Diff: MotorDriver_SU.h

Revision:

0:e6c391eb8fac

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorDriver_SU.h	Wed Sep 17 03:43:44 2014 +0000
@@ -0,0 +1,45 @@
+#ifndef MBED_MOTORDRIVER_SU_H_
+#define MBED_MOTORDRIVER_SU_H_
+
+#include "mbed.h"
+
+#define MOTOR_SINGLE    P0_2
+#define MOTOR_DOUBLE    P0_20
+
+#define FREE    0x00
+#define CW      0x01
+#define CCW     0x02
+#define STOP    0x03
+
+class MotorDriver_SU{
+public:
+    MotorDriver_SU(PinName chip);
+    void Drive(uint8_t channel, uint8_t direction, uint16_t velocity);
+    
+private:
+    
+    BusOut * MotorDirect;
+    DigitalOut  _chip;
+    
+    
+    union MCP4922
+    {
+        uint16_t command;
+        struct
+        {
+            //DAC data bits
+            uint16_t    D   :12;
+            //Output power down control bit
+            uint8_t     SHDN:1;
+            //Outout gain select bit
+            uint8_t     GA  :1;
+            //Vref input buffer Control bit
+            uint8_t     BUF :1;
+            //DACa or DACb select bit
+            uint8_t     AB  :1;
+        }bit;
+    };
+    union MCP4922 dac;
+};
+
+#endif
\ No newline at end of file