| 12,7 → 12,7 |
|---|
| |
| import sys |
| import time |
| import spidev # SPI binding |
| import pymlab # SPI binding |
| import pylirc # infrared receiver binding |
| |
| #### Script Arguments ############################################### |
| 26,62 → 26,105 |
|---|
| sys.exit(1) |
| |
| |
| |
| # Begin of Class Axis -------------------------------------------------- |
| |
| class axis: |
| def __init__(self, SPI_handler, Direction, StepsPerUnit): |
| def __init__(self, SPI_CS, Direction, StepsPerUnit, MaxSpeed): |
| ' One axis of robot ' |
| self.spi = SPI_handler |
| self.CS = SPI_CS |
| self.Dir = Direction |
| self.SPU = StepsPerUnit |
| self.maxspeed = MaxSpeed |
| |
| self.L6470_ABS_POS =0x01 |
| self.L6470_EL_POS =0x02 |
| self.L6470_MARK =0x03 |
| self.L6470_SPEED =0x04 |
| self.L6470_ACC =0x05 |
| self.L6470_DEC =0x06 |
| self.L6470_MAX_SPEED =0x07 |
| self.L6470_MIN_SPEED =0x08 |
| self.L6470_FS_SPD =0x15 |
| self.L6470_KVAL_HOLD =0x09 |
| self.L6470_KVAL_RUN =0x0A |
| self.L6470_KVAL_ACC =0x0B |
| self.L6470_KVAL_DEC =0x0C |
| self.L6470_INT_SPEED =0x0D |
| self.L6470_ST_SLP =0x0E |
| self.L6470_FN_SLP_ACC =0x0F |
| self.L6470_FN_SLP_DEC =0x10 |
| self.L6470_K_THERM =0x11 |
| self.L6470_ADC_OUT =0x12 |
| self.L6470_OCD_TH =0x13 |
| self.L6470_STALL_TH =0x14 |
| self.L6470_STEP_MODE =0x16 |
| self.L6470_ALARM_EN =0x17 |
| self.L6470_CONFIG =0x18 |
| self.L6470_STATUS =0x19 |
| |
| self.Reset() |
| self.Initialize() |
| self.MaxSpeed(self.maxspeed) |
| |
| def Reset(self): |
| 'Reset the Axis' |
| self.spi.xfer([0xC0]) # reset |
| spi.SPI_write_byte(self.CS, 0xC0) # reset |
| |
| def Initialize(self): |
| 'set default parameters for H-bridge ' |
| # self.spi.xfer( 0x14) # Stall Treshold setup |
| # self.spi.xfer( 0xFF) |
| # self.spi.xfer( 0x13) # Over Current Treshold setup |
| # self.spi.xfer( 0xFF) |
| self.spi.xfer([0x15]) # Full Step speed |
| self.spi.xfer([0xFF]) |
| self.spi.xfer([0xFF]) |
| self.spi.xfer([0x05]) # ACC |
| self.spi.xfer([0x00]) |
| self.spi.xfer([0x10]) |
| self.spi.xfer([0x06]) # DEC |
| self.spi.xfer([0x00]) |
| self.spi.xfer([0x10]) |
| self.spi.xfer([0x0A]) # KVAL_RUN |
| self.spi.xfer([0x05]) |
| self.spi.xfer([0x0B]) # KVAL_ACC |
| self.spi.xfer([0x05]) |
| self.spi.xfer([0x0C]) # KVAL_DEC |
| self.spi.xfer([0x05]) |
| # self.spi.xfer([0x18]) # CONFIG |
| # self.spi.xfer([0b00111010]) |
| # self.spi.xfer([0b10001000]) |
| # spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup |
| # spi.SPI_write_byte(self.CS, 0xFF) |
| # spi.SPI_write_byte(self.CS, 0x13) # Over Current Treshold setup |
| # spi.SPI_write_byte(self.CS, 0xFF) |
| spi.SPI_write_byte(self.CS, 0x15) # Full Step speed |
| spi.SPI_write_byte(self.CS, 0xFF) |
| spi.SPI_write_byte(self.CS, 0xFF) |
| spi.SPI_write_byte(self.CS, 0x05) # ACC |
| spi.SPI_write_byte(self.CS, 0x00) |
| spi.SPI_write_byte(self.CS, 0x10) |
| spi.SPI_write_byte(self.CS, 0x06) # DEC |
| spi.SPI_write_byte(self.CS, 0x00) |
| spi.SPI_write_byte(self.CS, 0x10) |
| spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN |
| spi.SPI_write_byte(self.CS, 0x58) |
| spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC |
| spi.SPI_write_byte(self.CS, 0x58) |
| spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC |
| spi.SPI_write_byte(self.CS, 0x58) |
| # spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
| # spi.SPI_write_byte(self.CS, 0b00111000) |
