Develop

README.md

@@ -1,10 +1,8 @@
-SparkFun AutoDriver Arduino Library
+Ponoor L6470 Library
 ==========
-[![AutoDriver](https://dlnmh9ip6v2uc.cloudfront.net/images/products/1/1/6/1/1/11611-01_medium.jpg)  
-*AutoDriver (BOB-13752)*](https://www.sparkfun.com/products/13752)
+Arduino library support for STMicroelectronics [L6470](https://www.st.com/en/motor-drivers/l6470.html) chip.
 
-The AutoDriver is a bipolar stepper driver based on the ST Micro L6470 chip.
-It allows a processor to control a single 3A bipolar stepper motor across an 8-45V supply range.
+This library is a modification of the L6470-based SparkFun [AutoDriver library](https://github.com/sparkfun/SparkFun_AutoDriver_Arduino_Library).
 
 Repository Contents
 -------------------
@@ -13,22 +11,16 @@ Repository Contents
 * **keywords.txt** - List of words to be highlighted by the Arduino IDE
 * **library.properties** - Used by the Arduino package manager
 
-Documentation
+Differences from the original library
 -------------------
-* **[Installing an Arduino Library Guide](https://learn.sparkfun.com/tutorials/installing-an-arduino-library)** - Basic information on how to install an Arduino library.
-* **[Product Repository](https://github.com/sparkfun/L6470-AutoDriver)** - Main repository (including hardware files) for the AutoDriver board.
-* **[Hookup Guide](https://learn.sparkfun.com/tutorials/getting-started-with-the-autodriver---v13)** - Basic hookup guide for the AutoDriver board.
-
-Version History
--------------------
-
-* [v 1.0.0](https://github.com/sparkfun/SparkFun_AutoDriver_Arduino_Library/tree/V_1.0.0) - Initial release
-* [v 1.3.0](https://github.com/sparkfun/SparkFun_AutoDriver_Arduino_Library/tree/V_1.3.0) - Library release for V 1.3
+- Added `getSpeed()` function
+- Disable interrupts during `getStatus` and `xferParam` to avoid return value collapse for ATSAMD
+- Changed some constants name(`CMD_GET_STATUS`, `REG_STATUS`) to avoid conflicts with other libraries.
 
 License Information
 -------------------
 This product is open source! 
-The code is beerware; if you see me (or any other SparkFun employee) at the local, and you've found our code helpful, please buy us a round!
+The code is beerware; if you see any SparkFun employee at the local, and you've found their code helpful, please buy them a round! 
 Please use, reuse, and modify these files as you see fit. Please maintain attribution to SparkFun Electronics and release anything derivative under the same license.
 
 Distributed as-is; no warranty is given.

library.properties

@@ -1,9 +1,10 @@
 name=Ponoor L6470 Library
-version=0.1.0
+version=1.0.0
 author=Ponoor Experiments Inc <info@ponoor.com>
 maintainer=Kanta Horio <kanta@ponoor.com>
-sentence=L6470 library, modified version of Sparkfun AutoDriver Library
-paragraph=L6470 library, modified version of Sparkfun AutoDriver Library
-category=Other
-url=https://github.com/kanta/Ponoor_L6470_Library
+sentence=STM L6470 stepper driver chip library.
+paragraph=This library is modified from SparkFun AutoDriver library for SAMD support and some other functionalities and compatibilities.
+category=Device Control
+url=https://github.com/ponoor/Ponoor_L6470_Library
 architectures=*
+includes=Ponoor_L6470Library.h

src/Ponoor_L6470Commands.cpp

@@ -55,8 +55,11 @@ long AutoDriver::getMark()
 //  appropriate integer values for this function.
 void AutoDriver::run(byte dir, float stepsPerSec)
 {
-  SPIXfer(CMD_RUN | dir);
   unsigned long integerSpeed = spdCalc(stepsPerSec);
+  runRaw(dir, integerSpeed);
+}
+void AutoDriver::runRaw(byte dir, unsigned long integerSpeed) {
+  SPIXfer(CMD_RUN | dir);
   if (integerSpeed > 0xFFFFF) integerSpeed = 0xFFFFF;
 
