CatPot 2015-2016 / Mbed 2 deprecated Stepper_L6470

L6470を使用した秋月のステッピングモータードライバをうごかすライブラリとプログラム，なおもともとあるやつをぱくった上で機能を追加している

Dependencies:   mbed

L6470_lib/L6470.h@0:298e718ad4cb, 2014-11-11 (annotated)

Committer:
ryuna
Date:
Tue Nov 11 09:11:47 2014 +0000
Revision:
0:298e718ad4cb
??????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryuna 0:298e718ad4cb 1
ryuna 0:298e718ad4cb 2 #ifndef L6470_STEP_H
ryuna 0:298e718ad4cb 3 #define L6470_STEP_H
ryuna 0:298e718ad4cb 4
ryuna 0:298e718ad4cb 5 //Brid. respected
ryuna 0:298e718ad4cb 6 #include "mbed.h"
ryuna 0:298e718ad4cb 7
ryuna 0:298e718ad4cb 8 //config name.reset data;
ryuna 0:298e718ad4cb 9 //first init config data.
ryuna 0:298e718ad4cb 10 #define INI_ABS_POS 0
ryuna 0:298e718ad4cb 11 #define INI_EL_POS 0
ryuna 0:298e718ad4cb 12 #define INI_MARK 180
ryuna 0:298e718ad4cb 13 #define INI_SPEED 0
ryuna 0:298e718ad4cb 14 #define INI_ACC 0x8A//8A//0010
ryuna 0:298e718ad4cb 15 #define INI_DEC 0x8A
ryuna 0:298e718ad4cb 16 #define INI_MAX_SPEED 0x20
ryuna 0:298e718ad4cb 17 #define INI_MIN_SPEED 0
ryuna 0:298e718ad4cb 18 #define INI_FS_SPD 0x27
ryuna 0:298e718ad4cb 19 #define INI_KVAL_HOLD 0x3F
ryuna 0:298e718ad4cb 20 #define INI_KVAL_RUN 0xFF
ryuna 0:298e718ad4cb 21 #define INI_KVAL_ACC 0x70
ryuna 0:298e718ad4cb 22 #define INI_KVAL_DEC 0x70
ryuna 0:298e718ad4cb 23 #define INI_INT_SPD 0x408
ryuna 0:298e718ad4cb 24 #define INI_ST_SLP 0x19
ryuna 0:298e718ad4cb 25 #define INI_FN_SLP_ACC 0x29
ryuna 0:298e718ad4cb 26 #define INI_FN_SLP_DEC 0x29
ryuna 0:298e718ad4cb 27 #define INI_K_THERM 0
ryuna 0:298e718ad4cb 28 // INI_ADC_OUT read only desu.
ryuna 0:298e718ad4cb 29 #define INI_OCD_TH 0xF0
ryuna 0:298e718ad4cb 30 #define INI_STALL_TH 0x7F
ryuna 0:298e718ad4cb 31 #define INI_STEP_MODE 0x70
ryuna 0:298e718ad4cb 32 #define INI_ALARM_EN 0xFF
ryuna 0:298e718ad4cb 33 #define INI_CONFIG 0x2E88
ryuna 0:298e718ad4cb 34 // INI_STATUS read only desu.
ryuna 0:298e718ad4cb 35
ryuna 0:298e718ad4cb 36
ryuna 0:298e718ad4cb 37
ryuna 0:298e718ad4cb 38
ryuna 0:298e718ad4cb 39 //レジスタのアドレス
ryuna 0:298e718ad4cb 40 // name length<<8 + address
ryuna 0:298e718ad4cb 41 #define ABS_POS ((22<<8)+0x01)
ryuna 0:298e718ad4cb 42 #define EL_POS ((9<<8)+0x02)
ryuna 0:298e718ad4cb 43 #define MARK ((22<<8)+0x03)
ryuna 0:298e718ad4cb 44 #define SPEED ((20<<8)+0x04)
ryuna 0:298e718ad4cb 45 #define ACC ((12<<8)+0x05)
ryuna 0:298e718ad4cb 46 #define DEC ((12<<8)+0x06)
ryuna 0:298e718ad4cb 47 #define MAX_SPEED ((10<<8)+0x07)
ryuna 0:298e718ad4cb 48 #define MIN_SPEED ((13<<8)+0x08)
ryuna 0:298e718ad4cb 49 #define FS_SPD ((10<<8)+0x15)
ryuna 0:298e718ad4cb 50 #define KVAL_HOLD ((8<<8)+0x09)
ryuna 0:298e718ad4cb 51 #define KVAL_RUN ((8<<8)+0x0A)
ryuna 0:298e718ad4cb 52 #define KVAL_ACC ((8<<8)+0x0B)
ryuna 0:298e718ad4cb 53 #define KVAL_DEC ((8<<8)+0x0C)
ryuna 0:298e718ad4cb 54 #define INT_SPD ((14<<8)+0x0D)
