Brid . / L6470

test upload STMicroelectronics L6470

Dependents:   test L6470exaple

L6470.cpp@2:97c203ed65da, 2014-03-05 (annotated)

Committer:
Brid
Date:
Wed Mar 05 06:17:55 2014 +0000
Revision:
2:97c203ed65da
Parent:
1:bb4bb05904cb 
ver1.01

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Brid 1:bb4bb05904cb 1 //This 'L6470' libraly maked by Brid
Brid 1:bb4bb05904cb 2 //
Brid 1:bb4bb05904cb 3 //
Brid 1:bb4bb05904cb 4
Brid 0:26699d53cd2a 5
Brid 0:26699d53cd2a 6 #include "mbed.h"
Brid 0:26699d53cd2a 7 #include "L6470.h"
Brid 0:26699d53cd2a 8
Brid 0:26699d53cd2a 9 L6470::L6470(PinName mosi, PinName miso, PinName sclk, PinName cs)
Brid 0:26699d53cd2a 10 :m_spi(mosi, miso, sclk)
Brid 0:26699d53cd2a 11 ,m_cs(cs) {
Brid 0:26699d53cd2a 12 m_cs = 1;
Brid 0:26699d53cd2a 13 m_spi.format(8,3);
Brid 0:26699d53cd2a 14 m_spi.frequency(1000000);
Brid 0:26699d53cd2a 15 //wait(1);
Brid 0:26699d53cd2a 16 //pc.printf("reset now\n");
Brid 0:26699d53cd2a 17 }
Brid 0:26699d53cd2a 18
Brid 0:26699d53cd2a 19
Brid 0:26699d53cd2a 20 unsigned char L6470::send(unsigned char temp){
Brid 0:26699d53cd2a 21 m_cs = 0;
Brid 0:26699d53cd2a 22 //printf("send: %2x",temp);
Brid 0:26699d53cd2a 23 temp =(unsigned char) m_spi.write(temp);
Brid 0:26699d53cd2a 24 //printf(" %2x\n",temp);
Brid 0:26699d53cd2a 25 //wait(0.5);
Brid 0:26699d53cd2a 26 m_cs = 1;
Brid 0:26699d53cd2a 27 wait_us(1);
Brid 0:26699d53cd2a 28 return(temp);
Brid 0:26699d53cd2a 29 }
Brid 0:26699d53cd2a 30
Brid 0:26699d53cd2a 31 void L6470::send_bytes(unsigned char temp[],int i){
Brid 0:26699d53cd2a 32 while(0 < i--){
Brid 0:26699d53cd2a 33 temp[i] = send(temp[i]);
Brid 0:26699d53cd2a 34 }
Brid 0:26699d53cd2a 35 }
Brid 0:26699d53cd2a 36
Brid 0:26699d53cd2a 37 void L6470::NOP(){
Brid 0:26699d53cd2a 38 send(0x00);
Brid 0:26699d53cd2a 39 }
Brid 0:26699d53cd2a 40
Brid 2:97c203ed65da 41 void L6470::SetParam(L6470_Register param,int value){
Brid 2:97c203ed65da 42 int length,address;
Brid 2:97c203ed65da 43
Brid 2:97c203ed65da 44 switch(param){
Brid 2:97c203ed65da 45 case ABS_POS:
Brid 2:97c203ed65da 46 length = LEN_ABS_POS;
Brid 2:97c203ed65da 47 address = ADD_ABS_POS;
Brid 2:97c203ed65da 48 break;
Brid 2:97c203ed65da 49 case EL_POS:
Brid 2:97c203ed65da 50 length = LEN_EL_POS;
Brid 2:97c203ed65da 51 address = ADD_EL_POS;
Brid 2:97c203ed65da 52 break;
Brid 2:97c203ed65da 53 case MARK:
Brid 2:97c203ed65da 54 length = LEN_MARK;
Brid 2:97c203ed65da 55 address = ADD_MARK;
Brid 2:97c203ed65da 56 break;
Brid 2:97c203ed65da 57 case SPEED:
Brid 2:97c203ed65da 58 length = LEN_SPEED;
Brid 2:97c203ed65da 59 address = ADD_SPEED;
Brid 2:97c203ed65da 60 break;
Brid 2:97c203ed65da 61 case ACC:
