Revision 0:e6c391eb8fac, committed 2014-09-17

Comitter:

NT32

Date:

Wed Sep 17 03:43:44 2014 +0000

Commit message:

shinshu_university;

Changed in this revision

diff -r 000000000000 -r e6c391eb8fac MotorDriver_SU.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorDriver_SU.cpp	Wed Sep 17 03:43:44 2014 +0000
@@ -0,0 +1,38 @@
+#include "MotorDriver_SU.h"
+
+SPI spi(P1_22, NC, P1_15);
+BusOut  MotorDirect_A(P1_19, P1_25, P1_16, P0_19);
+BusOut  MotorDirect_B(P0_18, P0_17, P1_14, P1_13);
+
+MotorDriver_SU::MotorDriver_SU(PinName chip) : _chip(chip){
+    if (chip == P0_2){
+        MotorDirect = &MotorDirect_B;
+    }else{
+        MotorDirect = &MotorDirect_A;
+    }
+    (*MotorDirect) = FREE;
+    _chip = 1;
+    dac.bit.AB = 0;
+    dac.bit.BUF = 1;
+    dac.bit.GA = 1;
+    dac.bit.SHDN = 1;
+    dac.bit.D = 0;
+    spi.format(16,0);
+    spi.frequency(20000000);
+    _chip = 0;
+    spi.write(dac.command);
+    _chip = 1;
+    dac.bit.AB = 1;
+    _chip = 0;
+    spi.write(dac.command);
+    _chip = 1;
+}
+void MotorDriver_SU::Drive(uint8_t channel, uint8_t direction, uint16_t velocity){
+    dac.bit.AB = (channel ^ 0x01);
+    dac.bit.D = velocity;
+    _chip = 0;
+    spi.write(dac.command);
+    _chip = 1;
+//    (*MotorDirect) = ((*MotorDirect) & (0x0F & (0x0F << (channel * 2)))) | (direction <<(channel * 2));
+    (*MotorDirect) = ((*MotorDirect) & (0x0C >> (channel * 2))) | (direction << (channel * 2));
+}

diff -r 000000000000 -r e6c391eb8fac MotorDriver_SU.h
--- /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
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