CatPot 2015-2016
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
Diff: L6470_lib/L6470.cpp
- Revision:
- 0:298e718ad4cb
diff -r 000000000000 -r 298e718ad4cb L6470_lib/L6470.cpp
--- /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);
+
+
+
+ }
+
+
+
+
+
+
+
+
+
+
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