Brid 2:97c203ed65da 62 length = LEN_ACC;
Brid 2:97c203ed65da 63 address = ADD_ACC;
Brid 2:97c203ed65da 64 break;
Brid 2:97c203ed65da 65 case DEC:
Brid 2:97c203ed65da 66 length = LEN_DEC;
Brid 2:97c203ed65da 67 address = ADD_DEC;
Brid 2:97c203ed65da 68 break;
Brid 2:97c203ed65da 69 case MAX_SPEED:
Brid 2:97c203ed65da 70 length = LEN_MAX_SPEED;
Brid 2:97c203ed65da 71 address = ADD_MAX_SPEED;
Brid 2:97c203ed65da 72 break;
Brid 2:97c203ed65da 73 case MIN_SPEED:
Brid 2:97c203ed65da 74 length = LEN_MIN_SPEED;
Brid 2:97c203ed65da 75 address = ADD_MIN_SPEED;
Brid 2:97c203ed65da 76 break;
Brid 2:97c203ed65da 77 case KVAL_HOLD:
Brid 2:97c203ed65da 78 length = LEN_KVAL_HOLD;
Brid 2:97c203ed65da 79 address = ADD_KVAL_HOLD;
Brid 2:97c203ed65da 80 break;
Brid 2:97c203ed65da 81 case KVAL_RUN:
Brid 2:97c203ed65da 82 length = LEN_KVAL_RUN;
Brid 2:97c203ed65da 83 address = ADD_KVAL_RUN;
Brid 2:97c203ed65da 84 break;
Brid 2:97c203ed65da 85 case KVAL_ACC:
Brid 2:97c203ed65da 86 length = LEN_KVAL_ACC;
Brid 2:97c203ed65da 87 address = ADD_KVAL_ACC;
Brid 2:97c203ed65da 88 break;
Brid 2:97c203ed65da 89 case KVAL_DEC:
Brid 2:97c203ed65da 90 length = LEN_KVAL_DEC;
Brid 2:97c203ed65da 91 address = ADD_KVAL_DEC;
Brid 2:97c203ed65da 92 break;
Brid 2:97c203ed65da 93 case INT_SPD:
Brid 2:97c203ed65da 94 length = LEN_INT_SPD;
Brid 2:97c203ed65da 95 address = ADD_INT_SPD;
Brid 2:97c203ed65da 96 break;
Brid 2:97c203ed65da 97 case ST_SLP:
Brid 2:97c203ed65da 98 length = LEN_ST_SLP;
Brid 2:97c203ed65da 99 address = ADD_ST_SLP;
Brid 2:97c203ed65da 100 break;
Brid 2:97c203ed65da 101 case FN_SLP_ACC:
Brid 2:97c203ed65da 102 length = LEN_FN_SLP_ACC;
Brid 2:97c203ed65da 103 address = ADD_FN_SLP_ACC;
Brid 2:97c203ed65da 104 break;
Brid 2:97c203ed65da 105 case FN_SLP_DEC:
Brid 2:97c203ed65da 106 length = LEN_FN_SLP_DEC;
Brid 2:97c203ed65da 107 address = ADD_FN_SLP_DEC;
Brid 2:97c203ed65da 108 break;
Brid 2:97c203ed65da 109 case K_THERA:
Brid 2:97c203ed65da 110 length = LEN_K_THERA;
Brid 2:97c203ed65da 111 address = ADD_K_THERA;
Brid 2:97c203ed65da 112 break;
Brid 2:97c203ed65da 113 case ADC_OUT:
Brid 2:97c203ed65da 114 length = LEN_ADC_OUT;
Brid 2:97c203ed65da 115 address = ADD_ADC_OUT;
Brid 2:97c203ed65da 116 break;
Brid 2:97c203ed65da 117 case OCR_TH:
Brid 2:97c203ed65da 118 length = LEN_OCR_TH;
Brid 2:97c203ed65da 119 address = ADD_OCR_TH;
Brid 2:97c203ed65da 120 break;
Brid 2:97c203ed65da 121 case STALL_TH:
Brid 2:97c203ed65da 122 length = LEN_STALL_TH;
Brid 2:97c203ed65da 123 address = ADD_STALL_TH;
Brid 2:97c203ed65da 124 break;
Brid 2:97c203ed65da 125 case FS_SPD:
Brid 2:97c203ed65da 126 length = LEN_FS_SPD;
Brid 2:97c203ed65da 127 address = ADD_FS_SPD;
