Diff: L6470_lib/L6470.h

Revision:

0:298e718ad4cb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L6470_lib/L6470.h	Tue Nov 11 09:11:47 2014 +0000
@@ -0,0 +1,134 @@
+
+#ifndef L6470_STEP_H
+#define L6470_STEP_H
+
+//Brid. respected
+#include "mbed.h"
+
+//config name.reset data;
+//first init config data.
+#define INI_ABS_POS    0
+#define INI_EL_POS     0
+#define INI_MARK       180
+#define INI_SPEED      0
+#define INI_ACC        0x8A//8A//0010
+#define INI_DEC        0x8A
+#define INI_MAX_SPEED  0x20
+#define INI_MIN_SPEED  0
+#define INI_FS_SPD     0x27
+#define INI_KVAL_HOLD  0x3F
+#define INI_KVAL_RUN   0xFF
+#define INI_KVAL_ACC   0x70 
+#define INI_KVAL_DEC   0x70
+#define INI_INT_SPD    0x408
+#define INI_ST_SLP     0x19
+#define INI_FN_SLP_ACC 0x29
+#define INI_FN_SLP_DEC 0x29
+#define INI_K_THERM    0 
+//      INI_ADC_OUT read only desu.    
+#define INI_OCD_TH     0xF0
+#define INI_STALL_TH   0x7F
+#define INI_STEP_MODE  0x70
+#define INI_ALARM_EN   0xFF
+#define INI_CONFIG     0x2E88
+//      INI_STATUS read only desu.   
+
+
+
+
+//レジスタのアドレス
+// name length<<8 + address
+#define ABS_POS    ((22<<8)+0x01)
+#define EL_POS      ((9<<8)+0x02)
+#define MARK       ((22<<8)+0x03)
+#define SPEED      ((20<<8)+0x04)
+#define ACC        ((12<<8)+0x05)
+#define DEC        ((12<<8)+0x06)
+#define MAX_SPEED  ((10<<8)+0x07)
+#define MIN_SPEED  ((13<<8)+0x08)
+#define FS_SPD     ((10<<8)+0x15)
+#define KVAL_HOLD   ((8<<8)+0x09)
+#define KVAL_RUN    ((8<<8)+0x0A)
+#define KVAL_ACC    ((8<<8)+0x0B)
+#define KVAL_DEC    ((8<<8)+0x0C)
+#define INT_SPD    ((14<<8)+0x0D)
+#define ST_SLP      ((8<<8)+0x0E)
+#define FN_SLP_ACC  ((8<<8)+0x0F)
+#define FN_SLP_DEC  ((8<<8)+0x10)
+#define K_THERM     ((4<<8)+0x11)
+#define ADC_OUT     ((5<<8)+0x12)
+#define OCD_TH      ((4<<8)+0x13)
+#define STALL_TH    ((7<<8)+0x14)
+#define STEP_MODE   ((8<<8)+0x16)
+#define ALARM_EN    ((8<<8)+0x17)
+#define CONFIG     ((16<<8)+0x18)
+#define STATUS     ((16<<8)+0x19)
+
+class L6470{
+
+    public:
+    
+        /** 
+         *
+         * @param mosi SPI mosi pin
+         * @param miso SPI miso pin
+         * @param sck  SPI sck  pin
+         * @param _cs  #cs pin
+         * 
+         */ 
+         
+        L6470(PinName mosi, PinName miso, PinName sck, PinName cs, PinName busy);
+        
+        void send(uint8_t temp);
+        uint8_t send_r(uint8_t temp);
+        void send_bytes(uint8_t temp[], int i);
+        void send_bytes_r(uint8_t temp[], int i);
+        void NOP();
+        void SetParam(int param, int value);
+        int  GetParam(int param);
+        void Run(bool dir, int speed);
+        void StepClock(bool dir);
+        void Move(bool dir,int n_step );//n_step--22bit
+        void GoTo(int abs_pos);
+        void GoTo_dir(bool dir, int abs_pos);
+        void GoUntill(bool act, bool dir, int speed);
+        void ReleseSW(bool act,bool dir);
+        void GoHome();
+        void GoMark();
+        void ResetPos();
+        void ResetDevice();
+        void SoftStop();
+        void HardStop();
+        void SoftHiz();
+        void HardHiz();
+        void Resets();
+        void BusyWait(unsigned int time);
+        void Step(int dosu);
+
+       
+
+    protected:
+
+        SPI m_spi;
+        DigitalOut m_cs;
+        DigitalIn m_busy;
+        
+        
+
+};
+#endif
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