Revision 11:4251b62991ac, committed 2017-05-16

Comitter:

anniemao

Date:

Tue May 16 19:31:49 2017 +0000

Parent:

10:af76616e4d75

Commit message:

Annie Mao 2017

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/a4960.cpp	Tue May 16 19:31:49 2017 +0000
@@ -0,0 +1,82 @@
+#include "a4960.h"
+
+a4960::a4960() : SPI(NRF_SPI1), _cs_pin(P0_10), _blink_pin(P0_4), _PWM_pin(P0_15)
+{
+    PWM_freq = 20000.0;
+    PWM_duty = 1;
+    motor_started = false;
+
+    _config[0] = (0x0 << 10) | (0x8 << 6) | (0x14); // 50 us comm blank time, 2.4 us blank time, 200 ns deadtime
+    _config[1] = (0x7 << 6) | (0x0); // Vri = 100% Vref, Vdsth = 800mV
+    _config[2] = (0x10); // 35.6 us current control time
+    _config[3] = (0x0 << 8) | (0x5 << 4) | (0x4); // current limited, 50% current for hold, 18ms hold time
+    _config[4] =  (0x15 << 4) | (0x4); // 0.8ms min comm time, 24 ms start comm time
+    _config[5] = (0x0 << 8) | (0x8 << 4) | (0x0); // 16.875deg phase adv, 100% ramp current, 0.4ms ramp rate
+    _config[6] = (0x0); // fault detection all on
+    _config[7] = (0x0 << 10) | (0x4 << 7) | (0x0 << 6) | (0x0 << 4) | (0x1 << 3) | (0x0 << 2) | (0x0 << 1) | (0x0);
+    // auto BEMF hyst, 3.2us zx det window, no stop on fail, DIAG pin = fault, restart on loss of sync, brake off, forward, coast
+    
+    SPI_init();
+}
+
+void a4960::SPI_init()
+{
+    // initialize pins
+    _cs_pin = 1;
+    _blink_pin = 1;
+    _PWM_pin.period(1/PWM_freq);
+    _PWM_pin.write(PWM_duty);
+    // initialize SPI connection
+    SPI.begin(P0_8, P0_9, P0_11);//SCK, MOSI, MOSI
+    // set registers to default config
+    for (int i = 0; i < 8; i++) {
+        write_to_a4960(i, _config[i]);
+    }
+    // turn off pin to indicate initialization complete
+    _blink_pin = 0;
+}
+void a4960::write_to_a4960(uint8_t addr, uint16_t msg)
+{
+    // split 16-bit message to a4960 into two 8-bit messages
+    uint8_t ms_half;
+    uint8_t ls_half;
+
+    // ---- 1st message (bits 15 - 8)
+    // 3 bit address
+    ms_half = addr << 5;
+    // 12 bit message
+    // shift message to get rid of 8 LSB on the end and OR
+    // the write bit and the
+    // 4 remaining bits into the first-half msg
+    ms_half = ms_half | 1 << 4 | (uint8_t)(msg>>8);
+    // ---- 2nd message (bits 7 - 0)
+    ls_half = (uint8_t)(msg);
+
+    // pull to active low
+    _cs_pin = 0;
+    wait_us(200);
+
+    // transfer the two messages halves, MSB first
+    SPI.transfer(ms_half);
+    SPI.transfer(ls_half);
+
+    // wait and pull CS line back to inactive high
+    wait_us(200);
+    _cs_pin = 1;
+}
+
+void a4960::write_run(void)
+{
+    write_to_a4960(7, _config[7] | 1);
+}
+
+void a4960::write_brake(void)
+{
+    write_to_a4960(7, _config[7]);
+}
+
+
+
+
+
+

--- /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
\ No newline at end of file

--- a/main.cpp	Tue Jan 12 10:34:34 2016 +0000
+++ b/main.cpp	Tue May 16 19:31:49 2017 +0000
@@ -17,9 +17,11 @@
 #include "mbed.h"
 #include "ble/BLE.h"
 #include "LEDService.h"
+#include "a4960.h"
 