Brid 2:97c203ed65da 128 break;
Brid 2:97c203ed65da 129 case STEP_MODE:
Brid 2:97c203ed65da 130 length = LEN_STEP_MODE;
Brid 2:97c203ed65da 131 address = ADD_STEP_MODE;
Brid 2:97c203ed65da 132 break;
Brid 2:97c203ed65da 133 case ARARM_FN:
Brid 2:97c203ed65da 134 length = LEN_ARARM_FN;
Brid 2:97c203ed65da 135 address = ADD_ARARM_FN;
Brid 2:97c203ed65da 136 break;
Brid 2:97c203ed65da 137 case CONFIG:
Brid 2:97c203ed65da 138 length = LEN_CONFIG;
Brid 2:97c203ed65da 139 address = ADD_CONFIG;
Brid 2:97c203ed65da 140 break;
Brid 2:97c203ed65da 141 case STATUS:
Brid 2:97c203ed65da 142 length = LEN_STATUS;
Brid 2:97c203ed65da 143 address = ADD_STATUS;
Brid 2:97c203ed65da 144 break;
Brid 2:97c203ed65da 145 default:
Brid 2:97c203ed65da 146 length = 0;
Brid 2:97c203ed65da 147 address = 0;
Brid 2:97c203ed65da 148 break;
Brid 2:97c203ed65da 149
Brid 2:97c203ed65da 150 }
Brid 2:97c203ed65da 151
Brid 2:97c203ed65da 152
Brid 2:97c203ed65da 153 int n = length/8;
Brid 2:97c203ed65da 154 int m = length%8;
Brid 2:97c203ed65da 155
Brid 2:97c203ed65da 156
Brid 2:97c203ed65da 157
Brid 0:26699d53cd2a 158 // pc.printf("palam = %x\n",param);
Brid 0:26699d53cd2a 159 // pc.printf("n = %x\n",n);
Brid 0:26699d53cd2a 160 // pc.printf("m = %x\n",m);
Brid 0:26699d53cd2a 161 if(m==0){
Brid 0:26699d53cd2a 162 unsigned char temp[n+1];
Brid 2:97c203ed65da 163 temp[n] = 0x00|(unsigned char)(address);
Brid 0:26699d53cd2a 164 while(0 < n--){
Brid 0:26699d53cd2a 165 temp[n]=(unsigned char) (value >> 8*n)&0xFF;
Brid 0:26699d53cd2a 166 }
Brid 0:26699d53cd2a 167 send_bytes(temp,sizeof temp/sizeof temp[0]);
Brid 0:26699d53cd2a 168 }else{
Brid 0:26699d53cd2a 169 unsigned char temp[n+2];
Brid 2:97c203ed65da 170 temp[n+1] = 0x00|(unsigned char)(address);
Brid 0:26699d53cd2a 171 temp[n] =(unsigned char) (value >> 8*n)&~(0xff<<m);
Brid 0:26699d53cd2a 172 while(0 < n--){
Brid 0:26699d53cd2a 173 temp[n]=(unsigned char) (value >> 8*n)&0xFF;
Brid 0:26699d53cd2a 174 }
Brid 0:26699d53cd2a 175 send_bytes(temp,sizeof temp/sizeof temp[0]);
Brid 0:26699d53cd2a 176 }
Brid 0:26699d53cd2a 177 }
Brid 0:26699d53cd2a 178
Brid 0:26699d53cd2a 179
Brid 2:97c203ed65da 180
Brid 2:97c203ed65da 181
Brid 2:97c203ed65da 182 int L6470::GetParam(L6470_Register param){
Brid 0:26699d53cd2a 183 int value = 0;
Brid 2:97c203ed65da 184 int length,address;
Brid 2:97c203ed65da 185 switch(param){
Brid 2:97c203ed65da 186 case ABS_POS:
Brid 2:97c203ed65da 187 length = LEN_ABS_POS;
Brid 2:97c203ed65da 188 address = ADD_ABS_POS;
Brid 2:97c203ed65da 189 break;
Brid 2:97c203ed65da 190 case EL_POS:
Brid 2:97c203ed65da 191 length = LEN_EL_POS;
Brid 2:97c203ed65da 192 address = ADD_EL_POS;
