航空研究会
/
L6470_2021_1
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Revision 0:cdf64907686d, committed 2021-12-25
- Comitter:
- kannokoki
- Date:
- Sat Dec 25 12:35:05 2021 +0000
- Commit message:
- L6470
Changed in this revision
| L6470.cpp | Show annotated file Show diff for this revision Revisions of this file |
| L6470.h | Show annotated file Show diff for this revision Revisions of this file |
--- /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;
+}
+
+*/
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/L6470.h Sat Dec 25 12:35:05 2021 +0000
@@ -0,0 +1,230 @@
+#ifndef _L6470_H_
+#define _L6470_H_
+
+#include"mbed.h"
+
+//L6470 Registers
+#define ABS_POS 0x01 // Current position
+#define EL_POS 0x02 // Electrical position
+#define MARK 0x03
+#define SPEED 0x04
+#define ACC 0x05
+#define DEC 0x06
+#define MAX_SPEED 0x07
+#define MIN_SPEED 0x08
+#define FS_SPD 0x15
+#define KVAL_HOLD 0x09
+#define KVAL_RUN 0x0A
+#define KVAL_ACC 0x0B
+#define KVAL_DEC 0x0C
+#define INT_SPEED 0x0D
+#define ST_SLP 0x0E
+#define FN_SLP_ACC 0x0F
+#define FN_SLP_DEC 0x10
+#define K_THERM 0x11
+#define ADC_OUT 0x12
+#define OCD_TH 0x13
+#define STALL_TH 0x14
+#define STEP_MODE 0x16
+#define ALARM_EN 0x17
+#define CONFIG 0x18
+#define STATUS 0x19
+
+//L6470 Commands
+#define NOP 0x000
+#define SetParam 0x0<<5 // ( | PARAM )
+#define GetParam 0x01<<5 // ( | PARAM )
+#define Run_Forward 0x50
+#define Run_Back 0x51
+#define Step_Clock_Forward 0x58
+#define Step_Clock_Back 0x59
+#define Move_Forward 0x40
+#define Move_Back 0x41
+#define GoTo 0x60
+#define GoTo_DIR_Forward 0x68
+#define GoTo_DIR_Back 0x69
+//#define GoUntill
+//#define ReleseSW
+#define GoHome 0x70
+#define GoMark 0x78
+#define ResetPos 0xD8
+#define ResetDevice 0xC0
+#define SoftStop 0xB0
+#define HardStop 0xB8
+#define SoftHiZ 0xA0
+#define HardHiz 0xA8
+#define GetStatus 0xD8
+
+
+
+
+class L6470
+{
+ SPI spi;
+ DigitalOut cs;
+
+ public:
+ L6470(PinName mosi, PinName miso, PinName sclk, PinName cs):spi(mosi, miso, sclk),cs(cs)
+ {
+ spi.format(8,2);
+ spi.frequency(4960000);
+ }
+
+ //~L6470();
+
+
+ //L6470(PinName mosi, PinName miso, PinName sclk, PinName ssel);
+
+ void 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 writeByte(uint8_t);
+ void writeByte(uint8_t data)
+{
+ cs = 1;
+ spi.write(data);
+ cs = 0;
+}
+
+ void 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 = 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 writeBytes(uint8_t, int, uint32_t);
+ void L6470_run(long speed)
+{
+ uint8_t dir;
+ long 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 & (uint32_t)spd) >> 16);
+ spd_m = (uint8_t)((0x0000FF00 & (uint32_t)spd) >> 8);
+ spd_l = (uint8_t)(0x000000FF & (uint32_t)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;
+}
+
+ //void L6470_run(uint32_t);
+
+ int getstatus(uint8_t data)
+ {
+ cs = 1;
+ int s = spi.write(data);
+ cs = 0;
+ return s;
+ }
+};
+
+
+#endif
\ No newline at end of file