Robotique FIP
Speed profile working
Fork of
Easyspin_lib
by 
Julien Tiron
Diff: easyspin_config.h
- Revision:
- 0:cba942f8172a
- Child:
- 1:9efe863db15e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/easyspin_config.h Tue Jul 07 20:35:36 2015 +0000 @@ -0,0 +1,171 @@ +/******************************************************//** + * @file Easyspin_target_config.h + * @version V1.0 + * @date June 29, 2015 + * @brief Predefines values for the Easyspin registers + * and for the shields parameters + * + * This file is free software; you can redistribute it and/or modify + * it under the terms of either the GNU General Public License version 2 + * or the GNU Lesser General Public License version 2.1, both as + * published by the Free Software Foundation. + **********************************************************/ + +#ifndef __Easyspin_TARGET_CONFIG_H +#define __Easyspin_TARGET_CONFIG_H + +/// The maximum number of shields in the daisy chain +#define MAX_NUMBER_OF_SHIELDS (3) + +/************************ Speed Profile *******************************/ + +/// Acceleration rate in step/s2 for shield 0 (must be greater than 0) +#define Easyspin_CONF_PARAM_ACC_SHIELD_0 (160) +/// Acceleration rate in step/s2 for shield 1 (must be greater than 0) +#define Easyspin_CONF_PARAM_ACC_SHIELD_1 (160) +/// Acceleration rate in step/s2 for shield 2 (must be greater than 0) +#define Easyspin_CONF_PARAM_ACC_SHIELD_2 (160) + +/// Deceleration rate in step/s2 for shield 0 (must be greater than 0) +#define Easyspin_CONF_PARAM_DEC_SHIELD_0 (160) +/// Deceleration rate in step/s2 for shield 1 (must be greater than 0) +#define Easyspin_CONF_PARAM_DEC_SHIELD_1 (160) +/// Deceleration rate in step/s2 for shield 2 (must be greater than 0) +#define Easyspin_CONF_PARAM_DEC_SHIELD_2 (160) + +/// Maximum speed in step/s for shield 0 (30 step/s < Maximum speed <= 10 000 step/s ) +#define Easyspin_CONF_PARAM_MAX_SPEED_SHIELD_0 (1600) +/// Maximum speed in step/s for shield 1 (30 step/s < Maximum speed <= 10 000 step/s ) +#define Easyspin_CONF_PARAM_MAX_SPEED_SHIELD_1 (1600) +/// Maximum speed in step/s for shield 2 (30 step/s < Maximum speed <= 10 000 step/s ) +#define Easyspin_CONF_PARAM_MAX_SPEED_SHIELD_2 (1600) + +/// Minimum speed in step/s for shield 0 (30 step/s <= Minimum speed < 10 000 step/s) +#define Easyspin_CONF_PARAM_MIN_SPEED_SHIELD_0 (800) +/// Minimum speed in step/s for shield 1 (30 step/s <= Minimum speed < 10 000 step/s) +#define Easyspin_CONF_PARAM_MIN_SPEED_SHIELD_1 (800) +/// Minimum speed in step/s for shield 2 (30 step/s <= Minimum speed < 10 000 step/s) +#define Easyspin_CONF_PARAM_MIN_SPEED_SHIELD_2 (800) + + +/************************ Phase Current Control *******************************/ + +// Current value that is assigned to the torque regulation DAC +/// TVAL register value for shield 0 (range 31.25mA to 4000mA) +#define Easyspin_CONF_PARAM_TVAL_SHIELD_0 (250) +/// TVAL register value for shield 1 (range 31.25mA to 4000mA) +#define Easyspin_CONF_PARAM_TVAL_SHIELD_1 (250) +/// TVAL register value for shield 2 (range 31.25mA to 4000mA) +#define Easyspin_CONF_PARAM_TVAL_SHIELD_2 (250) + +/// Fall time value (T_FAST field of T_FAST register) for