Brid 2:97c203ed65da 193 break;
Brid 2:97c203ed65da 194 case MARK:
Brid 2:97c203ed65da 195 length = LEN_MARK;
Brid 2:97c203ed65da 196 address = ADD_MARK;
Brid 2:97c203ed65da 197 break;
Brid 2:97c203ed65da 198 case SPEED:
Brid 2:97c203ed65da 199 length = LEN_SPEED;
Brid 2:97c203ed65da 200 address = ADD_SPEED;
Brid 2:97c203ed65da 201 break;
Brid 2:97c203ed65da 202 case ACC:
Brid 2:97c203ed65da 203 length = LEN_ACC;
Brid 2:97c203ed65da 204 address = ADD_ACC;
Brid 2:97c203ed65da 205 break;
Brid 2:97c203ed65da 206 case DEC:
Brid 2:97c203ed65da 207 length = LEN_DEC;
Brid 2:97c203ed65da 208 address = ADD_DEC;
Brid 2:97c203ed65da 209 break;
Brid 2:97c203ed65da 210 case MAX_SPEED:
Brid 2:97c203ed65da 211 length = LEN_MAX_SPEED;
Brid 2:97c203ed65da 212 address = ADD_MAX_SPEED;
Brid 2:97c203ed65da 213 break;
Brid 2:97c203ed65da 214 case MIN_SPEED:
Brid 2:97c203ed65da 215 length = LEN_MIN_SPEED;
Brid 2:97c203ed65da 216 address = ADD_MIN_SPEED;
Brid 2:97c203ed65da 217 break;
Brid 2:97c203ed65da 218 case KVAL_HOLD:
Brid 2:97c203ed65da 219 length = LEN_KVAL_HOLD;
Brid 2:97c203ed65da 220 address = ADD_KVAL_HOLD;
Brid 2:97c203ed65da 221 break;
Brid 2:97c203ed65da 222 case KVAL_RUN:
Brid 2:97c203ed65da 223 length = LEN_KVAL_RUN;
Brid 2:97c203ed65da 224 address = ADD_KVAL_RUN;
Brid 2:97c203ed65da 225 break;
Brid 2:97c203ed65da 226 case KVAL_ACC:
Brid 2:97c203ed65da 227 length = LEN_KVAL_ACC;
Brid 2:97c203ed65da 228 address = ADD_KVAL_ACC;
Brid 2:97c203ed65da 229 break;
Brid 2:97c203ed65da 230 case KVAL_DEC:
Brid 2:97c203ed65da 231 length = LEN_KVAL_DEC;
Brid 2:97c203ed65da 232 address = ADD_KVAL_DEC;
Brid 2:97c203ed65da 233 break;
Brid 2:97c203ed65da 234 case INT_SPD:
Brid 2:97c203ed65da 235 length = LEN_INT_SPD;
Brid 2:97c203ed65da 236 address = ADD_INT_SPD;
Brid 2:97c203ed65da 237 break;
Brid 2:97c203ed65da 238 case ST_SLP:
Brid 2:97c203ed65da 239 length = LEN_ST_SLP;
Brid 2:97c203ed65da 240 address = ADD_ST_SLP;
Brid 2:97c203ed65da 241 break;
Brid 2:97c203ed65da 242 case FN_SLP_ACC:
Brid 2:97c203ed65da 243 length = LEN_FN_SLP_ACC;
Brid 2:97c203ed65da 244 address = ADD_FN_SLP_ACC;
Brid 2:97c203ed65da 245 break;
Brid 2:97c203ed65da 246 case FN_SLP_DEC:
Brid 2:97c203ed65da 247 length = LEN_FN_SLP_DEC;
Brid 2:97c203ed65da 248 address = ADD_FN_SLP_DEC;
Brid 2:97c203ed65da 249 break;
Brid 2:97c203ed65da 250 case K_THERA:
Brid 2:97c203ed65da 251 length = LEN_K_THERA;
Brid 2:97c203ed65da 252 address = ADD_K_THERA;
Brid 2:97c203ed65da 253 break;
Brid 2:97c203ed65da 254 case ADC_OUT:
Brid 2:97c203ed65da 255 length = LEN_ADC_OUT;
Brid 2:97c203ed65da 256 address = ADD_ADC_OUT;
Brid 2:97c203ed65da 257 break;
