test upload STMicroelectronics L6470
Diff: L6470.cpp
- Revision:
- 3:f0e29d94b863
- Parent:
- 1:bb4bb05904cb
--- a/L6470.cpp Tue Dec 25 02:46:32 2012 +0000 +++ b/L6470.cpp Wed Mar 05 06:22:03 2014 +0000 @@ -63,13 +63,12 @@ } + + int L6470::GetParam(int param){ int value = 0; int n = (param>>8)/8; int m = (param>>8)%8; -// pc.printf("palam = %x\n",param); -// pc.printf("n = %x\n",n); -// pc.printf("m = %x\n",m); if(m==0){ unsigned char temp[n+1]; for(int i = 0; i < n+1; i++){ @@ -92,6 +91,7 @@ value |= (int)temp[n] << 8*n; } } + return(value); } @@ -188,28 +188,29 @@ void L6470::Resets(){ SoftStop(); - SetParam(ABS_POS,RH_ABS_POS); - SetParam(EL_POS,RH_EL_POS); - SetParam(MARK,RH_MARK); - SetParam(SPEED,RH_SPEED); - SetParam(ACC,RH_ACC); - SetParam(DEC,RH_DEC); - SetParam(MAX_SPEED,RH_MAX_SPEED); - SetParam(MIN_SPEED,RH_MIN_SPEED); - SetParam(KVAL_HOLD,RH_KVAL_HOLD); - SetParam(KVAL_RUN,RH_KVAL_RUN); - SetParam(KVAL_ACC,RH_KVAL_ACC); - SetParam(KVAL_DEC,RH_KVAL_DEC); - SetParam(INT_SPD,RH_INT_SPD); - SetParam(ST_SLP,RH_ST_SLP); - SetParam(FN_SLP_ACC,RH_FN_SLP_ACC); - SetParam(FN_SLP_DEC,RH_FN_SLP_DEC); - SetParam(K_THERA,RH_K_THERA); - SetParam(OCR_TH,RH_OCR_TH); - SetParam(STALL_TH,RH_STALL_TH); - SetParam(FS_SPD,RH_FS_SPD); - SetParam(STEP_MODE,RH_STEP_MODE); - SetParam(ARARM_FN,RH_ARARM_FN); - SetParam(CONFIG,RH_CONFIG); + 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_THERA,INI_K_THERA); + SetParam(OCR_TH,INI_OCR_TH); + SetParam(STALL_TH,INI_STALL_TH); + SetParam(FS_SPD,INI_FS_SPD); + SetParam(STEP_MODE,INI_STEP_MODE); + SetParam(ARARM_FN,INI_ARARM_FN); + SetParam(CONFIG,INI_CONFIG); }