| # spi.SPI_write_byte(self.CS, 0b00000000) |
| self.MaxSpeed(self.maxspeed) |
| |
| def setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
| """ The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS """ |
| |
| def setOverCurrentTH(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
| """ The available range is from 375 mA to 6 A, in steps of 375 mA """ |
| |
| |
| |
| def MaxSpeed(self, speed): |
| 'Setup of maximum speed in steps/s' |
| 'Setup of maximum speed in steps/s. The available range is from 15.25 to 15610 step/s with a resolution of 15.25 step/s.' |
| speed_value = int(speed / 15.25) |
| if (speed_value == 0): |
| if (speed_value <= 0): |
| speed_value = 1 |
| print hex(speed_value) |
| elif (speed_value >= 1023): |
| speed_value = 1023 |
| |
| data = [(speed_value >> i & 0xff) for i in (16,8,0)] |
| self.spi.xfer([data[0]]) # Max Speed setup |
| self.spi.xfer([data[1]]) |
| self.spi.xfer([data[2]]) |
| data = [(speed_value >> i & 0xff) for i in (8,0)] |
| print data |
| spi.SPI_write_byte(self.CS, self.L6470_MAX_SPEED) # Max Speed setup |
| spi.SPI_write_byte(self.CS, data[0]) |
| spi.SPI_write_byte(self.CS, data[1]) |
| return (speed_value * 15.25) |
| |
| def ReleaseSW(self): |
| ' Go away from Limit Switch ' |
| while self.ReadStatusBit(2) == 1: # is Limit Switch ON ? |
| self.spi.xfer([0x92 | (~self.Dir & 1)]) # release SW |
| while self.GetStatus()['BUSY']: |
| spi.SPI_write_byte(self.CS, 0x92 | (~self.Dir & 1)) # release SW |
| while self.IsBusy(): |
| pass |
| self.MoveWait(10) # move 10 units away |
| |
| 88,10 → 131,11 |
|---|
| def GoZero(self, speed): |
| ' Go to Zero position ' |
| self.ReleaseSW() |
| self.spi.xfer([0x82 | (self.Dir & 1)]) # Go to Zero |
| self.spi.xfer([0x00]) |
| self.spi.xfer([speed]) |
| while self.GetStatus()['BUSY']: |
| |
| spi.SPI_write_byte(self.CS, 0x82 | (self.Dir & 1)) # Go to Zero |
| spi.SPI_write_byte(self.CS, 0x00) |
| spi.SPI_write_byte(self.CS, speed) |
| while self.IsBusy(): |
| pass |
| time.sleep(0.3) |
| self.ReleaseSW() |
| 98,9 → 142,11 |
|---|
| |
| def GetStatus(self): |
| #self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons |
| self.spi.xfer([0x39]) # Gotparam command on status register |
| data = self.spi.readbytes(1) |
| data = data + self.spi.readbytes(1) |
| spi.SPI_write_byte(self.CS, 0x39) # Gotparam command on status register |
| spi.SPI_write_byte(self.CS, 0x00) |
| data = [spi.SPI_read_byte()] |
| spi.SPI_write_byte(self.CS, 0x00) |
| data = data + [spi.SPI_read_byte()] |
| |
| status = dict([('SCK_MOD',data[0] & 0x80 == 0x80), #The SCK_MOD bit is an active high flag indicating that the device is working in Step-clock mode. In this case the step-clock signal should be provided through the STCK input pin. The DIR bit indicates the current motor direction |
| ('STEP_LOSS_B',data[0] & 0x40 == 0x40), |
| 119,28 → 165,38 |
|---|
| ('HIZ',data[1] & 0x01 == 0x01)]) |
| return status |
| |
| def GetACC(self): |
| # self.spi.xfer([0x29]) # Gotparam command on status register |
| spi.SPI_write_byte(self.CS, self.L6470_ACC + 0x20) # TODO check register read address seting |
| spi.SPI_write_byte(self.CS, 0x00) |
| data = spi.SPI_read_byte() |
| spi.SPI_write_byte(self.CS, 0x00) |
| data = data + [spi.SPI_read_byte()] |
| print data # return speed in real units |
| |
| |
| def Move(self, units): |
| ' Move some distance units from current position ' |
