masayoshi saito / 2342L012CR

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2324L012CR.h@0:56bba8101e52, 2013-11-02 (annotated)

Committer:
e00nagog
Date:
Sat Nov 02 04:56:46 2013 +0000
Revision:
0:56bba8101e52
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
e00nagog 0:56bba8101e52 1 //This '2324L012CR' libraly maked by Brid
e00nagog 0:56bba8101e52 2 //DC_12V_Moter
e00nagog 0:56bba8101e52 3 //2013.11.02
e00nagog 0:56bba8101e52 4 //Ver 0.0.001
e00nagog 0:56bba8101e52 5 //m.saito
e00nagog 0:56bba8101e52 6
e00nagog 0:56bba8101e52 7
e00nagog 0:56bba8101e52 8 #ifndef 2324L012CR_H
e00nagog 0:56bba8101e52 9 #define 2324L012CR_H
e00nagog 0:56bba8101e52 10
e00nagog 0:56bba8101e52 11 #include "mbed.h"
e00nagog 0:56bba8101e52 12
e00nagog 0:56bba8101e52 13 #define FORWARD 1
e00nagog 0:56bba8101e52 14 #define REVERSE 0
e00nagog 0:56bba8101e52 15
e00nagog 0:56bba8101e52 16 // name (length<<8)+address
e00nagog 0:56bba8101e52 17 #define ABS_POS ((22<<8)+0x01) //Current position
e00nagog 0:56bba8101e52 18 #define EL_POS ((9<<8)+0x02) //Electrical position
e00nagog 0:56bba8101e52 19 #define MARK ((22<<8)+0x03) //Mark position
e00nagog 0:56bba8101e52 20 #define SPEED ((20<<8)+0x04) //Current speed
e00nagog 0:56bba8101e52 21 #define ACC ((12<<8)+0x05) //Acceleration
e00nagog 0:56bba8101e52 22 #define DEC ((12<<8)+0x06) //Deceleration
e00nagog 0:56bba8101e52 23 #define MAX_SPEED ((10<<8)+0x07) //Maximum speed
e00nagog 0:56bba8101e52 24 #define MIN_SPEED ((13<<8)+0x08) //Minimum speed
e00nagog 0:56bba8101e52 25 #define KVAL_HOLD ((8<<8)+0x09) //Full step speed
e00nagog 0:56bba8101e52 26 #define KVAL_RUN ((8<<8)+0x0A) //
e00nagog 0:56bba8101e52 27 #define KVAL_ACC ((8<<8)+0x0B) //
e00nagog 0:56bba8101e52 28 #define KVAL_DEC ((8<<8)+0x0C) //
e00nagog 0:56bba8101e52 29 #define INT_SPD ((14<<8)+0x0D) //
e00nagog 0:56bba8101e52 30 #define ST_SLP ((8<<8)+0x0E) //
e00nagog 0:56bba8101e52 31 #define FN_SLP_ACC ((8<<8)+0x0F) //
e00nagog 0:56bba8101e52 32 #define FN_SLP_DEC ((8<<8)+0x10) //
e00nagog 0:56bba8101e52 33 #define K_THERA ((4<<8)+0x11) //
e00nagog 0:56bba8101e52 34 #define ADC_OUT ((5<<8)+0x12) //
e00nagog 0:56bba8101e52 35 #define OCR_TH ((4<<8)+0x13) //
e00nagog 0:56bba8101e52 36 #define STALL_TH ((7<<8)+0x14) //
e00nagog 0:56bba8101e52 37 #define FS_SPD ((10<<8)+0x15) //
e00nagog 0:56bba8101e52 38 #define STEP_MODE ((8<<8)+0x16) //
e00nagog 0:56bba8101e52 39 #define ARARM_FN ((8<<8)+0x17) //
e00nagog 0:56bba8101e52 40 #define CONFIG ((16<<8)+0x18) //
e00nagog 0:56bba8101e52 41 #define STATUS ((16<<8)+0x19) //
e00nagog 0:56bba8101e52 42
e00nagog 0:56bba8101e52 43
e00nagog 0:56bba8101e52 44
e00nagog 0:56bba8101e52 45 //RH = ResetHex
e00nagog 0:56bba8101e52 46 #define RH_ABS_POS 0 //Current position
e00nagog 0:56bba8101e52 47 #define RH_EL_POS 0 //Electrical position
e00nagog 0:56bba8101e52 48 #define RH_MARK 0 //Mark position
e00nagog 0:56bba8101e52 49 #define RH_SPEED 0 //Current speed