   // Now we need to push this value out to the dSPIN. The 32-bit value is
@@ -137,9 +140,12 @@ void AutoDriver::goToDir(byte dir, long pos)
 //  either RESET to 0 or COPY-ed into the MARK register.
 void AutoDriver::goUntil(byte action, byte dir, float stepsPerSec)
 {
+  unsigned long integerSpeed = spdCalc(stepsPerSec);
+  goUntilRaw(action, dir, integerSpeed);
+}
+void AutoDriver::goUntilRaw(byte action, byte dir, unsigned long integerSpeed) {
   action = (action > 0) << 3;
   SPIXfer(CMD_GO_UNTIL | action | dir);
-  unsigned long integerSpeed = spdCalc(stepsPerSec);
   if (integerSpeed > 0x3FFFFF) integerSpeed = 0x3FFFFF;
   // See run() for an explanation of what's going on here.
   byte* bytePointer = (byte*)&integerSpeed;
@@ -148,7 +154,6 @@ void AutoDriver::goUntil(byte action, byte dir, float stepsPerSec)
     SPIXfer(bytePointer[i]);
   }
 }
-
 // Similar in nature to GoUntil, ReleaseSW produces motion at the
 //  higher of two speeds: the value in MIN_SPEED or 5 steps/s.
 //  The motor continues to run at this speed until a rising edge
@@ -234,9 +239,15 @@ void AutoDriver::hardHiZ()
 int AutoDriver::getStatus()
 {
   int temp = 0;
+#if defined(ARDUINO_ARCH_SAMD)
+  __disable_irq();
+#endif
   byte* bytePointer = (byte*)&temp;
   SPIXfer(CMD_GET_STATUS);
   bytePointer[1] = SPIXfer(0);
   bytePointer[0] = SPIXfer(0);
+#if defined(ARDUINO_ARCH_SAMD)
+  __enable_irq();
+#endif
   return temp;
 }

src/Ponoor_L6470Config.cpp

@@ -48,8 +48,12 @@ void AutoDriver::setMaxSpeed(float stepsPerSecond)
   //  the dSPIN can understand. Fortunately, we have a function to do that.
   unsigned long integerSpeed = maxSpdCalc(stepsPerSecond);
 
-  // Now, we can set that paramter.
-  setParam(MAX_SPEED, integerSpeed);
+  setMaxSpeedRaw(integerSpeed);
+}
+void AutoDriver::setMaxSpeedRaw(unsigned long integerSpeed)
+{
+	// Now, we can set that paramter.
+	setParam(MAX_SPEED, integerSpeed);
 }
 
 // Get current speed
@@ -62,6 +66,10 @@ float AutoDriver::getMaxSpeed()
 {
   return maxSpdParse(getParam(MAX_SPEED));
 }
+unsigned long AutoDriver::getMaxSpeedRaw()
+{
+	return getParam(MAX_SPEED);
+}
 
 // Set the minimum speed allowable in the system. This is the speed a motion
 //  starts with; it will then ramp up to the designated speed or the max
@@ -71,7 +79,10 @@ void AutoDriver::setMinSpeed(float stepsPerSecond)
   // We need to convert the floating point stepsPerSecond into a value that
   //  the dSPIN can understand. Fortunately, we have a function to do that.
   unsigned long integerSpeed = minSpdCalc(stepsPerSecond);
-
+  setMinSpeedRaw(integerSpeed);
+}
+void AutoDriver::setMinSpeedRaw(unsigned long integerSpeed)
+{
   // MIN_SPEED also contains the LSPD_OPT flag, so we need to protect that.
   unsigned long temp = getParam(MIN_SPEED) & 0x00001000;
 
@@ -83,45 +94,73 @@ float AutoDriver::getMinSpeed()
 {
   return minSpdParse(getParam(MIN_SPEED));
 }
+unsigned long AutoDriver::getMinSpeedRaw()
+{
+	return getParam(MIN_SPEED);
+}
+
 
 // Above this threshold, the dSPIN will cease microstepping and go to full-step
 //  mode. 
 void AutoDriver::setFullSpeed(float stepsPerSecond)
 {
   unsigned long integerSpeed = FSCalc(stepsPerSecond);
+  setFullSpeedRaw(integerSpeed);
+}
+void AutoDriver::setFullSpeedRaw(unsigned long integerSpeed)
+{
   setParam(FS_SPD, integerSpeed);
 }
 
 float AutoDriver::getFullSpeed()
 {
   return FSParse(getParam(FS_SPD));
 }
-
+unsigned long AutoDriver::getFullSpeedRaw()
+{
+	return getParam(FS_SPD);
+}
 // Set the acceleration rate, in steps per second per second. This value is
 //  converted to a dSPIN friendly value. Any value larger than 29802 will
 //  disable acceleration, putting the chip in "infinite" acceleration mode.
 void AutoDriver::setAcc(float stepsPerSecondPerSecond)
 {
   unsigned long integerAcc = accCalc(stepsPerSecondPerSecond);
-  setParam(ACC, integerAcc);
+  setAccRaw(integerAcc);
+}
+void AutoDriver::setAccRaw(unsigned long integerAcc)
+{
+	setParam(ACC, integerAcc);
 }
 
 float AutoDriver::getAcc()
 {
   return accParse(getParam(ACC));
 }
+unsigned long AutoDriver::getAccRaw()
+{
+	return getParam(ACC);
+}
 
