Diff: a4960.h

Revision:

11:4251b62991ac

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/a4960.h	Tue May 16 19:31:49 2017 +0000
@@ -0,0 +1,59 @@
+#ifndef _A4960_H_
+#define _A4960_H_
+
+#include "mbed.h"
+#include "spi_master.h"
+
+class a4960
+{
+public:
+    a4960();
+    void SPI_init();
+    void write_to_a4960(uint8_t addr, uint16_t msg);
+    void write_run();
+    void write_brake();
+    bool motor_started;
+    float PWM_freq; // Hz
+    float PWM_duty; // 0 to 1
+private:
+// the default configurations of the 8 a4960 registers
+// 0. Config0: basic timing settings
+//      CB(2 bits) comm. blank time
+//      BT (4 bits) blank time in 400ns increments
+//      DT (6 bits) dead time in 50ns increments
+// 1. Config1: basic voltage settings
+//      VR (4 bits) current limit reference voltage as ratio of Vref
+//      VT (6 bits) drain-source thresh. voltage in 25 mV increments
+// 2. Config2: PWM settings
+//      PT (5 bits) off-time for PWM current control, limits motor current
+// 3. Config3: start-up hold settings
+//      IDS (1 bit) select current control or duty cycle control for init. holding torque
+//      HQ (4 bits) holding torque for initial start position
+//                  hold current or duty cycle in increments of 6.25%
+//      HT (4 bits) hold time of init. start position, increments of 8ms from 2ms
+// 4. Config4: start-up timing settings
+//      EC (4 bits) end comm. time in incr. of 200us
+//      SC (4 bits) start comm. time in incr. of 8ms
+// 5. Config5: start-up ramp settings
+//      PA (4 bits) phase advance in incr. of 1.875 deg
+//      RQ (4 bits) torque during ramp up (duty cycle or current control dep. on IDS) in 6.25% incr.
+//      RR (4 bits) accel. rate during forced comm. ramp up
+// 6. Mask: fault masking bit for each fault bit in Diagnostic register
+//      each bit: 1 means diagnostic is diabled
+// 7. Run: bits to set running conditions
+//      BH (2 bits) select BEMF hysteresis
+//      BW (3 bits) BEMF window
+//      ESF (1 bit) enable stop on fault
+//      DG (2 bits) select output routed to DIAG terminal, default general fault output flag (low if fault detected)
+//      RSC (1 bit) 1 to enable restart after loss of sync if RUN 1, BRK 0, else coast to stop
+//      BRK (1 bit) brake control
+//      DIR (1 bit) direction control
+//      RUN (1 bit) run control
+    uint16_t _config[8];
+    SPIClass SPI;
+    DigitalOut _cs_pin;
+    DigitalOut _blink_pin;
+    PwmOut _PWM_pin;
+};
+
+#endif
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