| steps = units * self.SPU # translate units to steps |
| if steps > 0: # look for direction |
| self.spi.xfer([0x40 | (~self.Dir & 1)]) |
| spi.SPI_write_byte(self.CS, 0x40 | (~self.Dir & 1)) |
| else: |
| self.spi.xfer([0x40 | (self.Dir & 1)]) |
| spi.SPI_write_byte(self.CS, 0x40 | (self.Dir & 1)) |
| steps = int(abs(steps)) |
| self.spi.xfer([(steps >> 16) & 0xFF]) |
| self.spi.xfer([(steps >> 8) & 0xFF]) |
| self.spi.xfer([steps & 0xFF]) |
| spi.SPI_write_byte(self.CS, (steps >> 16) & 0xFF) |
| spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF) |
| spi.SPI_write_byte(self.CS, steps & 0xFF) |
| |
| def Run(self, direction, speed): |
| speed_value = int(speed / 0.015) |
| print speed_value |
| print hex(speed_value) |
| |
| data = [0b01010000 + direction] |
| data = data +[(speed_value >> i & 0xff) for i in (16,8,0)] |
| self.spi.xfer([data[0]]) # Max Speed setup |
| self.spi.xfer([data[1]]) |
| self.spi.xfer([data[2]]) |
| self.spi.xfer([data[3]]) |
| command = 0b01010000 + int(direction) |
| data = [(speed_value >> i & 0xff) for i in (16,8,0)] |
| spi.SPI_write_byte(self.CS, command) # Max Speed setup |
| spi.SPI_write_byte(self.CS, data[0]) |
| spi.SPI_write_byte(self.CS, data[1]) |
| spi.SPI_write_byte(self.CS, data[2]) |
| return (speed_value * 0.015) |
| |
| def MoveWait(self, units): |
| 147,38 → 203,59 |
|---|
| ' Move some distance units from current position and wait for execution ' |
| self.Move(units) |
| while self.GetStatus()['BUSY']: |
| pass |
| time.sleep(0.8) |
| time.sleep(0.1) |
| |
| def Float(self, hard = False): |
| ' switch H-bridge to High impedance state ' |
| if (hard == False): |
| self.spi.xfer([0xA0]) |
| spi.SPI_write_byte(self.CS, 0xA0) |
| else: |
| self.spi.xfer([0xA8]) |
| spi.SPI_write_byte(self.CS, 0xA8) |
| |
| |
| # End Class axis -------------------------------------------------- |
| |
| |
| print "Clock motor control script started. \r\n" |
| print "Requested speed is: %f steps/s" % SPEED |
| |
| pylirc.init("pylirc", "/home/odroid/conf") |
| |
| |
| |
| cfg = config.Config( |
| i2c = { |
| "port": 1, |
| }, |
| |
| bus = [ |
| { |
| "name":"spi", |
| "type":"i2cspi", |
| "address": 0x2e, |
| }, |
| ], |
| ) |
| |
| |
| cfg.initialize() |
| |
| print "Stepper motor control test started. \r\n" |
| print "Max motor speed: %d " % SPEED |
| print "Distance to run: %d " % DISTANCE |
| |
| spi = cfg.get_device("spi") |
| |
| spi.route() |
| |
| |
| try: |
| print "Configuring SPI.." |
| spi = spidev.SpiDev() # create a spi object |
| spi.open(0, 0) # open spi port 0, device (CS) 0 |
| spi.mode = 0b01 |
| spi.lsbfirst = False |
| spi.bits_per_word = 8 |
| spi.cshigh = False |
| spi.max_speed_hz = 100000 |
| #spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
| time.sleep(1) |
| spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
| time.sleep(0.1) |
| |
| print "Configuring stepper motor.." |
| X = axis(spi, 0, 1) # set Number of Steps per axis Unit and set Direction of Rotation |
| X = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
| # maximum_speed = X.MaxSpeed(100.0) |
| #X.GetStatus() |
| |
| 185,10 → 262,6 |
|---|
| # print "Motor speed limit is: %f steps/s" % maximum_speed |
| running = False |
| |
| while True: |
| pass |
| |
| |
| print "Waiting for IR command.." |
| while True: # set maximal motor speed |
| key = pylirc.nextcode() ## preccessing the IR remote control commands. |