e00nagog 0:56bba8101e52 50 #define RH_ACC 0x8A //Acceleration
e00nagog 0:56bba8101e52 51 #define RH_DEC 0x8A //Deceleration
e00nagog 0:56bba8101e52 52 #define RH_MAX_SPEED 0x20 //Maximum speed
e00nagog 0:56bba8101e52 53 #define RH_MIN_SPEED 0 //Minimum speed
e00nagog 0:56bba8101e52 54 #define RH_KVAL_HOLD 0xFF //Full step speed
e00nagog 0:56bba8101e52 55 #define RH_KVAL_RUN 0xFF //
e00nagog 0:56bba8101e52 56 #define RH_KVAL_ACC 0xFF //
e00nagog 0:56bba8101e52 57 #define RH_KVAL_DEC 0xFF //
e00nagog 0:56bba8101e52 58 #define RH_INT_SPD 0x408 //
e00nagog 0:56bba8101e52 59 #define RH_ST_SLP 0x19 //
e00nagog 0:56bba8101e52 60 #define RH_FN_SLP_ACC 0x29 //
e00nagog 0:56bba8101e52 61 #define RH_FN_SLP_DEC 0x29 //
e00nagog 0:56bba8101e52 62 #define RH_K_THERA 0x0 //
e00nagog 0:56bba8101e52 63 // ADC_OUT ReadOnly
e00nagog 0:56bba8101e52 64 #define RH_OCR_TH 0xF
e00nagog 0:56bba8101e52 65 #define RH_STALL_TH 0x7F
e00nagog 0:56bba8101e52 66 #define RH_FS_SPD 0x27
e00nagog 0:56bba8101e52 67 #define RH_STEP_MODE 0x7
e00nagog 0:56bba8101e52 68 #define RH_ARARM_FN 0xFF
e00nagog 0:56bba8101e52 69 #define RH_CONFIG 0x2E88
e00nagog 0:56bba8101e52 70 // RH_STATUS ReadOnly
e00nagog 0:56bba8101e52 71
e00nagog 0:56bba8101e52 72
e00nagog 0:56bba8101e52 73
e00nagog 0:56bba8101e52 74 class 2324L012CR{
e00nagog 0:56bba8101e52 75 public:
e00nagog 0:56bba8101e52 76 2324L012CR(PinName pwm_R1, PinName pwm_R2, PinName pwm_L1, PinName pwm_L2);
e00nagog 0:56bba8101e52 77
e00nagog 0:56bba8101e52 78 unsigned char send(unsigned char temp);
e00nagog 0:56bba8101e52 79 void send_bytes(unsigned char temp[],int i);
e00nagog 0:56bba8101e52 80 void NOP();
e00nagog 0:56bba8101e52 81 void SetParam(int param,int value);
e00nagog 0:56bba8101e52 82 int GetParam(int param);
e00nagog 0:56bba8101e52 83 void Run(unsigned char dir,int spd);
e00nagog 0:56bba8101e52 84 void StepClock(unsigned char dir);
e00nagog 0:56bba8101e52 85 void Move(unsigned char dir,int n_step);
e00nagog 0:56bba8101e52 86 void GoTo(int abs_pos);
e00nagog 0:56bba8101e52 87 void GoTo_DIR(unsigned char dir,int abs_pos);
e00nagog 0:56bba8101e52 88 void GoUntil(unsigned char act,unsigned char dir,int spd);
e00nagog 0:56bba8101e52 89 void ReleaseSW(unsigned char act,unsigned char dir);
e00nagog 0:56bba8101e52 90 void GoHome();
e00nagog 0:56bba8101e52 91 void GoMark();
e00nagog 0:56bba8101e52 92 void ResetPos();
e00nagog 0:56bba8101e52 93 void ResetDevice();
e00nagog 0:56bba8101e52 94 void SoftStop();
e00nagog 0:56bba8101e52 95 void HardStop();
e00nagog 0:56bba8101e52 96 void SoftHiZ();
e00nagog 0:56bba8101e52 97 void HardHiZ();
e00nagog 0:56bba8101e52 98 void Resets();
e00nagog 0:56bba8101e52 99
e00nagog 0:56bba8101e52 100 private:
e00nagog 0:56bba8101e52 101 SPI m_spi;
e00nagog 0:56bba8101e52 102 DigitalOut m_cs;
e00nagog 0:56bba8101e52 103 };
e00nagog 0:56bba8101e52 104
e00nagog 0:56bba8101e52 105
e00nagog 0:56bba8101e52 106 #endif