shield 0 (range 2us to 32us) +#define Easyspin_CONF_PARAM_FAST_STEP_SHIELD_0 (Easyspin_FAST_STEP_12us) +/// Fall time value (T_FAST field of T_FAST register) for shield 1 (range 2us to 32us) +#define Easyspin_CONF_PARAM_FAST_STEP_SHIELD_1 (Easyspin_FAST_STEP_12us) +/// Fall time value (T_FAST field of T_FAST register) for shield 2 (range 2us to 32us) +#define Easyspin_CONF_PARAM_FAST_STEP_SHIELD_2 (Easyspin_FAST_STEP_12us) + +/// Maximum fast decay time (T_OFF field of T_FAST register) for shield 0 (range 2us to 32us) +#define Easyspin_CONF_PARAM_TOFF_FAST_SHIELD_0 (Easyspin_TOFF_FAST_8us) +/// Maximum fast decay time (T_OFF field of T_FAST register) for shield 1 (range 2us to 32us) +#define Easyspin_CONF_PARAM_TOFF_FAST_SHIELD_1 (Easyspin_TOFF_FAST_8us) +/// Maximum fast decay time (T_OFF field of T_FAST register) for shield 2 (range 2us to 32us) +#define Easyspin_CONF_PARAM_TOFF_FAST_SHIELD_2 (Easyspin_TOFF_FAST_8us) + +/// Minimum ON time (TON_MIN register) for shield 0 (range 0.5us to 64us) +#define Easyspin_CONF_PARAM_TON_MIN_SHIELD_0 (3) +/// Minimum ON time (TON_MIN register) for shield 1 (range 0.5us to 64us) +#define Easyspin_CONF_PARAM_TON_MIN_SHIELD_1 (3) +/// Minimum ON time (TON_MIN register) for shield 2 (range 0.5us to 64us) +#define Easyspin_CONF_PARAM_TON_MIN_SHIELD_2 (3) + +/// Minimum OFF time (TOFF_MIN register) for shield 0 (range 0.5us to 64us) +#define Easyspin_CONF_PARAM_TOFF_MIN_SHIELD_0 (21) +/// Minimum OFF time (TOFF_MIN register) for shield 1 (range 0.5us to 64us) +#define Easyspin_CONF_PARAM_TOFF_MIN_SHIELD_1 (21) +/// Minimum OFF time (TOFF_MIN register) for shield 2 (range 0.5us to 64us) +#define Easyspin_CONF_PARAM_TOFF_MIN_SHIELD_2 (21) + +/******************************* Others ***************************************/ + +/// Overcurrent threshold settings for shield 0 (OCD_TH register) +#define Easyspin_CONF_PARAM_OCD_TH_SHIELD_0 (Easyspin_OCD_TH_750mA) +/// Overcurrent threshold settings for shield 1 (OCD_TH register) +#define Easyspin_CONF_PARAM_OCD_TH_SHIELD_1 (Easyspin_OCD_TH_750mA) +/// Overcurrent threshold settings for shield 2 (OCD_TH register) +#define Easyspin_CONF_PARAM_OCD_TH_SHIELD_2 (Easyspin_OCD_TH_750mA) + +/// Alarm settings for shield 0 (ALARM_EN register) +#define Easyspin_CONF_PARAM_ALARM_EN_SHIELD_0 (Easyspin_ALARM_EN_OVERCURRENT |\ + Easyspin_ALARM_EN_THERMAL_SHUTDOWN |\ + Easyspin_ALARM_EN_THERMAL_WARNING |\ + Easyspin_ALARM_EN_UNDERVOLTAGE |\ + Easyspin_ALARM_EN_SW_TURN_ON |\ + Easyspin_ALARM_EN_WRONG_NPERF_CMD) + +///Alarm settings for shield 1 (ALARM_EN register) +#define Easyspin_CONF_PARAM_ALARM_EN_SHIELD_1 (Easyspin_ALARM_EN_OVERCURRENT |\ + Easyspin_ALARM_EN_THERMAL_SHUTDOWN |\ + Easyspin_ALARM_EN_THERMAL_WARNING |\ + Easyspin_ALARM_EN_UNDERVOLTAGE |\ + Easyspin_ALARM_EN_SW_TURN_ON |\ + Easyspin_ALARM_EN_WRONG_NPERF_CMD) + +/// Alarm settings for shield 2 (ALARM_EN register) +#define Easyspin_CONF_PARAM_ALARM_EN_SHIELD_2 (Easyspin_ALARM_EN_OVERCURRENT |\ + Easyspin_ALARM_EN_THERMAL_SHUTDOWN |\ + Easyspin_ALARM_EN_THERMAL_WARNING |\ + Easyspin_ALARM_EN_UNDERVOLTAGE |\ + Easyspin_ALARM_EN_SW_TURN_ON |\ + Easyspin_ALARM_EN_WRONG_NPERF_CMD) + +/// Step selection settings for shield 0 (STEP_SEL field of STEP_MODE register) +#define Easyspin_CONF_PARAM_STEP_SEL_SHIELD_0 (Easyspin_STEP_SEL_1_16) +/// Step selection settings for shield 1 (STEP_SEL field of STEP_MODE register) +#define Easyspin_CONF_PARAM_STEP_SEL_SHIELD_1 (Easyspin_STEP_SEL_1_16) +/// Step selection settings for shield 2 (STEP_SEL field of STEP_MODE register) +#define Easyspin_CONF_PARAM_STEP_SEL_SHIELD_2 (Easyspin_STEP_SEL_1_16) + +/// Synch. selection settings for shield 0 (SYNC_SEL field of STEP_MODE register) +#define Easyspin_CONF_PARAM_SYNC_SEL_SHIELD_0 (Easyspin_SYNC_SEL_1_2) +/// Synch. selection settings for shield 1 (SYNC_SEL field of STEP_MODE register) +#define Easyspin_CONF_PARAM_SYNC_SEL_SHIELD_1 (Easyspin_SYNC_SEL_1_2) +/// Synch. selection settings for shield 2 (SYNC_SEL field of STEP_MODE register) +#define Easyspin_CONF_PARAM_SYNC_SEL_SHIELD_2 (Easyspin_SYNC_SEL_1_2) + +/// Target Swicthing Period for shield 0 (field TOFF of CONFIG register) +#define Easyspin_CONF_PARAM_TOFF_SHIELD_0 (Easyspin_CONFIG_TOFF_044us) +/// Target Swicthing Period for shield 1 (field TOFF of CONFIG register) +#define Easyspin_CONF_PARAM_TOFF_SHIELD_1 (Easyspin_CONFIG_TOFF_044us) +/// Target Swicthing Period for shield 2 (field TOFF of CONFIG register) +#define Easyspin_CONF_PARAM_TOFF_SHIELD_2 (Easyspin_CONFIG_TOFF_044us) + +/// Slew rate for shield 0 (POW_SR field of CONFIG register) +#define Easyspin_CONF_PARAM_SR_SHIELD_0 (Easyspin_CONFIG_SR_320V_us) +/// Slew rate for shield 1 (POW_SR field of CONFIG register) +#define Easyspin_CONF_PARAM_SR_SHIELD_1 (Easyspin_CONFIG_SR_320V_us) +/// Slew rate for shield 2 (POW_SR field of CONFIG register) +#define Easyspin_CONF_PARAM_SR_SHIELD_2 (Easyspin_CONFIG_SR_320V_us) + +/// Over current shutwdown enabling for shield 0 (OC_SD field of CONFIG register) +#define Easyspin_CONF_PARAM_OC_SD_SHIELD_0 (Easyspin_CONFIG_OC_SD_ENABLE) +/// Over current shutwdown enabling for shield 1 (OC_SD field of CONFIG register) +#define Easyspin_CONF_PARAM_OC_SD_SHIELD_1 (Easyspin_CONFIG_OC_SD_ENABLE) +/// Over current shutwdown enabling for shield 2 (OC_SD field of CONFIG register) +#define Easyspin_CONF_PARAM_OC_SD_SHIELD_2 (Easyspin_CONFIG_OC_SD_ENABLE) + +/// Torque regulation method for shield 0 (EN_TQREG field of CONFIG register) +#define Easyspin_CONF_PARAM_TQ_REG_SHIELD_0 (Easyspin_CONFIG_EN_TQREG_TVAL_USED) +///Torque regulation method for shield 1 (EN_TQREG field of CONFIG register) +#define Easyspin_CONF_PARAM_TQ_REG_SHIELD_1 (Easyspin_CONFIG_EN_TQREG_TVAL_USED) +/// Torque regulation method for shield 2 (EN_TQREG field of CONFIG register) +#define Easyspin_CONF_PARAM_TQ_REG_SHIELD_2 (Easyspin_CONFIG_EN_TQREG_TVAL_USED) + +/// Clock setting for shield 0 (OSC_CLK_SEL field of CONFIG register) +#define Easyspin_CONF_PARAM_CLOCK_SETTING_SHIELD_0 (Easyspin_CONFIG_INT_16MHZ) +/// Clock setting for shield 1 (OSC_CLK_SEL field of CONFIG register) +#define Easyspin_CONF_PARAM_CLOCK_SETTING_SHIELD_1 (Easyspin_CONFIG_INT_16MHZ) +/// Clock setting for shield 2 (OSC_CLK_SEL field of CONFIG register) +#define Easyspin_CONF_PARAM_CLOCK_SETTING_SHIELD_2 (Easyspin_CONFIG_INT_16MHZ) + +#endif /* __Easyspin_TARGET_CONFIG_H */ \ No newline at end of file