Brid 2:97c203ed65da 258 case OCR_TH:
Brid 2:97c203ed65da 259 length = LEN_OCR_TH;
Brid 2:97c203ed65da 260 address = ADD_OCR_TH;
Brid 2:97c203ed65da 261 break;
Brid 2:97c203ed65da 262 case STALL_TH:
Brid 2:97c203ed65da 263 length = LEN_STALL_TH;
Brid 2:97c203ed65da 264 address = ADD_STALL_TH;
Brid 2:97c203ed65da 265 break;
Brid 2:97c203ed65da 266 case FS_SPD:
Brid 2:97c203ed65da 267 length = LEN_FS_SPD;
Brid 2:97c203ed65da 268 address = ADD_FS_SPD;
Brid 2:97c203ed65da 269 break;
Brid 2:97c203ed65da 270 case STEP_MODE:
Brid 2:97c203ed65da 271 length = LEN_STEP_MODE;
Brid 2:97c203ed65da 272 address = ADD_STEP_MODE;
Brid 2:97c203ed65da 273 break;
Brid 2:97c203ed65da 274 case ARARM_FN:
Brid 2:97c203ed65da 275 length = LEN_ARARM_FN;
Brid 2:97c203ed65da 276 address = ADD_ARARM_FN;
Brid 2:97c203ed65da 277 break;
Brid 2:97c203ed65da 278 case CONFIG:
Brid 2:97c203ed65da 279 length = LEN_CONFIG;
Brid 2:97c203ed65da 280 address = ADD_CONFIG;
Brid 2:97c203ed65da 281 break;
Brid 2:97c203ed65da 282 case STATUS:
Brid 2:97c203ed65da 283 length = LEN_STATUS;
Brid 2:97c203ed65da 284 address = ADD_STATUS;
Brid 2:97c203ed65da 285 break;
Brid 2:97c203ed65da 286 default:
Brid 2:97c203ed65da 287 length = 0;
Brid 2:97c203ed65da 288 address = 0;
Brid 2:97c203ed65da 289 break;
Brid 2:97c203ed65da 290
Brid 2:97c203ed65da 291 }
Brid 2:97c203ed65da 292
Brid 2:97c203ed65da 293 int n = length/8;
Brid 2:97c203ed65da 294 int m = length%8;
Brid 0:26699d53cd2a 295 if(m==0){
Brid 0:26699d53cd2a 296 unsigned char temp[n+1];
Brid 0:26699d53cd2a 297 for(int i = 0; i < n+1; i++){
Brid 0:26699d53cd2a 298 temp[i]=0;
Brid 0:26699d53cd2a 299 }
Brid 2:97c203ed65da 300 temp[n] = 0x20|(unsigned char)(address);
Brid 0:26699d53cd2a 301 send_bytes(temp,sizeof temp/sizeof temp[0]);
Brid 0:26699d53cd2a 302 while(0 < n--){
Brid 0:26699d53cd2a 303 value |= (int)temp[n] << 8*n;
Brid 0:26699d53cd2a 304 }
Brid 0:26699d53cd2a 305 }else{
Brid 0:26699d53cd2a 306 n++;
Brid 0:26699d53cd2a 307 unsigned char temp[n+1];
Brid 0:26699d53cd2a 308 for(int i = 0; i < n+2; i++){
Brid 0:26699d53cd2a 309 temp[i]=0;
Brid 0:26699d53cd2a 310 }
Brid 2:97c203ed65da 311 temp[n] = 0x20|(unsigned char)(address);
Brid 0:26699d53cd2a 312 send_bytes(temp,sizeof temp/sizeof temp[0]);
Brid 0:26699d53cd2a 313 while(0 < n--){
Brid 0:26699d53cd2a 314 value |= (int)temp[n] << 8*n;
Brid 0:26699d53cd2a 315 }
Brid 0:26699d53cd2a 316 }
Brid 2:97c203ed65da 317
Brid 0:26699d53cd2a 318 return(value);
Brid 0:26699d53cd2a 319 }
Brid 0:26699d53cd2a 320
Brid 0:26699d53cd2a 321
Brid 0:26699d53cd2a 322
Brid 0:26699d53cd2a 323 void L6470::Run(unsigned char dir,int spd){
Brid 0:26699d53cd2a 324 unsigned char temp[4];