-DigitalOut alivenessLED(LED1, 0);
-DigitalOut actuatedLED(LED2, 0);
+DigitalOut alivenessLED(P0_6, 0);
+DigitalOut actuatedLED(P0_7, 0);
+a4960 motor;
 
 const static char     DEVICE_NAME[] = "LED";
 static const uint16_t uuid16_list[] = {LEDService::LED_SERVICE_UUID};
@@ -47,6 +49,14 @@
 void onDataWrittenCallback(const GattWriteCallbackParams *params) {
     if ((params->handle == ledServicePtr->getValueHandle()) && (params->len == 1)) {
         actuatedLED = *(params->data);
+        if (*(params->data))
+        {
+            motor.write_run();
+        }
+        else
+        {
+            motor.write_brake();
+        }
     }
 }
 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/spi_master.cpp	Tue May 16 19:31:49 2017 +0000
@@ -0,0 +1,236 @@
+/*
+
+Copyright (c) 2012-2014 RedBearLab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+and associated documentation files (the "Software"), to deal in the Software without restriction, 
+including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 
+and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, 
+subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
+PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
+FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+*/
+
+#include "spi_master.h"
+
+/**********************************************************************
+name :
+function : 
+**********************************************************************/
+SPIClass::SPIClass(NRF_SPI_Type *_spi) : spi(_spi)
+{
+    //do nothing
+}
+
+/**********************************************************************
+name :
+function : 
+**********************************************************************/
+void SPIClass::setCPOL( bool active_low)
+{
+    if(active_low)
+    {
+        spi->CONFIG |= (SPI_CONFIG_CPOL_ActiveLow << SPI_CONFIG_CPOL_Pos);
+    }
+    else
+    {
+        spi->CONFIG |= (SPI_CONFIG_CPOL_ActiveHigh << SPI_CONFIG_CPOL_Pos);
+    }
+}
+
+/**********************************************************************
+name :
+function : 
+**********************************************************************/
+void SPIClass::setCPHA( bool trailing)
+{
+    if(trailing)
+    {
+        spi->CONFIG |= (SPI_CONFIG_CPHA_Trailing << SPI_CONFIG_CPHA_Pos);
+    }
+    else
+    {
+        spi->CONFIG |= (SPI_CONFIG_CPHA_Leading << SPI_CONFIG_CPHA_Pos);
+    }
+
+}
+
+/**********************************************************************
+name :
+function : MSBFIRST, LSBFIRST
+**********************************************************************/
+void SPIClass::setBitORDER( BitOrder  bit)
+{
+    if(bit == MSBFIRST)
+    {
+        spi->CONFIG |= (SPI_CONFIG_ORDER_MsbFirst << SPI_CONFIG_ORDER_Pos);
+    }
+    else
+    {
+        spi->CONFIG |= (SPI_CONFIG_ORDER_LsbFirst << SPI_CONFIG_ORDER_Pos);
+    }
+}
+
+/**********************************************************************
+name :
+function : 
+**********************************************************************/
+void SPIClass::setFrequency(uint8_t speed)
+{
+    if (speed == 0)
+    {
+        spi->FREQUENCY = SPI_FREQUENCY_125K;
+    }
+    else if (speed == 1)
+    {
+        spi->FREQUENCY = SPI_FREQUENCY_250K;
+    }
+    else if (speed == 2)
+    {
+        spi->FREQUENCY = SPI_FREQUENCY_500K;
+    }
+    else if (speed == 3)
+    {
+        spi->FREQUENCY = SPI_FREQUENCY_1M;
+    }
+    else if (speed == 4)
+    {
+        spi->FREQUENCY = SPI_FREQUENCY_2M;
+    }
+    else if (speed == 5)
+    {
+        spi->FREQUENCY = SPI_FREQUENCY_4M;
+    }
+    else if (speed == 6)
+    {
+        spi->FREQUENCY = SPI_FREQUENCY_8M;
+    }
+    else
+    {
+        spi->FREQUENCY = SPI_FREQUENCY_4M;
+    }   
+}
+
+/**********************************************************************
+name :
+function : 
+**********************************************************************/
+void SPIClass::setSPIMode( uint8_t mode )
+{
+    if (SPI_MODE0 == mode)
+    {
+        setCPOL(0);
+        setCPHA(0);     
+    }
+    else if (mode == SPI_MODE1)
+    {
+        setCPOL(0);
+        setCPHA(1);
+    }
+    else if (mode == SPI_MODE2)
+    {
+        setCPOL(1);
+        setCPHA(0);
+    }
+    else if (mode == SPI_MODE3)
+    {
+        setCPOL(1);
+        setCPHA(1);
+    }
+    else
+    {
+        setCPOL(0);
+        setCPHA(0);         
+    }
+}
+
+/**********************************************************************
+name :
+function : 
+**********************************************************************/
+void SPIClass::begin(uint32_t sck, uint32_t mosi, uint32_t miso)
+{
+
+        SCK_Pin = sck;
+        MOSI_Pin = mosi;
+        MISO_Pin = miso;
+        
+        NRF_GPIO->PIN_CNF[SCK_Pin] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos)
+                                        | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
