private void Regs_Struct_Reset(RegsStruct RegsStruct)
{
RegsStruct.ABS_POS = 0;
RegsStruct.EL_POS = 0;
RegsStruct.MARK = 0;
RegsStruct.SPEED = 0;
RegsStruct.ACC = 0x08A;
RegsStruct.DEC = 0x08A;
RegsStruct.MAX_SPEED = 0x041;
RegsStruct.MIN_SPEED = 0;
RegsStruct.FS_SPD = 0x027;
RegsStruct.KVAL_HOLD = 0x29;
RegsStruct.KVAL_RUN = 0x29;
RegsStruct.KVAL_ACC = 0x29;
RegsStruct.KVAL_DEC = 0x29;
RegsStruct.INT_SPD = 0x0408;
RegsStruct.ST_SLP = 0x19;
RegsStruct.FN_SLP_ACC = 0x29;
RegsStruct.FN_SLP_DEC = 0x29;
RegsStruct.K_THERM = 0;
RegsStruct.OCD_TH = 0x8;
RegsStruct.STALL_TH = 0x40;
RegsStruct.STEP_MODE = 0x7;
RegsStruct.ALARM_EN = 0xFF;
RegsStruct.CONFIG = 0x2E88;
}
/// <summary>
/// Sets the registers to the passed in register values
/// </summary>
/// <param name="RegsStruct">Register values to set the values to</param>
public void SetRegisters(RegsStruct RegsStruct)
{
SetParam(Registers.ABS_POS, RegsStruct.ABS_POS);
SetParam(Registers.EL_POS, RegsStruct.EL_POS);
SetParam(Registers.MARK, RegsStruct.MARK);
SetParam(Registers.SPEED, RegsStruct.SPEED);
SetParam(Registers.ACC, RegsStruct.ACC);
SetParam(Registers.DEC, RegsStruct.DEC);
SetParam(Registers.MAX_SPEED, RegsStruct.MAX_SPEED);
SetParam(Registers.MIN_SPEED, RegsStruct.MIN_SPEED);
SetParam(Registers.FS_SPD, RegsStruct.FS_SPD);
SetParam(Registers.KVAL_HOLD, RegsStruct.KVAL_HOLD);
SetParam(Registers.KVAL_RUN, RegsStruct.KVAL_RUN);
SetParam(Registers.KVAL_ACC, RegsStruct.KVAL_ACC);
SetParam(Registers.KVAL_DEC, RegsStruct.KVAL_DEC);
SetParam(Registers.INT_SPD, RegsStruct.INT_SPD);
SetParam(Registers.ST_SLP, RegsStruct.ST_SLP);
SetParam(Registers.FN_SLP_ACC, RegsStruct.FN_SLP_ACC);
SetParam(Registers.FN_SLP_DEC, RegsStruct.FN_SLP_DEC);
SetParam(Registers.K_THERM, RegsStruct.K_THERM);
SetParam(Registers.OCD_TH, RegsStruct.OCD_TH);
SetParam(Registers.STALL_TH, RegsStruct.STALL_TH);
SetParam(Registers.STEP_MODE, RegsStruct.STEP_MODE);
SetParam(Registers.ALARM_EN, RegsStruct.ALARM_EN);
SetParam(Registers.CONFIG, RegsStruct.CONFIG);
}
private void InitializeChip()
{
regsStruct = new RegsStruct();
Regs_Struct_Reset(regsStruct);
/* Acceleration rate settings to 466 steps/s2, range 14.55 to 59590 steps/s2 */
regsStruct.ACC = AccDec_Steps_to_Par(466);
/* Deceleration rate settings to 466 steps/s2, range 14.55 to 59590 steps/s2 */
regsStruct.DEC = AccDec_Steps_to_Par(466);
/* Maximum speed settings to 488 steps/s, range 15.25 to 15610 steps/s */
regsStruct.MAX_SPEED = MaxSpd_Steps_to_Par(488);
/* Minimum speed settings to 0 steps/s, range 0 to 976.3 steps/s */
regsStruct.MIN_SPEED = MinSpd_Steps_to_Par(0);
