k_value);
SetParam(KVAL_HOLD, k_value);
// 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
SetParam(CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_SR_290V_us| CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | 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.
//SetParam(KVAL_RUN, 0xFF);
// 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.
getStatus();
hardStop(); //engage motors
}
