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287 lines
10 KiB
C++
287 lines
10 KiB
C++
////////////////////////////////////////////////////////////
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//ORIGINAL CODE 12/12/2011- Mike Hord, SparkFun Electronics
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//LIBRARY Created by Adam Meyer of bildr Aug 18th 2012
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//Released as MIT license
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////////////////////////////////////////////////////////////
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#ifndef L6470_h
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#define L6470_h
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#include <Arduino.h>
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#include <SPI.h>
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#define SLAVE_SELECT_PIN 38 // Wire this to the CSN pin
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// #define RESET 6 // Wire this to the STBY line
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#define BUSYN 7 // Wire this to the BSYN line
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// constant definitions for overcurrent thresholds. Write these values to
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// register dSPIN_OCD_TH to set the level at which an overcurrent even occurs.
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#define OCD_TH_375mA 0x00
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#define OCD_TH_750mA 0x01
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#define OCD_TH_1125mA 0x02
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#define OCD_TH_1500mA 0x03
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#define OCD_TH_1875mA 0x04
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#define OCD_TH_2250mA 0x05
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#define OCD_TH_2625mA 0x06
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#define OCD_TH_3000mA 0x07
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#define OCD_TH_3375mA 0x08
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#define OCD_TH_3750mA 0x09
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#define OCD_TH_4125mA 0x0A
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#define OCD_TH_4500mA 0x0B
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#define OCD_TH_4875mA 0x0C
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#define OCD_TH_5250mA 0x0D
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#define OCD_TH_5625mA 0x0E
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#define OCD_TH_6000mA 0x0F
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// STEP_MODE option values.
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// First comes the "microsteps per step" options...
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#define STEP_MODE_STEP_SEL 0x07 // Mask for these bits only.
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#define STEP_SEL_1 0x00
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#define STEP_SEL_1_2 0x01
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#define STEP_SEL_1_4 0x02
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#define STEP_SEL_1_8 0x03
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#define STEP_SEL_1_16 0x04
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#define STEP_SEL_1_32 0x05
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#define STEP_SEL_1_64 0x06
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#define STEP_SEL_1_128 0x07
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// ...next, define the SYNC_EN bit. When set, the BUSYN pin will instead
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// output a clock related to the full-step frequency as defined by the
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// SYNC_SEL bits below.
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#define STEP_MODE_SYNC_EN 0x80 // Mask for this bit
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#define SYNC_EN 0x80
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// ...last, define the SYNC_SEL modes. The clock output is defined by
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// the full-step frequency and the value in these bits- see the datasheet
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// for a matrix describing that relationship (page 46).
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#define STEP_MODE_SYNC_SEL 0x70
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#define SYNC_SEL_1_2 0x00
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#define SYNC_SEL_1 0x10
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#define SYNC_SEL_2 0x20
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#define SYNC_SEL_4 0x30
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#define SYNC_SEL_8 0x40
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#define SYNC_SEL_16 0x50
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#define SYNC_SEL_32 0x60
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#define SYNC_SEL_64 0x70
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// Bit names for the ALARM_EN register.
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// Each of these bits defines one potential alarm condition.
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// When one of these conditions occurs and the respective bit in ALARM_EN is set,
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// the FLAG pin will go low. The register must be queried to determine which event
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// caused the alarm.
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#define ALARM_EN_OVERCURRENT 0x01
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#define ALARM_EN_THERMAL_SHUTDOWN 0x02
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#define ALARM_EN_THERMAL_WARNING 0x04
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#define ALARM_EN_UNDER_VOLTAGE 0x08
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#define ALARM_EN_STALL_DET_A 0x10
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#define ALARM_EN_STALL_DET_B 0x20
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#define ALARM_EN_SW_TURN_ON 0x40
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#define ALARM_EN_WRONG_NPERF_CMD 0x80
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// CONFIG register renames.
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// Oscillator options.
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// The dSPIN needs to know what the clock frequency is because it uses that for some
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// calculations during operation.
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#define CONFIG_OSC_SEL 0x000F // Mask for this bit field.
