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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.cpp
- Committer:
- ryuna
- Date:
- 2014-11-11
- Revision:
- 0:298e718ad4cb
File content as of revision 0:298e718ad4cb:
/*
*mbed L6470 SPI Library
*/
#include "mbed.h"
#include "L6470.h"
L6470::L6470(PinName mosi, PinName miso, PinName sclk, PinName cs,PinName busy)
: m_spi(mosi, miso, sclk), m_cs(cs),m_busy(busy,PullUp)
{
//定義時に行う
m_cs = 1;
m_spi.format(8,3);
m_spi.frequency(1000000);
/*///前回の送りデータを流す
send(0x00);
send(0x00);
send(0x00);
send(0x00);
/**/
}
void L6470::send(uint8_t temp)
{
//while(!m_busy){
//}
m_cs = 0;//#cs = 1;
temp = m_spi.write((uint8_t)temp);
m_cs = 1;//#cs = 0;
wait_us(0.5);
}
uint8_t L6470::send_r(uint8_t temp)
{
//while(!m_busy){
//}
m_cs = 0;//#cs = 1;
temp = m_spi.write((uint8_t)temp);
m_cs = 1;//#cs = 0;
wait_us(1);
return temp;
}
void L6470::send_bytes(uint8_t temp[], int i)
{
while(0< i--)
{
send(temp[i]);
}
}
void L6470::send_bytes_r(uint8_t temp[], int i)
{
while(0< i--)
{
temp[i] = send_r(temp[i]);
}
}
void L6470::NOP()
{
send(0x00);
}
void L6470::SetParam(int param, int value)
{
int n = (param>>8)/8;//配列の数
int m = (param>>8)%8;//nは割り算だからあまりの分の値が取れないためこちらをif文に活用
if(!m){
uint8_t temp[n+1];
temp[n] = 0x00 | (uint8_t)(param & 0xFF);
while(0 < n--){//比較後マイナス
temp[n] = (uint8_t)(value >> 8*n )&0xFF;
}
send_bytes(temp,sizeof temp/sizeof temp[0]);
}else{//余りが出た場合. 例 22とか7
uint8_t temp[n+2];
temp[n+1] = 0x00 | (uint8_t)(param & 0xFF);
temp[n] = (uint8_t)(value >> 8*n)&~(0xFF<<m);//FFをずらしたあとで1の補数変換で反転.
while(0 < n--){
temp[n]= (uint8_t)(value >> 8*n)&0xFF;
}
send_bytes(temp,sizeof temp/sizeof temp[0]);
}
}
int L6470::GetParam(int param)
{
int value = 0;
int n = (param>>8)/8;//配列の数
int m = (param>>8)%8;//nは割り算だからあまりの分の値が取れないためこちらをif文に活用
if(!m){
uint8_t temp[n+1];
for(int i = 0; i < n+1; i++){
temp[i] = 0;
}
temp[n] = 0x20|(uint8_t)(param&0xFF);
send_bytes_r(temp,sizeof temp/sizeof temp[0]);
while(0 < n--){
value |= (int)temp[n] << 8*n;
}
}else{
n++;
uint8_t temp[n+1];
for(int i = 0; i < n+2; i++){
temp[i] = 0;
}
temp[n] = 0x20|(uint8_t)(param&0xFF);
send_bytes_r(temp,sizeof temp/sizeof temp[0]);
while(0 < n--){
value |= (int)temp[n]<< 8*n;
}
}
return value;
}
void L6470::Run(bool dir, int speed)
{
uint8_t temp[4];
temp[3] = 0x50|dir;
temp[2] = (uint8_t)(speed >> 16)&0x0F;
temp[1] = (uint8_t)(speed >> 8)&0xFF;
temp[0] = (uint8_t)(speed >> 0)&0xFF;
