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@Bob-the-Kuhn @thinkyhead
Bob-the-Kuhn authored and thinkyhead committed Jan 9, 2020
1 parent 78eaeb1 commit 4623a58
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286 changes: 157 additions & 129 deletions examples/two_motors_synchronized/two_motors_synchronized.ino
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Expand Up @@ -37,146 +37,174 @@
#define MISO_PIN 13
#define RESET_PIN 14

class TwoMotors : public L64XXHelper {
public:
TwoMotors() { L64XX::set_helper(*this); }

/**
* Initialize pins for non-library SPI software
*/
static void spi_init() {
pinMode(SS_PIN, OUTPUT);
pinMode(SCK_PIN, OUTPUT);
pinMode(MOSI_PIN, OUTPUT);
digitalWrite(SS_PIN, HIGH);
uint8_t L6470_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3
uint8_t bits = 8;
do {
digitalWrite(SCK_PIN, LOW);
digitalWrite(MOSI_PIN, b & 0x80);
//DELAY_NS(125);
digitalWrite(SCK_PIN, HIGH);
digitalWrite(MOSI_PIN, HIGH);
pinMode(MISO_PIN, INPUT);
}

static inline uint8_t transfer(uint8_t data, const int16_t ss_pin) { }

/**
* Used in all non-motion commands/transfers
* Send/receive one uint8_t to the target device. All other devices get a NOOP command.
* Data for the last device in the chain is sent out first!
*/
static inline uint8_t transfer(uint8_t data, const int16_t ss_pin, const uint8_t chain_position) {
#define CMD_NOP 0
uint8_t data_out = 0;
data--;
// first device in chain has data sent last
digitalWrite(ss_pin, LOW);

for (uint8_t i = L64XX::chain[0]; i >= 1; i--) {
uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : CMD_NOP));
if (L64XX::chain[i] == chain_position) data_out = temp;
}

digitalWrite(ss_pin, HIGH);
return data_out;
}
b <<= 1; // little setup time
b |= (digitalRead(MISO_PIN) != 0);
} while (--bits);
//DELAY_NS(125);
return b;
}

static inline uint8_t L6470_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3
uint8_t bits = 8;
do {
digitalWrite(SCK_PIN, LOW);
digitalWrite(MOSI_PIN, b & 0x80);
//DELAY_NS(125);
digitalWrite(SCK_PIN, HIGH);
b <<= 1; // little setup time
b |= (digitalRead(MISO_PIN) != 0);
} while (--bits);
//DELAY_NS(125);
return b;
}
/**
* Initialize pins for non-library SPI software
*/
static void spi_init() {
pinMode(SS_PIN, OUTPUT);
pinMode(SCK_PIN, OUTPUT);
pinMode(MOSI_PIN, OUTPUT);
digitalWrite(SS_PIN, HIGH);
digitalWrite(SCK_PIN, HIGH);
digitalWrite(MOSI_PIN, HIGH);
pinMode(MISO_PIN, INPUT);
}

/**
* This is the routine that sends the motion commands.
*
* This routine sends a buffer of data to be filled by the application. The
* library is not involved with it.
*/
static inline void Buffer_Transfer(uint8_t buffer[], const uint8_t length) {
//uint8_t buffer[number of steppers + 1];
// [0] - not used
// [1] - command for first device
// [2] - command for second device

// first device in chain has data sent last
digitalWrite(SS_PIN, LOW);
for (uint8_t i = length; i >= 1; i--)
buffer[i] = L6470_SpiTransfer_Mode_3(uint8_t (buffer[i]));
digitalWrite(SS_PIN, HIGH);
}
/**
* Used in all non-motion commands/transfers
*
* Send/receive one uint8_t to the target device. All other devices get a NOOP command.
*
* Data for the last device in the chain is sent out first!
*
* The library will automatically link to "uint8_t L64XX::transfer(uint8_t,int16_t,uint8_t)"
*/

static inline void goTo(long location_1, long location_2) {
// the command string to move a stepper to an absolute position is
// four uint8_t long so four arraya are used for convenience
uint8_t L64XX::transfer(uint8_t data, const int16_t ss_pin, const uint8_t chain_position) {