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#define CONFIG_INT_16MHZ 0x0000 // Internal 16MHz, no output
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#define CONFIG_INT_16MHZ_OSCOUT_2MHZ 0x0008 // Default; internal 16MHz, 2MHz output
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#define CONFIG_INT_16MHZ_OSCOUT_4MHZ 0x0009 // Internal 16MHz, 4MHz output
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#define CONFIG_INT_16MHZ_OSCOUT_8MHZ 0x000A // Internal 16MHz, 8MHz output
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#define CONFIG_INT_16MHZ_OSCOUT_16MHZ 0x000B // Internal 16MHz, 16MHz output
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#define CONFIG_EXT_8MHZ_XTAL_DRIVE 0x0004 // External 8MHz crystal
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#define CONFIG_EXT_16MHZ_XTAL_DRIVE 0x0005 // External 16MHz crystal
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#define CONFIG_EXT_24MHZ_XTAL_DRIVE 0x0006 // External 24MHz crystal
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#define CONFIG_EXT_32MHZ_XTAL_DRIVE 0x0007 // External 32MHz crystal
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#define CONFIG_EXT_8MHZ_OSCOUT_INVERT 0x000C // External 8MHz crystal, output inverted
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#define CONFIG_EXT_16MHZ_OSCOUT_INVERT 0x000D // External 16MHz crystal, output inverted
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#define CONFIG_EXT_24MHZ_OSCOUT_INVERT 0x000E // External 24MHz crystal, output inverted
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#define CONFIG_EXT_32MHZ_OSCOUT_INVERT 0x000F // External 32MHz crystal, output inverted
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// Configure the functionality of the external switch input
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#define CONFIG_SW_MODE 0x0010 // Mask for this bit.
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#define CONFIG_SW_HARD_STOP 0x0000 // Default; hard stop motor on switch.
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#define CONFIG_SW_USER 0x0010 // Tie to the GoUntil and ReleaseSW
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// commands to provide jog function.
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// See page 25 of datasheet.
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// Configure the motor voltage compensation mode (see page 34 of datasheet)
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#define CONFIG_EN_VSCOMP 0x0020 // Mask for this bit.
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#define CONFIG_VS_COMP_DISABLE 0x0000 // Disable motor voltage compensation.
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#define CONFIG_VS_COMP_ENABLE 0x0020 // Enable motor voltage compensation.
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// Configure overcurrent detection event handling
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#define CONFIG_OC_SD 0x0080 // Mask for this bit.
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#define CONFIG_OC_SD_DISABLE 0x0000 // Bridges do NOT shutdown on OC detect
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#define CONFIG_OC_SD_ENABLE 0x0080 // Bridges shutdown on OC detect
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// Configure the slew rate of the power bridge output
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#define CONFIG_POW_SR 0x0300 // Mask for this bit field.
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#define CONFIG_SR_180V_us 0x0000 // 180V/us
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#define CONFIG_SR_290V_us 0x0200 // 290V/us
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#define CONFIG_SR_530V_us 0x0300 // 530V/us
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// Integer divisors for PWM sinewave generation
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// See page 32 of the datasheet for more information on this.
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#define CONFIG_F_PWM_DEC 0x1C00 // mask for this bit field
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#define CONFIG_PWM_MUL_0_625 (0x00)<<10
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#define CONFIG_PWM_MUL_0_75 (0x01)<<10
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#define CONFIG_PWM_MUL_0_875 (0x02)<<10
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#define CONFIG_PWM_MUL_1 (0x03)<<10
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#define CONFIG_PWM_MUL_1_25 (0x04)<<10
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#define CONFIG_PWM_MUL_1_5 (0x05)<<10
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#define CONFIG_PWM_MUL_1_75 (0x06)<<10
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#define CONFIG_PWM_MUL_2 (0x07)<<10
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// Multiplier for the PWM sinewave frequency
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#define CONFIG_F_PWM_INT 0xE000 // mask for this bit field.
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#define CONFIG_PWM_DIV_1 (0x00)<<13
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#define CONFIG_PWM_DIV_2 (0x01)<<13
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#define CONFIG_PWM_DIV_3 (0x02)<<13
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#define CONFIG_PWM_DIV_4 (0x03)<<13
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#define CONFIG_PWM_DIV_5 (0x04)<<13
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#define CONFIG_PWM_DIV_6 (0x05)<<13
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#define CONFIG_PWM_DIV_7 (0x06)<<13
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// Status register bit renames- read-only bits conferring information about the
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// device to the user.
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#define STATUS_HIZ 0x0001 // high when bridges are in HiZ mode
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#define STATUS_BUSY 0x0002 // mirrors BUSY pin
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#define STATUS_SW_F 0x0004 // low when switch open, high when closed
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#define STATUS_SW_EVN 0x0008 // active high, set on switch falling edge,
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// cleared by reading STATUS
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#define STATUS_DIR 0x0010 // Indicates current motor direction.
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// High is FWD, Low is REV.
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#define STATUS_NOTPERF_CMD 0x0080 // Last command not performed.
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#define STATUS_WRONG_CMD 0x0100 // Last command not valid.
