CatPot 2015-2016
/
Stepper_L6470
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Dependencies: mbed
Revision 0:298e718ad4cb, committed 2014-11-11
- Comitter:
- ryuna
- Date:
- Tue Nov 11 09:11:47 2014 +0000
- Commit message:
- ??????
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/L6470_lib/L6470.cpp Tue Nov 11 09:11:47 2014 +0000
@@ -0,0 +1,296 @@
+/*
+ *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);
+
+
+
+ }
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
--- /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
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/beforeMain.txt Tue Nov 11 09:11:47 2014 +0000
@@ -0,0 +1,93 @@
+#include "mbed.h"
+DigitalOut myled0(LED1);
+DigitalOut myled1(LED2);
+DigitalOut myled2(LED3);
+
+SPI Step(p11,p12,p13);//msoi,miso,sclk
+DigitalOut css(p14);
+
+
+void L6470_send(uint8_t data){
+
+ css = 0;
+ Step.write(data);
+ css = 1;
+}
+
+void L6470_setup(){
+
+ //最大回転スピード
+ L6470_send(0x07);
+ L6470_send(0x08);
+ L6470_send(0x17);
+
+ //モーター停止中電圧
+ L6470_send(0x09);
+ L6470_send(0x50);
+ //モーター定速回転時
+ L6470_send(0x0a);
+ L6470_send(0xb0);
+ //加速中電圧
+ L6470_send(0x0b);
+ L6470_send(0x70);
+ //減速中電圧
+ L6470_send(0x0c);
+ L6470_send(0x70);
+
+ //フルハーフ
+ L6470_send(0x16);
+ L6470_send(0x02);
+}
+
+void setup(){
+ //
+ L6470_send(0x00);
+ L6470_send(0x00);
+ L6470_send(0x00);
+ L6470_send(0x00);
+
+ //
+ L6470_send(0xc0);
+
+ L6470_setup();
+
+ wait_ms(1000);
+
+}
+
+
+int main() {
+
+ myled0 = 0;
+ myled1 = 0;
+ css = 1;
+ Step.format(8, 3);
+ //Step.frequency(500000);//1MHz
+
+ setup();
+
+
+
+ L6470_send(128+64+16);//homeset
+
+ wait(1);
+ L6470_send(64+16+1);//run
+ L6470_send(0x00);
+ L6470_send(0xa0);
+ L6470_send(0x00);
+
+ wait(5);
+ L6470_send(128+32+16+8);
+ wait(0.1);
+
+
+
+ while(1) {
+
+
+
+
+
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Nov 11 09:11:47 2014 +0000
@@ -0,0 +1,62 @@
+#include "mbed.h"
+#include <L6470.h>
+DigitalOut myled(LED1);
+
+
+L6470 Step(p11,p12,p13,p14,p15);//msoi,miso,sclk,_cs
+
+
+
+int main() {
+
+ int i = 0;
+ Step.Resets();
+ Step.GoMark();
+
+ Step.BusyWait(0);
+
+ Step.GoHome();
+
+ Step.BusyWait(0);
+ //Step.ResetPos();
+ wait(0.5);
+
+
+ Step.Step(-90);
+
+ Step.BusyWait(0);
+
+ Step.Step(720);
+
+ Step.BusyWait(0);
+ Step.GoHome();
+
+ while(1) {
+ /*
+ Step.Spin360(i);
+ Step.BusyWait(0);
+ if(i >360) {
+ i = 0;
+ Step.GoHome();
+ }
+ i++;
+ */
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Nov 11 09:11:47 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/031413cf7a89 \ No newline at end of file