Brid 0:26699d53cd2a 325 temp[3] = 0x50|dir;
Brid 0:26699d53cd2a 326 temp[2] = (unsigned char) (spd >> 16)&0x0F;
Brid 0:26699d53cd2a 327 temp[1] = (unsigned char) (spd >> 8)&0xFF;
Brid 0:26699d53cd2a 328 temp[0] = (unsigned char) (spd >> 0)&0xFF;
Brid 0:26699d53cd2a 329 send_bytes(temp,sizeof temp/sizeof temp[0]);
Brid 0:26699d53cd2a 330 }
Brid 0:26699d53cd2a 331
Brid 0:26699d53cd2a 332 void L6470::StepClock(unsigned char dir){
Brid 0:26699d53cd2a 333 send(0x58|dir);
Brid 0:26699d53cd2a 334 }
Brid 0:26699d53cd2a 335
Brid 0:26699d53cd2a 336
Brid 0:26699d53cd2a 337 void L6470::Move(unsigned char dir,int n_step){
Brid 0:26699d53cd2a 338 unsigned char temp[4];
Brid 0:26699d53cd2a 339 temp[3] = 0x40|dir;
Brid 0:26699d53cd2a 340 temp[2] = (unsigned char) (n_step >> 16)&0x3F;
Brid 0:26699d53cd2a 341 temp[1] = (unsigned char) (n_step >> 8)&0xFF;
Brid 0:26699d53cd2a 342 temp[0] = (unsigned char) (n_step >> 0)&0xFF;
Brid 0:26699d53cd2a 343 send_bytes(temp,sizeof temp/sizeof temp[0]);
Brid 0:26699d53cd2a 344 }
Brid 0:26699d53cd2a 345
Brid 0:26699d53cd2a 346 void L6470::GoTo(int abs_pos){
Brid 0:26699d53cd2a 347 unsigned char temp[4];
Brid 0:26699d53cd2a 348 temp[3] = 0x60;
Brid 0:26699d53cd2a 349 temp[2] = (unsigned char) (abs_pos >> 16)&0x3F;
Brid 0:26699d53cd2a 350 temp[1] = (unsigned char) (abs_pos >> 8)&0xFF;
Brid 0:26699d53cd2a 351 temp[0] = (unsigned char) (abs_pos >> 0)&0xFF;
Brid 0:26699d53cd2a 352 send_bytes(temp,sizeof temp/sizeof temp[0]);
Brid 0:26699d53cd2a 353 }
Brid 0:26699d53cd2a 354
Brid 0:26699d53cd2a 355
Brid 0:26699d53cd2a 356 void L6470::GoTo_DIR(unsigned char dir,int abs_pos){
Brid 0:26699d53cd2a 357 unsigned char temp[4];
Brid 0:26699d53cd2a 358 temp[3] = 0x68|dir;
Brid 0:26699d53cd2a 359 temp[2] = (unsigned char) (abs_pos >> 16)&0x3F;
Brid 0:26699d53cd2a 360 temp[1] = (unsigned char) (abs_pos >> 8)&0xFF;
Brid 0:26699d53cd2a 361 temp[0] = (unsigned char) (abs_pos >> 0)&0xFF;
Brid 0:26699d53cd2a 362 send_bytes(temp,sizeof temp/sizeof temp[0]);
Brid 0:26699d53cd2a 363 }
Brid 0:26699d53cd2a 364
Brid 0:26699d53cd2a 365
Brid 0:26699d53cd2a 366 void L6470::GoUntil(unsigned char act,unsigned char dir,int spd){
Brid 0:26699d53cd2a 367 unsigned char temp[4];
Brid 0:26699d53cd2a 368 temp[3] = 0x82|(act << 3)|dir;
Brid 0:26699d53cd2a 369 temp[2] = (unsigned char) (spd >> 16)&0x0F;
Brid 0:26699d53cd2a 370 temp[1] = (unsigned char) (spd >> 8)&0xFF;
Brid 0:26699d53cd2a 371 temp[0] = (unsigned char) (spd >> 0)&0xFF;
Brid 0:26699d53cd2a 372 send_bytes(temp,sizeof temp/sizeof temp[0]);
Brid 0:26699d53cd2a 373 }
Brid 0:26699d53cd2a 374
Brid 0:26699d53cd2a 375 void L6470::ReleaseSW(unsigned char act,unsigned char dir){
