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Line 156... |
| 156 |
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156 |
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| 157 |
def GetStatus(self): |
157 |
def GetStatus(self): |
| 158 |
#self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons |
158 |
#self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons |
| 159 |
spi.SPI_write_byte(self.CS, 0x39) # Gotparam command on status register |
159 |
spi.SPI_write_byte(self.CS, 0x39) # Gotparam command on status register |
| 160 |
spi.SPI_write_byte(self.CS, 0x00) |
160 |
spi.SPI_write_byte(self.CS, 0x00) |
| 161 |
data = spi.SPI_read_byte() |
161 |
data = [spi.SPI_read_byte()] |
| 162 |
spi.SPI_write_byte(self.CS, 0x00) |
162 |
spi.SPI_write_byte(self.CS, 0x00) |
| 163 |
data = data + spi.SPI_read_byte() |
163 |
data = data + [spi.SPI_read_byte()] |
| 164 |
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164 |
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| 165 |
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 |
165 |
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 |
| 166 |
('STEP_LOSS_B',data[0] & 0x40 == 0x40), |
166 |
('STEP_LOSS_B',data[0] & 0x40 == 0x40), |
| 167 |
('STEP_LOSS_A',data[0] & 0x20 == 0x20), |
167 |
('STEP_LOSS_A',data[0] & 0x20 == 0x20), |
| 168 |
('OCD',data[0] & 0x10 == 0x10), |
168 |
('OCD',data[0] & 0x10 == 0x10), |
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Line 183... |
| 183 |
# self.spi.xfer([0x29]) # Gotparam command on status register |
183 |
# self.spi.xfer([0x29]) # Gotparam command on status register |
| 184 |
spi.SPI_write_byte(self.CS, self.L6470_ACC + 0x20) # TODO check register read address seting |
184 |
spi.SPI_write_byte(self.CS, self.L6470_ACC + 0x20) # TODO check register read address seting |
| 185 |
spi.SPI_write_byte(self.CS, 0x00) |
185 |
spi.SPI_write_byte(self.CS, 0x00) |
| 186 |
data = spi.SPI_read_byte() |
186 |
data = spi.SPI_read_byte() |
| 187 |
spi.SPI_write_byte(self.CS, 0x00) |
187 |
spi.SPI_write_byte(self.CS, 0x00) |
| 188 |
data = data + self.spi.readbytes(1) |
188 |
data = data + [spi.SPI_read_byte()] |
| 189 |
print data # return speed in real units |
189 |
print data # return speed in real units |
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190 |
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| 191 |
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191 |
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| 192 |
def Move(self, units): |
192 |
def Move(self, units): |
| 193 |
' Move some distance units from current position ' |
193 |
' Move some distance units from current position ' |