uint8_t buffer_command[3] = { dSPIN_GOTO, dSPIN_GOTO }; // create and fill buffer with commands
#define CMD_NOP 0
uint8_t data_out = 0;
data--;
// first device in chain has data sent last
digitalWrite(ss_pin, LOW);

if (location_1 > 0x3FFFFF) location_1 = 0x3FFFFF; // limit to 22 bits
if (location_1 > 0x3FFFFF) location_1 = 0x3FFFFF;
for (uint8_t i = L64XX::chain[0]; i >= 1; i--) {
uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : CMD_NOP));
if (L64XX::chain[i] == chain_position) data_out = temp;
}

uint8_t addr21_16[3] = { 0, uint8_t(location_1 >> 16), uint8_t(location_2 >> 16) };
uint8_t addr15_8[3] = { 0, uint8_t(location_1 >> 8), uint8_t(location_2 >> 8) };
uint8_t addr7_0[3] = { 0, uint8_t(location_1) , uint8_t(location_2) };
digitalWrite(ss_pin, HIGH);
return data_out;
}

Buffer_Transfer(buffer_command, L64XX::chain[0]); // send the commands
Buffer_Transfer(addr21_16 , L64XX::chain[0]); // send the MSB of the position
Buffer_Transfer(addr15_8 , L64XX::chain[0]);
Buffer_Transfer(addr7_0 , L64XX::chain[0]); // this one results in the motors moving
}
uint8_t L64XX::transfer(uint8_t data, const int16_t ss_pin) { }

static inline void _setup() {
pinMode(RESET_PIN,OUTPUT); // Reset all drivers
digitalWrite(RESET_PIN, LOW); // Do this before any setup commands are sent to the drivers
delay(10);
digitalWrite(RESET_PIN, HIGH);

stepperA.set_chain_info(56, 1); // Completely setup chain[] before
stepperB.set_chain_info(56, 2); // Any SPI traffic is sent

stepperA.init();
stepperA.setAcc(100); // Set acceleration
stepperA.setMaxSpeed(800);
stepperA.setMinSpeed(1);
stepperA.setMicroSteps(2); // 1,2,4,8,16,32,64 or 128
stepperA.setThresholdSpeed(1000);
stepperA.setOverCurrent(6000); // Set overcurrent protection
stepperA.setStallCurrent(3000);

stepperB.init();
stepperB.setAcc(100); // Set acceleration
stepperB.setMaxSpeed(800);
stepperB.setMinSpeed(1);
stepperB.setMicroSteps(2); // 1,2,4,8,16,32,64 or 128
stepperB.setThresholdSpeed(1000);
stepperB.setOverCurrent(6000); // Set overcurrent protection
stepperB.setStallCurrent(3000);

goTo(200,200); // Spin the motors at the same time
}
/**
* This is the routine that sends the motion commands.
*
* This routine sends a buffer of data that is filled by the application. The
* library is not involved with it.
*/

static inline void _loop() {
while (stepperB.isBusy()) delay(10);
goTo(-200,-200);
while (stepperB.isBusy()) delay(10);
goTo(2000,2000);
}
//uint8_t buffer[number of steppers + 1];
// [0] - not used
// [1] - command for first device
// [2] - command for second device

private:
static L6470 stepperA;
static L6480 stepperB;
static powerSTEP01 stepperC;
};
void Buffer_Transfer(uint8_t buffer[] , uint8_t length) {
// first device in chain has data sent last
digitalWrite(SS_PIN, LOW);
for (uint8_t i = length; i >= 1; i--)
buffer[i] = L6470_SpiTransfer_Mode_3(uint8_t (buffer[i]));
digitalWrite(SS_PIN, HIGH);
}

L6470 TwoMotors::stepperA(SS_PIN);
L6480 TwoMotors::stepperB(SS_PIN);
powerSTEP01 TwoMotors::stepperC(SS_PIN);
/**
* Initialize pins for non-library SPI software
*
* The library will automatically link to "void L64XX::spi_init()"
*/