ryuna 0:298e718ad4cb 55 #define ST_SLP ((8<<8)+0x0E)
ryuna 0:298e718ad4cb 56 #define FN_SLP_ACC ((8<<8)+0x0F)
ryuna 0:298e718ad4cb 57 #define FN_SLP_DEC ((8<<8)+0x10)
ryuna 0:298e718ad4cb 58 #define K_THERM ((4<<8)+0x11)
ryuna 0:298e718ad4cb 59 #define ADC_OUT ((5<<8)+0x12)
ryuna 0:298e718ad4cb 60 #define OCD_TH ((4<<8)+0x13)
ryuna 0:298e718ad4cb 61 #define STALL_TH ((7<<8)+0x14)
ryuna 0:298e718ad4cb 62 #define STEP_MODE ((8<<8)+0x16)
ryuna 0:298e718ad4cb 63 #define ALARM_EN ((8<<8)+0x17)
ryuna 0:298e718ad4cb 64 #define CONFIG ((16<<8)+0x18)
ryuna 0:298e718ad4cb 65 #define STATUS ((16<<8)+0x19)
ryuna 0:298e718ad4cb 66
ryuna 0:298e718ad4cb 67 class L6470{
ryuna 0:298e718ad4cb 68
ryuna 0:298e718ad4cb 69 public:
ryuna 0:298e718ad4cb 70
ryuna 0:298e718ad4cb 71 /**
ryuna 0:298e718ad4cb 72 *
ryuna 0:298e718ad4cb 73 * @param mosi SPI mosi pin
ryuna 0:298e718ad4cb 74 * @param miso SPI miso pin
ryuna 0:298e718ad4cb 75 * @param sck SPI sck pin
ryuna 0:298e718ad4cb 76 * @param _cs #cs pin
ryuna 0:298e718ad4cb 77 *
ryuna 0:298e718ad4cb 78 */
ryuna 0:298e718ad4cb 79
ryuna 0:298e718ad4cb 80 L6470(PinName mosi, PinName miso, PinName sck, PinName cs, PinName busy);
ryuna 0:298e718ad4cb 81
ryuna 0:298e718ad4cb 82 void send(uint8_t temp);
ryuna 0:298e718ad4cb 83 uint8_t send_r(uint8_t temp);
ryuna 0:298e718ad4cb 84 void send_bytes(uint8_t temp[], int i);
ryuna 0:298e718ad4cb 85 void send_bytes_r(uint8_t temp[], int i);
ryuna 0:298e718ad4cb 86 void NOP();
ryuna 0:298e718ad4cb 87 void SetParam(int param, int value);
ryuna 0:298e718ad4cb 88 int GetParam(int param);
ryuna 0:298e718ad4cb 89 void Run(bool dir, int speed);
ryuna 0:298e718ad4cb 90 void StepClock(bool dir);
ryuna 0:298e718ad4cb 91 void Move(bool dir,int n_step );//n_step--22bit
ryuna 0:298e718ad4cb 92 void GoTo(int abs_pos);
ryuna 0:298e718ad4cb 93 void GoTo_dir(bool dir, int abs_pos);
ryuna 0:298e718ad4cb 94 void GoUntill(bool act, bool dir, int speed);
ryuna 0:298e718ad4cb 95 void ReleseSW(bool act,bool dir);
ryuna 0:298e718ad4cb 96 void GoHome();
ryuna 0:298e718ad4cb 97 void GoMark();
ryuna 0:298e718ad4cb 98 void ResetPos();
ryuna 0:298e718ad4cb 99 void ResetDevice();
ryuna 0:298e718ad4cb 100 void SoftStop();
ryuna 0:298e718ad4cb 101 void HardStop();
ryuna 0:298e718ad4cb 102 void SoftHiz();
ryuna 0:298e718ad4cb 103 void HardHiz();
ryuna 0:298e718ad4cb 104 void Resets();
ryuna 0:298e718ad4cb 105 void BusyWait(unsigned int time);
ryuna 0:298e718ad4cb 106 void Step(int dosu);
ryuna 0:298e718ad4cb 107
ryuna 0:298e718ad4cb 108
ryuna 0:298e718ad4cb 109
ryuna 0:298e718ad4cb 110 protected:
ryuna 0:298e718ad4cb 111
ryuna 0:298e718ad4cb 112 SPI m_spi;
ryuna 0:298e718ad4cb 113 DigitalOut m_cs;
ryuna 0:298e718ad4cb 114 DigitalIn m_busy;
ryuna 0:298e718ad4cb 115
ryuna 0:298e718ad4cb 116
ryuna 0:298e718ad4cb 117
ryuna 0:298e718ad4cb 118 };
ryuna 0:298e718ad4cb 119 #endif
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