Rev 4306 Rev 4307
Line 25... Line 25...
25 spi.SPI_write_byte(self.CS, 0xC0) # reset 25 spi.SPI_write_byte(self.CS, 0xC0) # reset
26 # spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup 26 # spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup
27 # spi.SPI_write_byte(self.CS, 0xFF) 27 # spi.SPI_write_byte(self.CS, 0xFF)
28 # spi.SPI_write_byte(self.CS, 0x13) # Over Current Treshold setup 28 # spi.SPI_write_byte(self.CS, 0x13) # Over Current Treshold setup
29 # spi.SPI_write_byte(self.CS, 0xFF) 29 # spi.SPI_write_byte(self.CS, 0xFF)
30 #spi.SPI_write_byte(self.CS, 0x15) # Full Step speed 30 spi.SPI_write_byte(self.CS, 0x15) # Full Step speed
31 #spi.SPI_write_byte(self.CS, 0x00) 31 spi.SPI_write_byte(self.CS, 0x00)
32 #spi.SPI_write_byte(self.CS, 0x30) 32 spi.SPI_write_byte(self.CS, 0xF0)
-   33
33 spi.SPI_write_byte(self.CS, 0x09) # KVAL_HOLD 34 spi.SPI_write_byte(self.CS, 0x09) # KVAL_HOLD
34 spi.SPI_write_byte(self.CS, 0xFF) 35 spi.SPI_write_byte(self.CS, 0xFF)
35   36  
36 spi.SPI_write_byte(self.CS, 0x0A) # KVAL_RUN 37 spi.SPI_write_byte(self.CS, 0x0A) # KVAL_RUN
37 spi.SPI_write_byte(self.CS, 0xFF) 38 spi.SPI_write_byte(self.CS, 0xFF)
38   39  
39 spi.SPI_write_byte(self.CS, 0x0B) # KVAL_ACC 40 spi.SPI_write_byte(self.CS, 0x0B) # KVAL_ACC
40 spi.SPI_write_byte(self.CS, 0xFF) 41 spi.SPI_write_byte(self.CS, 0xFF)
41   42  
42 spi.SPI_write_byte(self.CS, 0x18) # Config register 43 # spi.SPI_write_byte(self.CS, 0x18) # Config register
43 spi.SPI_write_byte(self.CS, 0b11000000) 44 # spi.SPI_write_byte(self.CS, 0b11000000)
44 spi.SPI_write_byte(self.CS, 0x88) 45 # spi.SPI_write_byte(self.CS, 0x88)
45 46
46 def MaxSpeed(self, speed): 47 def MaxSpeed(self, speed):
47 ' Setup of maximum speed ' 48 ' Setup of maximum speed '
48 spi.SPI_write_byte(self.CS, 0x07) # Max Speed setup 49 spi.SPI_write_byte(self.CS, 0x07) # Max Speed setup
49 spi.SPI_write_byte(self.CS, 0x00) 50 spi.SPI_write_byte(self.CS, 0x00)