TwoMotors two_motors;
void L64XX::spi_init() {
pinMode(SS_PIN, OUTPUT);
pinMode(SCK_PIN, OUTPUT);
pinMode(MOSI_PIN, OUTPUT);
digitalWrite(SS_PIN, HIGH);
digitalWrite(SCK_PIN, HIGH);
digitalWrite(MOSI_PIN, HIGH);
pinMode(MISO_PIN, INPUT);
}

void goTo(long location_1, long location_2) {
// the command string to move a stepper to an absolute position is
// four uint8_t long so four arraya are used for convenience

uint8_t buffer_command[3] = { dSPIN_GOTO, dSPIN_GOTO }; // create and fill buffer with commands

if (location_1 > 0x3FFFFF) location_1 = 0x3FFFFF; // limit to 22 bits
if (location_1 > 0x3FFFFF) location_1 = 0x3FFFFF;

uint8_t addr21_16[3] = { 0, uint8_t(location_1 >> 16), uint8_t(location_2 >> 16) };
uint8_t addr15_8[3] = { 0, uint8_t(location_1 >> 8), uint8_t(location_2 >> 8) };
uint8_t addr7_0[3] = { 0, uint8_t(location_1) , uint8_t(location_2) };

Buffer_Transfer(buffer_command, L64XX::chain[0]); // send the commands
Buffer_Transfer(addr21_16 , L64XX::chain[0]); // send the MSB of the position
Buffer_Transfer(addr15_8 , L64XX::chain[0]);
Buffer_Transfer(addr7_0 , L64XX::chain[0]); // this one results in the motors moving
}

//////////////////////////////////////////////////////////////////////

void setup() {

Serial.begin(115200);

L6470 stepperA(SS_PIN, spi_init, transfer, chain_transfer);
//L6480 stepperB(SS_PIN, spi_init, transfer, chain_transfer);
//powerSTEP01 stepperC(SS_PIN);

return;

/*
pinMode(RESET_PIN,OUTPUT); // Reset all drivers
digitalWrite(RESET_PIN, LOW); // Do this before any setup commands are sent to the drivers
delay(10);
digitalWrite(RESET_PIN, HIGH);
stepperA.set_chain_info(56, 1); // Completely setup chain[] before
stepperB.set_chain_info(56, 2); // Any SPI traffic is sent
stepperA.init();
stepperA.setAcc(100); // Set acceleration
stepperA.setMaxSpeed(800);
stepperA.setMinSpeed(1);
stepperA.setMicroSteps(2); // 1,2,4,8,16,32,64 or 128
stepperA.setThresholdSpeed(1000);
stepperA.setOverCurrent(6000); // Set overcurrent protection
stepperA.setStallCurrent(3000);
stepperB.init();
stepperB.setAcc(100); // Set acceleration
stepperB.setMaxSpeed(800);
stepperB.setMinSpeed(1);
stepperB.setMicroSteps(2); // 1,2,4,8,16,32,64 or 128
stepperB.setThresholdSpeed(1000);
stepperB.setOverCurrent(6000); // Set overcurrent protection
stepperB.setStallCurrent(3000);
goTo(200,200); // Spin the motors at the same time
*/
}

void loop() {

static uint32_t next_ms = millis() + 500UL;
uint32_t ms = millis();
if (ms >= next_ms) {
Serial.println("tick");
next_ms = ms + 500UL;
}

void setup() { two_motors._setup(); }
void loop() { two_motors._loop(); }
return;
/*
while (stepperB.isBusy()) delay(10);
goTo(-200,-200);
while (stepperB.isBusy()) delay(10);
goTo(2000,2000);
*/
}
2 changes: 1 addition & 1 deletion library.json
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Expand Up @@ -7,7 +7,7 @@
"type": "git",
"url": "https://github.com/ameyer/Arduino-L6470.git"
},
"version": "0.7.0",
"version": "0.8.0",
"authors":
[
{
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2 changes: 1 addition & 1 deletion library.properties
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@@ -1,5 +1,5 @@
name=Arduino-L6470
version=0.7.0
version=0.8.0
author=Adam Meyer <[email protected]>
maintainer=Adam Meyer <[email protected]>, Scott Lahteine <[email protected]>
sentence=L6470 stepper driver library
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