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#define STATUS_UVLO 0x0200 // Undervoltage lockout is active
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#define STATUS_TH_WRN 0x0400 // Thermal warning
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#define STATUS_TH_SD 0x0800 // Thermal shutdown
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#define STATUS_OCD 0x1000 // Overcurrent detected
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#define STATUS_STEP_LOSS_A 0x2000 // Stall detected on A bridge
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#define STATUS_STEP_LOSS_B 0x4000 // Stall detected on B bridge
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#define STATUS_SCK_MOD 0x8000 // Step clock mode is active
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// Status register motor status field
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#define STATUS_MOT_STATUS 0x0060 // field mask
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#define STATUS_MOT_STATUS_STOPPED (0x0000)<<13 // Motor stopped
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#define STATUS_MOT_STATUS_ACCELERATION (0x0001)<<13 // Motor accelerating
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#define STATUS_MOT_STATUS_DECELERATION (0x0002)<<13 // Motor decelerating
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#define STATUS_MOT_STATUS_CONST_SPD (0x0003)<<13 // Motor at constant speed
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// Register address redefines.
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// See the Param_Handler() function for more info about these.
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#define ABS_POS 0x01
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#define EL_POS 0x02
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#define MARK 0x03
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#define SPEED 0x04
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#define ACC 0x05
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#define DEC 0x06
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#define MAX_SPEED 0x07
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#define MIN_SPEED 0x08
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#define FS_SPD 0x15
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#define KVAL_HOLD 0x09
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#define KVAL_RUN 0x0A
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#define KVAL_ACC 0x0B
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#define KVAL_DEC 0x0C
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#define INT_SPD 0x0D
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#define ST_SLP 0x0E
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#define FN_SLP_ACC 0x0F
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#define FN_SLP_DEC 0x10
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#define K_THERM 0x11
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#define ADC_OUT 0x12
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#define OCD_TH 0x13
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#define STALL_TH 0x14
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#define STEP_MODE 0x16
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#define ALARM_EN 0x17
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#define CONFIG 0x18
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#define STATUS 0x19
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//dSPIN commands
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#define NOP 0x00
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#define SET_PARAM 0x00
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#define GET_PARAM 0x20
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#define RUN 0x50
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#define STEP_CLOCK 0x58
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#define MOVE 0x40
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#define GOTO 0x60
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#define GOTO_DIR 0x68
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#define GO_UNTIL 0x82
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#define RELEASE_SW 0x92
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#define GO_HOME 0x70
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#define GO_MARK 0x78
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#define RESET_POS 0xD8
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#define RESET_DEVICE 0xC0
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#define SOFT_STOP 0xB0
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#define HARD_STOP 0xB8
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#define SOFT_HIZ 0xA0
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#define HARD_HIZ 0xA8
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#define GET_STATUS 0xD0
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/* dSPIN direction options */
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#define FWD 0x01
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#define REV 0x00
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/* dSPIN action options */
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#define ACTION_RESET 0x00
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#define ACTION_COPY 0x01
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class L6470{
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public:
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L6470(int SSPin);
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void init(int k_value);
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void setMicroSteps(int microSteps);
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void setCurrent(int current);
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void setMaxSpeed(int speed);
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void setMinSpeed(int speed);
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void setAcc(float acceleration);
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void setDec(float deceleration);
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void setOverCurrent(unsigned int ma_current);
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void setThresholdSpeed(float threshold);
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void setStallCurrent(float ma_current);
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unsigned long ParamHandler(byte param, unsigned long value);
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void SetLowSpeedOpt(boolean enable);
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void run(byte dir, float spd);
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void Step_Clock(byte dir);
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void goHome();
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void setAsHome();
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void goMark();
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void move(long n_step);
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void goTo(long pos);
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void goTo_DIR(byte dir, long pos);
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void goUntil(byte act, byte dir, unsigned long spd);
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boolean isBusy();
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void releaseSW(byte act, byte dir);
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float getSpeed();
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long getPos();
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void setMark();
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void setMark(long value);
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void resetPos();
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void resetDev();
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void softStop();
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void hardStop();
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void softFree();
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void free();
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int getStatus();
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void SetParam(byte param, unsigned long value);
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private:
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long convert(unsigned long val);
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unsigned long GetParam(byte param);
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unsigned long AccCalc(float stepsPerSecPerSec);
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unsigned long DecCalc(float stepsPerSecPerSec);
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unsigned long MaxSpdCalc(float stepsPerSec);
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unsigned long MinSpdCalc(float stepsPerSec);
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unsigned long FSCalc(float stepsPerSec);
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unsigned long IntSpdCalc(float stepsPerSec);
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unsigned long SpdCalc(float stepsPerSec);
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unsigned long Param(unsigned long value, byte bit_len);
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byte Xfer(byte data);
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int _SSPin;
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};
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#endif
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