Brid 0:26699d53cd2a 376 send(0x92|(act << 3)|dir);
Brid 0:26699d53cd2a 377 }
Brid 0:26699d53cd2a 378
Brid 0:26699d53cd2a 379 void L6470::GoHome(){
Brid 0:26699d53cd2a 380 send(0x70);
Brid 0:26699d53cd2a 381 }
Brid 0:26699d53cd2a 382
Brid 0:26699d53cd2a 383 void L6470::GoMark(){
Brid 0:26699d53cd2a 384 send(0x78);
Brid 0:26699d53cd2a 385 }
Brid 0:26699d53cd2a 386
Brid 0:26699d53cd2a 387 void L6470::ResetPos(){
Brid 0:26699d53cd2a 388 send(0xD8);
Brid 0:26699d53cd2a 389 }
Brid 0:26699d53cd2a 390
Brid 0:26699d53cd2a 391 void L6470::ResetDevice(){
Brid 0:26699d53cd2a 392 send(0xC0);
Brid 0:26699d53cd2a 393 }
Brid 0:26699d53cd2a 394
Brid 0:26699d53cd2a 395 void L6470::SoftStop(){
Brid 0:26699d53cd2a 396 send(0xB0);
Brid 0:26699d53cd2a 397 }
Brid 0:26699d53cd2a 398
Brid 0:26699d53cd2a 399 void L6470::HardStop(){
Brid 0:26699d53cd2a 400 send(0xB8);
Brid 0:26699d53cd2a 401 }
Brid 0:26699d53cd2a 402
Brid 0:26699d53cd2a 403
Brid 0:26699d53cd2a 404 void L6470::SoftHiZ(){
Brid 0:26699d53cd2a 405 send(0xA0);
Brid 0:26699d53cd2a 406 }
Brid 0:26699d53cd2a 407
Brid 0:26699d53cd2a 408 void L6470::HardHiZ(){
Brid 0:26699d53cd2a 409 send(0xA8);
Brid 0:26699d53cd2a 410 }
Brid 0:26699d53cd2a 411
Brid 0:26699d53cd2a 412 void L6470::Resets(){
Brid 0:26699d53cd2a 413 SoftStop();
Brid 2:97c203ed65da 414 ResetDevice();
Brid 2:97c203ed65da 415 SetParam(ABS_POS,INI_ABS_POS);
Brid 2:97c203ed65da 416 SetParam(EL_POS,INI_EL_POS);
Brid 2:97c203ed65da 417 SetParam(MARK,INI_MARK);
Brid 2:97c203ed65da 418 SetParam(SPEED,INI_SPEED);
Brid 2:97c203ed65da 419 SetParam(ACC,INI_ACC);
Brid 2:97c203ed65da 420 SetParam(DEC,INI_DEC);
Brid 2:97c203ed65da 421 SetParam(MAX_SPEED,INI_MAX_SPEED);
Brid 2:97c203ed65da 422 SetParam(MIN_SPEED,INI_MIN_SPEED);
Brid 2:97c203ed65da 423 SetParam(KVAL_HOLD,INI_KVAL_HOLD);
Brid 2:97c203ed65da 424 SetParam(KVAL_RUN,INI_KVAL_RUN);
Brid 2:97c203ed65da 425 SetParam(KVAL_ACC,INI_KVAL_ACC);
Brid 2:97c203ed65da 426 SetParam(KVAL_DEC,INI_KVAL_DEC);
Brid 2:97c203ed65da 427 SetParam(INT_SPD,INI_INT_SPD);
Brid 2:97c203ed65da 428 SetParam(ST_SLP,INI_ST_SLP);
Brid 2:97c203ed65da 429 SetParam(FN_SLP_ACC,INI_FN_SLP_ACC);
Brid 2:97c203ed65da 430 SetParam(FN_SLP_DEC,INI_FN_SLP_DEC);
Brid 2:97c203ed65da 431 SetParam(K_THERA,INI_K_THERA);
Brid 2:97c203ed65da 432 SetParam(OCR_TH,INI_OCR_TH);
Brid 2:97c203ed65da 433 SetParam(STALL_TH,INI_STALL_TH);
Brid 2:97c203ed65da 434 SetParam(FS_SPD,INI_FS_SPD);
Brid 2:97c203ed65da 435 SetParam(STEP_MODE,INI_STEP_MODE);
Brid 2:97c203ed65da 436 SetParam(ARARM_FN,INI_ARARM_FN);
Brid 2:97c203ed65da 437 SetParam(CONFIG,INI_CONFIG);
Brid 0:26699d53cd2a 438 }
Brid 0:26699d53cd2a 439