send_bytes(temp,sizeof temp/sizeof temp[0]);
}
void L6470::StepClock(bool dir)
{
send(0x58|dir);
}
void L6470::Move(bool dir,int n_step )
{
uint8_t temp[4];
temp[3] = 0x40|dir;
temp[2] = (uint8_t)(n_step >> 16)&0x3F;
temp[1] = (uint8_t)(n_step >> 8)&0xFF;
temp[0] = (uint8_t)(n_step >> 0)&0xFF;
send_bytes(temp,sizeof temp/sizeof temp[0]);
}
void L6470::GoTo(int abs_pos)
{
uint8_t temp[4];
temp[3] = 0x60;
temp[2] = (uint8_t)(abs_pos >> 16)&0x3F;
temp[1] = (uint8_t)(abs_pos >> 8)&0xFF;
temp[0] = (uint8_t)(abs_pos >> 0)&0xFF;
send_bytes(temp,sizeof temp/sizeof temp[0]);
}
void L6470::GoTo_dir(bool dir, int abs_pos)
{
uint8_t temp[4];
temp[3] = 0x68|dir;
temp[2] = (uint8_t)(abs_pos >> 16)&0x3F;
temp[1] = (uint8_t)(abs_pos >> 8)&0xFF;
temp[0] = (uint8_t)(abs_pos >> 0)&0xFF;
send_bytes(temp,sizeof temp/sizeof temp[0]);
}
void L6470::GoUntill(bool act, bool dir, int speed)
{
uint8_t temp[4];
temp[3] = 0x82|(act<<8)|dir;
temp[2] = (uint8_t)(speed >> 16)&0x3F;
temp[1] = (uint8_t)(speed >> 8)&0xFF;
temp[0] = (uint8_t)(speed >> 0)&0xFF;
send_bytes(temp,sizeof temp/sizeof temp[0]);
}
void L6470::ReleseSW(bool act,bool dir)
{
send(0x92|(act <<3)|dir);
}
void L6470::GoHome()
{
send(0x70);
}
void L6470::GoMark()
{
send(0x78);
}
void L6470::ResetPos()
{
send(0xD8);
}
void L6470::ResetDevice()
{
send(0xC0);
}
void L6470::SoftStop()
{
send(0xB0);
}
void L6470::HardStop()
{
send(0xB8);
}
void L6470::SoftHiz()
{
send(0xA0);
}
void L6470::HardHiz()
{
send(0xA8);
}
void L6470::Resets()
{
SoftStop();
wait(0.5);
ResetDevice();
SetParam(ABS_POS,INI_ABS_POS);
SetParam(EL_POS,INI_EL_POS);
SetParam(MARK,INI_MARK);
SetParam(SPEED,INI_SPEED);
SetParam(ACC,INI_ACC);
SetParam(DEC,INI_DEC);
SetParam(MAX_SPEED,INI_MAX_SPEED);
SetParam(MIN_SPEED,INI_MIN_SPEED);
SetParam(KVAL_HOLD,INI_KVAL_HOLD);
SetParam(KVAL_RUN,INI_KVAL_RUN);
SetParam(KVAL_ACC,INI_KVAL_ACC);
SetParam(KVAL_DEC,INI_KVAL_DEC);
SetParam(INT_SPD,INI_INT_SPD);
SetParam(ST_SLP,INI_ST_SLP);
SetParam(FN_SLP_ACC,INI_FN_SLP_ACC);
SetParam(FN_SLP_DEC,INI_FN_SLP_DEC);
SetParam(K_THERM,INI_K_THERM);
SetParam(OCD_TH,INI_OCD_TH);
SetParam(STALL_TH,INI_STALL_TH);
SetParam(FS_SPD,INI_FS_SPD);
SetParam(STEP_MODE,INI_STEP_MODE);
SetParam(ALARM_EN,INI_ALARM_EN);
SetParam(CONFIG,INI_CONFIG);
}
void L6470::BusyWait(unsigned int time)
{//BESYが解除されるまで待機
while(!m_busy){
}
wait_ms(time);
}
void L6470::Step(int dosu)
{
//初期値180度とする
int temp;
temp = dosu*200/360;
GoTo(temp);
}