Brid .
/
L6470
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Revision 3:f0e29d94b863, committed 2014-03-05
- Comitter:
- Brid
- Date:
- Wed Mar 05 06:22:03 2014 +0000
- Parent:
- 1:bb4bb05904cb
- Commit message:
- ver1.1
Changed in this revision
| L6470.cpp | Show annotated file Show diff for this revision Revisions of this file |
| L6470.h | Show annotated file Show diff for this revision Revisions of this file |
--- 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);
}
--- a/L6470.h Tue Dec 25 02:46:32 2012 +0000 +++ b/L6470.h Wed Mar 05 06:22:03 2014 +0000 @@ -8,7 +8,44 @@ #define FORWARD 1 #define REVERSE 0 +// +//INI = ResetHex +//My specification for Initial value +#define INI_ABS_POS 0 //Current position +#define INI_EL_POS 0 //Electrical position +#define INI_MARK 0 //Mark position +#define INI_SPEED 0 //Current speed +#define INI_ACC 0x8A //Acceleration +#define INI_DEC 0x8A //Deceleration +#define INI_MAX_SPEED 0x20 //Maximum speed +#define INI_MIN_SPEED 0 //Minimum speed +#define INI_KVAL_HOLD 0xFF //Full step speed +#define INI_KVAL_RUN 0xFF // +#define INI_KVAL_ACC 0xFF // +#define INI_KVAL_DEC 0xFF // +#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_THERA 0x0 // +// ADC_OUT ReadOnly +#define INI_OCR_TH 0xF +#define INI_STALL_TH 0x7F +#define INI_FS_SPD 0x27 +#define INI_STEP_MODE 0x7 +#define INI_ARARM_FN 0xFF +#define INI_CONFIG 0x2E88 +// INI_STATUS ReadOnly + + + + + + + + // name (length<<8)+address +// #define ABS_POS ((22<<8)+0x01) //Current position #define EL_POS ((9<<8)+0x02) //Electrical position #define MARK ((22<<8)+0x03) //Mark position @@ -37,32 +74,6 @@ -//RH = ResetHex -#define RH_ABS_POS 0 //Current position -#define RH_EL_POS 0 //Electrical position -#define RH_MARK 0 //Mark position -#define RH_SPEED 0 //Current speed -#define RH_ACC 0x8A //Acceleration -#define RH_DEC 0x8A //Deceleration -#define RH_MAX_SPEED 0x20 //Maximum speed -#define RH_MIN_SPEED 0 //Minimum speed -#define RH_KVAL_HOLD 0xFF //Full step speed -#define RH_KVAL_RUN 0xFF // -#define RH_KVAL_ACC 0xFF // -#define RH_KVAL_DEC 0xFF // -#define RH_INT_SPD 0x408 // -#define RH_ST_SLP 0x19 // -#define RH_FN_SLP_ACC 0x29 // -#define RH_FN_SLP_DEC 0x29 // -#define RH_K_THERA 0x0 // -// ADC_OUT ReadOnly -#define RH_OCR_TH 0xF -#define RH_STALL_TH 0x7F -#define RH_FS_SPD 0x27 -#define RH_STEP_MODE 0x7 -#define RH_ARARM_FN 0xFF -#define RH_CONFIG 0x2E88 -// RH_STATUS ReadOnly