Diff: AMIS30543StepperDriver.h

Revision:

0:6cb2eaf8b133

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AMIS30543StepperDriver.h	Sun Aug 19 05:21:20 2018 +0000
@@ -0,0 +1,87 @@
+/*
+ * AMIS30543StepperDriver.h
+ *
+ *  Created on: 2018Äê2ÔÂ8ÈÕ
+ *      Author: caoyuan9642
+ */
+
+#ifndef TELESCOPE_DRIVER_AMIS30543STEPPERDRIVER_H_
+
+#define TELESCOPE_DRIVER_AMIS30543STEPPERDRIVER_H_
+
+#include <StepperMotor.h>
+#include <StepOut.h>
+#include "mbed.h"
+
+class AMIS30543StepperDriver: public StepperMotor
+{
+
+public:
+	AMIS30543StepperDriver(SPI *spi, PinName cs, PinName step, PinName dir = NC,
+			PinName err = NC, bool invert = false);
+	virtual ~AMIS30543StepperDriver();
+
+	void start(stepdir_t dir);
+
+	void stop();
+
+	double setFrequency(double freq);
+
+	double getStepCount();
+
+	void setStepCount(double set)
+	{
+		stepCount = set;
+	}
+
+	void setMicroStep(int microstep);
+
+	void setCurrent(double current);
+
+	void poweron();
+	void poweroff();
+
+
+protected:
+	typedef enum
+	{
+		WR = 0,
+		CR0 = 1,
+		CR1 = 2,
+		CR2 = 3,
+		SR0 = 4,
+		SR1 = 5,
+		SR2 = 6,
+		SR3 = 7,
+		SR4 = 8,
+		CR3 = 9
+	} regaddr_t;
+
+	typedef enum
+	{
+		IDLE = 0, STEPPING
+	} stepstatus_t;
+
+	SPI *spi;
+	DigitalOut cs;
+	StepOut step;
+	DigitalOut dir;
+	DigitalIn err;
+	stepstatus_t status;
+	int inc;
+	double stepCount;
+	int microstep;
+
+	bool useDIR, useERR;
+
+	char txbuf[2], rxbuf[2];
+
+	void assertCS();
+	void deassertCS();
+	void writeReg(regaddr_t addr, uint8_t data);
+	uint8_t readReg(regaddr_t addr);
+};
+
+#endif /* TELESCOPE_DRIVER_AMIS30543STEPPERDRIVER_H_ */
+
+