 // Same rules as setAcc().
 void AutoDriver::setDec(float stepsPerSecondPerSecond)
 {
   unsigned long integerDec = decCalc(stepsPerSecondPerSecond);
-  setParam(DECEL, integerDec);
+  setDecRaw(integerDec);
+}
+void AutoDriver::setDecRaw(unsigned long integerDec)
+{
+	setParam(DECEL, integerDec);
 }
 
 float AutoDriver::getDec()
 {
   return accParse(getParam(DECEL));
 }
+unsigned long AutoDriver::getDecRaw()
+{
+	return getParam(DECEL);
+}
 
 void AutoDriver::setOCThreshold(byte threshold)
 {

src/Ponoor_L6470Constants.h

@@ -184,7 +184,7 @@
 #define STEP_MODE            0x16
 #define ALARM_EN             0x17
 #define CONFIG               0x18
-#define STATUS               0x19
+#define REG_STATUS           0x19
 
 //dSPIN commands
 #define CMD_NOP                  0x00

src/Ponoor_L6470Library.cpp

@@ -33,7 +33,7 @@ int AutoDriver::busyCheck(void)
 {
   if (_busyPin == -1)
   {
-    if (getParam(STATUS) & 0x0002) return 0;
+    if (getParam(REG_STATUS) & 0x0002) return 0;
     else                           return 1;
   }
   else 

src/Ponoor_L6470Library.h

@@ -38,6 +38,11 @@ class AutoDriver
     void setFullSpeed(float stepsPerSecond);
     void setAcc(float stepsPerSecondPerSecond);
     void setDec(float stepsPerSecondPerSecond);
+    void setMaxSpeedRaw(unsigned long integerSpeed);
+	  void setMinSpeedRaw(unsigned long integerSpeed);
+	  void setFullSpeedRaw(unsigned long integerSpeed);
+	  void setAccRaw(unsigned long integerSpeed);
+	  void setDecRaw(unsigned long integerSpeed);
     void setOCThreshold(byte threshold);
     void setPWMFreq(int divisor, int multiplier);
     void setSlewRate(int slewRate);
@@ -59,6 +64,11 @@ class AutoDriver
     float getFullSpeed();
     float getAcc();
     float getDec();
+    unsigned long getMaxSpeedRaw();
+    unsigned long getMinSpeedRaw();
+    unsigned long getFullSpeedRaw();
+    unsigned long getAccRaw();
+    unsigned long getDecRaw();
     byte getOCThreshold();
     int getPWMFreqDivisor();
     int getPWMFreqMultiplier();
@@ -76,11 +86,13 @@ class AutoDriver
     long getPos();
     long getMark();
     void run(byte dir, float stepsPerSec);
+    void runRaw(byte dir, unsigned long integerSpeed);
     void stepClock(byte dir);
     void move(byte dir, unsigned long numSteps);
     void goTo(long pos);
     void goToDir(byte dir, long pos);
     void goUntil(byte action, byte dir, float stepsPerSec);
+    void goUntilRaw(byte action, byte dir, unsigned long integerSpeed);
     void releaseSw(byte action, byte dir);
     void goHome();
     void goMark();

src/Ponoor_L6470Support.cpp

@@ -276,7 +276,7 @@ long AutoDriver::paramHandler(byte param, unsigned long value)
     //  comprehensive set of constants for masking and testing this register is provided, but
     //  users should refer to the datasheet to ensure that they fully understand each one of
     //  the bits in the register.
-    case STATUS:  // STATUS is a read-only register
+    case REG_STATUS:  // STATUS is a read-only register
       retVal = xferParam(0, 16);;
       break;
     default:
@@ -297,14 +297,18 @@ long AutoDriver::xferParam(unsigned long value, byte bitLen)
   byte temp;
 
   unsigned long retVal = 0; 
-
+#if defined(ARDUINO_ARCH_SAMD)
+  __disable_irq();
+#endif
   for (int i = 0; i < byteLen; i++)
   {
     retVal = retVal << 8;
     temp = SPIXfer((byte)(value>>((byteLen-i-1)*8)));
     retVal |= temp;
   }
-
+#if defined(ARDUINO_ARCH_SAMD)
+  __enable_irq();
+#endif
   unsigned long mask = 0xffffffff >> (32-bitLen);
   return retVal & mask;
 }