| 0,0 → 1,245 |
|---|
| #!/usr/bin/python |
| # ------------------------------------------- |
| # HBSTEP01B Stepper Motor control test code |
| # ------------------------------------------- |
| # |
| # Program uses MLAB Python modules library from https://github.com/MLAB-project/pymlab |
| |
| |
| #uncomment for debbug purposes |
| #import logging |
| #logging.basicConfig(level=logging.DEBUG) |
| |
| import sys |
| import time |
| from pymlab import config |
| |
| # Begin of Class Axis -------------------------------------------------- |
| |
| class axis: |
| def __init__(self, SPI_CS, Direction, StepsPerUnit, MaxSpeed): |
| ' One axis of robot ' |
| 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' |
| spi.SPI_write_byte(self.CS, 0xC0) # reset |
| |
| def Initialize(self): |
| 'set default parameters for H-bridge ' |
| # 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. 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): |
| speed_value = 1 |
| elif (speed_value >= 1023): |
| speed_value = 1023 |
| |
| 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 ? |
| spi.SPI_write_byte(self.CS, 0x92 | (~self.Dir & 1)) # release SW |
| while self.IsBusy(): |
| pass |
| self.MoveWait(10) # move 10 units away |
| |
| def GoZero(self, speed): |
| ' Go to Zero position ' |
| self.ReleaseSW() |
| |
| 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() |
| |
| def GetStatus(self): |
| #self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons |
| 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), |
| ('STEP_LOSS_A',data[0] & 0x20 == 0x20), |
| ('OCD',data[0] & 0x10 == 0x10), |
| ('TH_SD',data[0] & 0x08 == 0x08), |
| ('TH_WRN',data[0] & 0x04 == 0x04), |
| ('UVLO',data[0] & 0x02 == 0x02), |
| ('WRONG_CMD',data[0] & 0x01 == 0x01), #The NOTPERF_CMD and WRONG_CMD flags are active high and indicate, respectively, that the command received by SPI cannot be performed or does not exist at all. |
| ('NOTPERF_CMD',data[1] & 0x80 == 0x80), |
| ('MOT_STATUS',data[1] & 0x60), |
| ('DIR',data[1] & 0x10 == 0x10), |
| ('SW_EVN',data[1] & 0x08 == 0x08), |
| ('SW_F',data[1] & 0x04 == 0x04), #The SW_F flag reports the SW input status (low for open and high for closed). |
| ('BUSY',data[1] & 0x02 != 0x02), |
| ('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 |
| spi.SPI_write_byte(self.CS, 0x40 | (~self.Dir & 1)) |
| else: |
| spi.SPI_write_byte(self.CS, 0x40 | (self.Dir & 1)) |
| steps = int(abs(steps)) |
| 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 hex(speed_value) |
| |
| 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): |
| ' Move some distance units from current position and wait for execution ' |
| self.Move(units) |
| while self.GetStatus()['BUSY']: |
| time.sleep(0.1) |
| |
| def Float(self, hard = False): |
| ' switch H-bridge to High impedance state ' |
| if (hard == False): |
| spi.SPI_write_byte(self.CS, 0xA0) |
| else: |
| spi.SPI_write_byte(self.CS, 0xA8) |
| |
| |
| # End Class axis -------------------------------------------------- |
| |
| |
| |
| 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 "SPI configuration.." |
| spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
| time.sleep(1) |
| |
| print "Axis inicialization" |
| X = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = 100) # set Number of Steps per axis Unit and set Direction of Rotation |
| X.MaxSpeed(SPEED) # Reset maximal motor speed |
| |
| print X.GetStatus() |
| |
| |
| finally: |
| print "stop" |