+                                        | (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos)
+                                        | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
+                                        | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);    
+                                        
+        NRF_GPIO->PIN_CNF[MOSI_Pin] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos)
+                                        | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
+                                        | (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos)
+                                        | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
+                                        | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+                                        
+        NRF_GPIO->PIN_CNF[MISO_Pin] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos)
+                                        | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
+                                        | (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos)
+                                        | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
+                                        | (GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos);                                     
+        spi->PSELSCK  = SCK_Pin;
+        spi->PSELMOSI = MOSI_Pin;
+        spi->PSELMISO = MISO_Pin;       
+        
+        setFrequency(SPI_1M);
+        setSPIMode(SPI_MODE3);
+        setBitORDER(MSBFIRST);
+        
+        spi->EVENTS_READY = 0;
+        spi->ENABLE = (SPI_ENABLE_ENABLE_Enabled << SPI_ENABLE_ENABLE_Pos);
+    
+}
+
+/**********************************************************************
+name :
+function : 
+**********************************************************************/
+void SPIClass::begin()
+{
+    begin(SCK, MOSI, MISO);
+}
+
+/**********************************************************************
+name :
+function : 
+**********************************************************************/
+uint8_t SPIClass::transfer(uint8_t data)
+{
+    while( spi->EVENTS_READY != 0U );
+    
+    spi->TXD = (uint32_t)data;
+    
+    while(spi->EVENTS_READY == 0);
+    
+    data = (uint8_t)spi->RXD;
+    
+    spi->EVENTS_READY = 0;
+    
+    return data;
+}
+
+/**********************************************************************
+name :
+function : 
+**********************************************************************/
+void SPIClass::endTransfer()
+{
+    spi->ENABLE = (SPI_ENABLE_ENABLE_Disabled << SPI_ENABLE_ENABLE_Pos);
+}
+
+/**********************************************************************
+name :
+function : 
+**********************************************************************/
+
+//SPIClass SPI(NRF_SPI1);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/spi_master.h	Tue May 16 19:31:49 2017 +0000
@@ -0,0 +1,84 @@
+/*
+
+Copyright (c) 2012-2014 RedBearLab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+and associated documentation files (the "Software"), to deal in the Software without restriction, 
+including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 
+and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, 
+subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
+PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
+FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+*/
+
+#ifndef _SPI_MASTER_H_
+#define _SPI_MASTER_H_
+
+#include "mbed.h"
+
+#define SPI_FREQUENCY_125K 0x02000000UL
+#define SPI_FREQUENCY_250K 0x04000000UL
+#define SPI_FREQUENCY_500K 0x08000000UL
+#define SPI_FREQUENCY_1M   0x10000000UL
+#define SPI_FREQUENCY_2M   0x20000000UL
+#define SPI_FREQUENCY_4M   0x40000000UL
+#define SPI_FREQUENCY_8M   0x80000000UL
+
+#define SPI_125K 0
+#define SPI_250K 1
+#define SPI_500K 2
+#define SPI_1M   3
+#define SPI_2M   4
+#define SPI_4M   5
+#define SPI_8M   6
+
+#define SPI_MODE0 0
+#define SPI_MODE1 1
+#define SPI_MODE2 2
+#define SPI_MODE3 3
+
+#define CS      P0_10
+#define SCK     P0_8
+#define MOSI    P0_9
+#define MISO    P0_11
+
+typedef enum{
+    
+    MSBFIRST = 0,
+    LSBFIRST = 1
+    
+}BitOrder;
+
+class SPIClass
+{
+    public:
+        SPIClass(NRF_SPI_Type *_spi);
+    
+        void begin();
+        void begin(uint32_t sck, uint32_t mosi, uint32_t miso);
+        uint8_t transfer(uint8_t data);
+        void endTransfer();
+            
+        void setSPIMode( uint8_t mode );
+        void setFrequency(uint8_t speed );
+        void setBitORDER( BitOrder  bit);
+        void setCPHA( bool trailing);
+        void setCPOL( bool active_low);
+        
+        
+    private:
+        NRF_SPI_Type *spi;
+        
+        uint32_t SCK_Pin;
+        uint32_t MOSI_Pin;
+        uint32_t MISO_Pin;
+
+};
+
+#endif