Diff: L6470.cpp

Revision:

0:cdf64907686d

diff -r 000000000000 -r cdf64907686d L6470.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L6470.cpp	Sat Dec 25 12:35:05 2021 +0000
@@ -0,0 +1,169 @@
+/*#include"mbed.h"
+#include"L6470.h"
+
+SPI spi(PinName mosi, PinName miso, PinName ssel);
+DigitalOut cs(PinName);
+
+L6470::L6470(const spi_pinmap_t &static_pinmap, PinName ssel)
+    :
+    static_pinmap(new SPI(mosi,miso,sclk)),
+    spi(*static_pinmap),
+    ssel = DigitalOut(PinName)
+{
+    init();
+}
+
+L6470::~L6470(){}
+
+
+/*L6470::L6470(PinName mosi, PinName miso, PinName sclk, PinName ssel)
+    :
+    spi_p(new SPI(mosi, miso, sclk)),
+    spi(*spi_p),
+    cs_p(new DigitalOut(ssel)),
+    cs(*cs_p)
+
+    
+    
+void L6470::init(){
+    
+    // L6470のspi通信の有効化
+    //spi.format(8,2);
+    //spi.frequency(4960000);
+    
+    //　nopを送ることで残留している命令を排除
+    cs = 1;
+    spi.write(0x00);
+    spi.write(0x00);
+    spi.write(0x00);
+    spi.write(0x00);
+    cs = 0;
+        
+    //リセット
+    cs = 1;
+    spi.write(0xC0);
+    cs = 0;
+        
+    // MAX_SPEED設定。
+    cs = 1;
+    spi.write(0x07);
+    // 最大回転スピード値(10bit) 初期値は 0x41
+    spi.write(0x00);
+    spi.write(0x23);
+    cs = 0;
+
+    // KVAL_HOLD設定。
+    /// レジスタアドレス。
+    cs = 1;
+    spi.write(0x09);
+    spi.write(0xFF);
+    cs = 0;
+        
+    // KVAL_spiUN設定。
+    /// レジスタアドレス。
+    cs = 1;
+    spi.write(0x0A);
+    spi.write(0xFF);
+    cs = 0;
+        
+    // KVAL_ACC設定。
+    cs = 1;
+    spi.write(0x0B);
+    spi.write(0xFF);
+    cs = 0;
+        
+    // KVAL_DEC設定。
+    /// レジスタアドレス。
+    cs= 1;
+    spi.write(0x0C);
+    spi.write(0x40);
+    cs = 0;
+        
+    // OCD_TH設定。
+    /// レジスタアドレス。
+    cs = 1;
+    spi.write(0x13);
+    spi.write(0x0F);
+    cs = 0;
+        
+    // STALL_TH設定。
+    /// レジスタアドレス。
+    cs = 1;
+    spi.write(0x14);
+    spi.write(0x7F);
+    cs = 0;
+}
+
+void L6470::writeByte(uint8_t data)
+{
+    cs = 1;
+    spi.write(data);
+    cs = 0;
+}
+
+    
+void L6470::writeBytes(uint8_t add, int bytes, uint32_t value)
+{
+    uint32_t data[3];
+    for (int i = 0; i < bytes; i++){
+        data[i] = value & 0xff;
+        value = value >> 8;
+    }
+    if(bytes == 3){
+        cs = 1;
+        spi.write(add)
+        spi.write(data[2]);
+        spi.write(data[1]);
+        spi.write(data[0]);
+        cs_R = 0;
+        }
+    else if ( bytes == 2 ) {
+        cs = 1;
+        spi.write( add );
+        spi.write( data[1] ) ;
+        spi.write( data[0] ) ;
+        cs = 0;
+    }
+    else if ( bytes == 1 ) {
+        cs = 1;
+        spi.write( add );
+        spi.write( data[0] ) ;
+        cs = 0;
+    }
+}
+
+
+void L6470::L6470_run(uint32_t speed)
+{
+        uint8_t dir;
+        uint32_t spd;
+        uint8_t spd_h;
+        uint8_t spd_m;
+        uint8_t spd_l;
+
+        // 方向検出。
+        if (speed < 0)
+        {
+            dir = 0x50;
+            spd = -1 * speed;
+        }
+        else
+        {
+            dir = 0x51;
+            spd = speed;
+        }
+
+        // 送信バイトデータ生成。
+        spd_h = (uint8_t)((0x000F0000 & spd) >> 16);
+        spd_m = (uint8_t)((0x0000FF00 & spd) >> 8);
+        spd_l = (uint8_t)(0x000000FF & spd);
+        // コマンド（レジスタアドレス）送信。
+        cs = 1;
+        spi.write(dir);
+        spi.write(spd_h);
+        spi.write(spd_m);
+        spi.write(spd_l);
+        cs = 0;
+}    
+    
+*/
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