TI dSPIN芯片L6470硬件参考设计原理图+软件驱动源代码.rar

//dSPIN_commands.ino - Contains high-level command implementations- movement // and configuration commands, for example. // Realize the "set parameter" function, to write to the various registers in // the dSPIN chip. void dSPIN_SetParam(byte param, unsigned long value) { dSPIN_Xfer(dSPIN_SET_PARAM | param); dSPIN_ParamHandler(param, value); } // Realize the "get parameter" function, to read from the various registers in // the dSPIN chip. unsigned long dSPIN_GetParam(byte param) { dSPIN_Xfer(dSPIN_GET_PARAM | param); return dSPIN_ParamHandler(param, 0); } // Much of the functionality between "get parameter" and "set parameter" is // very similar, so we deal with that by putting all of it in one function // here to save memory space and simplify the program. unsigned long dSPIN_ParamHandler(byte param, unsigned long value) { unsigned long ret_val = 0; // This is a temp for the value to return. // This switch structure handles the appropriate action for each register. // This is necessary since not all registers are of the same length, either // bit-wise or byte-wise, so we want to make sure we mask out any spurious // bits and do the right number of transfers. That is handled by the dSPIN_Param() // function, in most cases, but for 1-byte or smaller transfers, we call // dSPIN_Xfer() directly. switch (param) { // ABS_POS is the current absolute offset from home. It is a 22 bit number expressed // in two's complement. At power up, this value is 0. It cannot be written when // the motor is running, but at any other time, it can be updated to change the // interpreted position of the motor. case dSPIN_ABS_POS: ret_val = dSPIN_Param(value, 22); break; // EL_POS is the current electrical position in the step generation cycle. It can // be set when the motor is not in motion. Value is 0 on power up. case dSPIN_EL_POS: ret_val = dSPIN_Param(value, 9); break; // MARK is a second position other than 0 that the motor can be told to go to. As // with ABS_POS, it is 22-bit two's complement. Value is 0 on power up. case dSPIN_MARK: ret_val = dSPIN_Param(value, 22); break; // SPEED contains information about the current speed. It is read-only. It does // NOT provide direction information. case dSPIN_SPEED: ret_val = dSPIN_Param(0, 20); break; // ACC and DEC set the acceleration and deceleration rates. Set ACC to 0xFFF // to get infinite acceleration/decelaeration- there is no way to get infinite // deceleration w/o infinite acceleration (except the HARD STOP command). // Cannot be written while motor is running. Both default to 0x08A on power up. // AccCalc() and DecCalc() functions exist to convert steps/s/s values into // 12-bit values for these two registers. case dSPIN_ACC: ret_val = dSPIN_Param(value, 12); break; case dSPIN_DEC: ret_val = dSPIN_Param(value, 12); break; // MAX_SPEED is just what it says- any command which attempts to set the speed // of the motor above this value will simply cause the motor to turn at this // speed. Value is 0x041 on power up. // MaxSpdCalc() function exists to convert steps/s value into a 10-bit value // for this register. case dSPIN_MAX_SPEED: ret_val = dSPIN_Param(value, 10); break; // MIN_SPEED controls two things- the activation of the low-speed optimization // feature and the lowest speed the motor will be allowed to operate at. LSPD_OPT // is the 13th bit, and when it is set, the minimum allowed speed is automatically // set to zero. This value is 0 on startup. // MinSpdCalc() function exists to convert steps/s value into a 12-bit value for this // register. SetLSPDOpt() function exists to enable/disable the optimization feature. case dSPIN_MIN_SPEED: ret_val = dSPIN_Param(value, 12); break; // FS_SPD register contains a threshold value above which microstepping is disabled // and the dSPIN operates in full-step mode. Defaults to 0x027 on power up. // FSCalc() function exists to convert steps/s value into 10-bit integer for this // register. case dSPIN_FS_SPD: ret_val = dSPIN_Param(value, 10); break; // KVAL is the maximum voltage of the PWM outputs. These 8-bit values are ratiometric // representations: 255 for full output voltage, 128 for half, etc. Default is 0x29. // The implications of different KVAL settings is too complex to dig into here, but // it will usually work to max the value for RUN, ACC, and DEC. Maxing the value for // HOLD may result in excessive power dissipation when the motor is not running. case dSPIN_KVAL_HOLD: ret_val = dSPIN_Xfer((byte)value); break; case dSPIN_KVAL_RUN: ret_val = dSPIN_Xfer((byte)value); break; case dSPIN_KVAL_ACC: ret_val = dSPIN_Xfer((byte)value); break; case dSPIN_KVAL_DEC: ret_val = dSPIN_Xfer((byte)value); break; // INT_SPD, ST_SLP, FN_SLP_ACC and FN_SLP_DEC are all related to the back EMF // compensation functionality. Please see the datasheet for details of this // function- it is too complex to discuss here. Default values seem to work // well enough. case dSPIN_INT_SPD: ret_val = dSPIN_Param(value, 14); break; case dSPIN_ST_SLP: ret_val = dSPIN_Xfer((byte)value); break; case dSPIN_FN_SLP_ACC: ret_val = dSPIN_Xfer((byte)value); break; case dSPIN_FN_SLP_DEC: ret_val = dSPIN_Xfer((byte)value); break; // K_THERM is motor winding thermal drift compensation. Please see the datasheet // for full details on operation- the default value should be okay for most users. case dSPIN_K_THERM: ret_val = dSPIN_Xfer((byte)value & 0x0F); break; // ADC_OUT is a read-only register containing the result of the ADC measurements. // This is less useful than it sounds; see the datasheet for more information. case dSPIN_ADC_OUT: ret_val = dSPIN_Xfer(0); break; // Set the overcurrent threshold. Ranges from 375mA to 6A in steps of 375mA. // A set of defined constants is provided for the user's convenience. Default // value is 3.375A- 0x08. This is a 4-bit value. case dSPIN_OCD_TH: ret_val = dSPIN_Xfer((byte)value & 0x0F); break; // Stall current threshold. Defaults to 0x40, or 2.03A. Value is from 31.25mA to // 4A in 31.25mA steps. This is a 7-bit value. case dSPIN_STALL_TH: ret_val = dSPIN_Xfer((byte)value & 0x7F); break; // STEP_MODE controls the microstepping settings, as well as the generation of an // output signal from the dSPIN. Bits 2:0 control the number of microsteps per // step the part will generate. Bit 7 controls whether the BUSY/SYNC pin outputs // a BUSY signal or a step synchronization signal. Bits 6:4 control the frequency // of the output signal relative to the full-step frequency; see datasheet for // that relationship as it is too complex to reproduce here. // Most likely, only the microsteps per step value will be needed; there is a set // of constants provided for ease of use of these values. case dSPIN_STEP_MODE: ret_val = dSPIN_Xfer((byte)value); break; // ALARM_EN controls which alarms will cause the FLAG pin to fall. A set of constants // is provided to make this easy to interpret. By default, ALL alarms will trigger the // FLAG pin. case dSPIN_ALARM_EN: ret_val = dSPIN_Xfer((byte)value); break; // CONFIG contains some assorted configuration bits and fields. A fairly comprehensive // set of reasonably self-explanatory constants is provided, but users should refer // to the datasheet before modifying the contents of this register to be certain they // understand