/* Full step speed settings 252 steps/s, range 7.63 to 15625 steps/s */
regsStruct.FS_SPD = FSSpd_Steps_to_Par(252);
/* Hold duty cycle (torque) settings to 10%, range 0 to 99.6% */
regsStruct.KVAL_HOLD = Kval_Perc_to_Par(10);
/* Run duty cycle (torque) settings to 10%, range 0 to 99.6% */
regsStruct.KVAL_RUN = Kval_Perc_to_Par(10);
/* Acceleration duty cycle (torque) settings to 10%, range 0 to 99.6% */
regsStruct.KVAL_ACC = Kval_Perc_to_Par(10);
/* Deceleration duty cycle (torque) settings to 10%, range 0 to 99.6% */
regsStruct.KVAL_DEC = Kval_Perc_to_Par(10);
/* Intersect speed settings for BEMF compensation to 200 steps/s, range 0 to 3906 steps/s */
regsStruct.INT_SPD = IntSpd_Steps_to_Par(200);
/* BEMF start slope settings for BEMF compensation to 0.038% step/s, range 0 to 0.4% s/step */
regsStruct.ST_SLP = BEMF_Slope_Perc_to_Par((float)0.038);
/* BEMF final acc slope settings for BEMF compensation to 0.063% step/s, range 0 to 0.4% s/step */
regsStruct.FN_SLP_ACC = BEMF_Slope_Perc_to_Par((float)0.063);
/* BEMF final dec slope settings for BEMF compensation to 0.063% step/s, range 0 to 0.4% s/step */
regsStruct.FN_SLP_DEC = BEMF_Slope_Perc_to_Par((float)0.063);
/* Thermal compensation param settings to 1, range 1 to 1.46875 */
regsStruct.K_THERM = KTherm_to_Par(1);
/* Overcurrent threshold settings to 1500mA */
regsStruct.OCD_TH = (byte)Overcurrent_Detection_Threshold.OCD_TH_1500mA;
/* Stall threshold settings to 1000mA, range 31.25 to 4000mA */
regsStruct.STALL_TH = StallTh_to_Par(1000);
/* Step mode settings to 128 microsteps */
regsStruct.STEP_MODE = (byte)Step_Select.STEP_SEL_1_128;
/* Alarm settings - all alarms enabled */
regsStruct.ALARM_EN = (byte)Alarm_Enable.ALARM_EN_OVERCURRENT | (byte)Alarm_Enable.ALARM_EN_THERMAL_SHUTDOWN
| (byte)Alarm_Enable.ALARM_EN_THERMAL_WARNING | (byte)Alarm_Enable.ALARM_EN_UNDER_VOLTAGE | (byte)Alarm_Enable.ALARM_EN_STALL_DET_A
| (byte)Alarm_Enable.ALARM_EN_STALL_DET_B | (byte)Alarm_Enable.ALARM_EN_SW_TURN_ON | (byte)Alarm_Enable.ALARM_EN_WRONG_NPERF_CMD;
/* Internal oscillator, 2MHz OSCOUT clock, supply voltage compensation disabled, *
* overcurrent shutdown enabled, slew-rate = 290 V/us, PWM frequency = 15.6kHz */
regsStruct.CONFIG = (ushort)CONFIG_OSC_MGMT.CONFIG_INT_16MHZ_OSCOUT_2MHZ | (ushort)CONFIG_SW_MODE_TypeDef.CONFIG_SW_HARD_STOP
| (ushort)CONFIG_EN_VSCOMP.CONFIG_VS_COMP_DISABLE | (ushort)CONFIG_OC_SD.CONFIG_OC_SD_ENABLE | (ushort)CONFIG_POW_SR.CONFIG_SR_290V_us
| (ushort)CONFIG_F_PWM_INT.CONFIG_PWM_DIV_2 | (ushort)CONFIG_F_PWM_DEC.CONFIG_PWM_MUL_1;
/* Program all dSPIN registers */
SetRegisters(regsStruct);
}