Revision 0:2f3be153718a, committed 2020-02-20

Comitter:

imanomadao

Date:

Thu Feb 20 03:25:44 2020 +0000

Commit message:

a;

Changed in this revision

diff -r 000000000000 -r 2f3be153718a L6470.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L6470.cpp	Thu Feb 20 03:25:44 2020 +0000
@@ -0,0 +1,169 @@
+/*#include"mbed.h"
+#include"L6470.h"
+
+SPI spi(PinName mosi, PinName miso, PinName ssel);
+DigitalOut cs(PinName);
+
+L6470::L6470(const spi_pinmap_t &static_pinmap, PinName ssel)
+    :
+    static_pinmap(new SPI(mosi,miso,sclk)),
+    spi(*static_pinmap),
+    ssel = DigitalOut(PinName)
+{
+    init();
+}
+
+L6470::~L6470(){}
+
+
+/*L6470::L6470(PinName mosi, PinName miso, PinName sclk, PinName ssel)
+    :
+    spi_p(new SPI(mosi, miso, sclk)),
+    spi(*spi_p),
+    cs_p(new DigitalOut(ssel)),
+    cs(*cs_p)
+
+    
+    
+void L6470::init(){
+    
+    // L6470のspi通信の有効化
+    //spi.format(8,2);
+    //spi.frequency(4960000);
+    
+    //　nopを送ることで残留している命令を排除
+    cs = 1;
+    spi.write(0x00);
+    spi.write(0x00);
+    spi.write(0x00);
+    spi.write(0x00);
+    cs = 0;
+        
+    //リセット
+    cs = 1;
+    spi.write(0xC0);
+    cs = 0;
+        
+    // MAX_SPEED設定。
+    cs = 1;
+    spi.write(0x07);
+    // 最大回転スピード値(10bit) 初期値は 0x41
+    spi.write(0x00);
+    spi.write(0x23);
+    cs = 0;
+
+    // KVAL_HOLD設定。
+    /// レジスタアドレス。
+    cs = 1;
+    spi.write(0x09);
+    spi.write(0xFF);
+    cs = 0;
+        
+    // KVAL_spiUN設定。
+    /// レジスタアドレス。
+    cs = 1;
+    spi.write(0x0A);
+    spi.write(0xFF);
+    cs = 0;
+        
+    // KVAL_ACC設定。
+    cs = 1;
+    spi.write(0x0B);
+    spi.write(0xFF);
+    cs = 0;
+        
+    // KVAL_DEC設定。
+    /// レジスタアドレス。
+    cs= 1;
+    spi.write(0x0C);
+    spi.write(0x40);
+    cs = 0;
+        
+    // OCD_TH設定。
+    /// レジスタアドレス。
+    cs = 1;
+    spi.write(0x13);
+    spi.write(0x0F);
+    cs = 0;
+        
+    // STALL_TH設定。
+    /// レジスタアドレス。
+    cs = 1;
+    spi.write(0x14);
+    spi.write(0x7F);
+    cs = 0;
+}
+
+void L6470::writeByte(uint8_t data)
+{
+    cs = 1;
+    spi.write(data);
+    cs = 0;
+}
+
+    
+void L6470::writeBytes(uint8_t add, int bytes, uint32_t value)
+{
+    uint32_t data[3];
+    for (int i = 0; i < bytes; i++){
+        data[i] = value & 0xff;
+        value = value >> 8;
+    }
+    if(bytes == 3){
+        cs = 1;
+        spi.write(add)
+        spi.write(data[2]);
+        spi.write(data[1]);
+        spi.write(data[0]);
+        cs_R = 0;
+        }
+    else if ( bytes == 2 ) {
+        cs = 1;
+        spi.write( add );
+        spi.write( data[1] ) ;
+        spi.write( data[0] ) ;
+        cs = 0;
+    }
+    else if ( bytes == 1 ) {
+        cs = 1;
+        spi.write( add );
+        spi.write( data[0] ) ;
+        cs = 0;
+    }
+}
+
+
+void L6470::L6470_run(uint32_t speed)
+{
+        uint8_t dir;
+        uint32_t spd;
+        uint8_t spd_h;
+        uint8_t spd_m;
+        uint8_t spd_l;
+
+        // 方向検出。
+        if (speed < 0)
+        {
+            dir = 0x50;
+            spd = -1 * speed;
+        }
+        else
+        {
+            dir = 0x51;
+            spd = speed;
+        }
+
+        // 送信バイトデータ生成。
+        spd_h = (uint8_t)((0x000F0000 & spd) >> 16);
+        spd_m = (uint8_t)((0x0000FF00 & spd) >> 8);
+        spd_l = (uint8_t)(0x000000FF & spd);
+        // コマンド（レジスタアドレス）送信。
+        cs = 1;
+        spi.write(dir);
+        spi.write(spd_h);
+        spi.write(spd_m);
+        spi.write(spd_l);
+        cs = 0;
+}    
+    
+*/
\ No newline at end of file

diff -r 000000000000 -r 2f3be153718a L6470.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L6470.h	Thu Feb 20 03:25:44 2020 +0000
@@ -0,0 +1,222 @@
+/*#ifndef _L6470_H_
+#define _L6470_H_
+
+#include"mbed.h"
+
+//L6470 Registers
+#define ABS_POS    0x01 // Current position
+#define EL_POS     0x02 // Electrical position
+#define MARK       0x03
+#define SPEED      0x04
+#define ACC        0x05
+#define DEC        0x06
+#define MAX_SPEED  0x07
+#define MIN_SPEED  0x08
+#define FS_SPD     0x15
+#define KVAL_HOLD  0x09
+#define KVAL_RUN   0x0A
+#define KVAL_ACC   0x0B
+#define KVAL_DEC   0x0C
+#define INT_SPEED  0x0D
+#define ST_SLP     0x0E
+#define FN_SLP_ACC 0x0F
+#define FN_SLP_DEC 0x10
+#define K_THERM    0x11
+#define ADC_OUT    0x12
+#define OCD_TH     0x13
+#define STALL_TH   0x14
+#define STEP_MODE  0x16
+#define ALARM_EN   0x17
+#define CONFIG     0x18
+#define STATUS     0x19
+
+//L6470 Commands
+#define NOP 0x000
+#define SetParam 0x0<<5 // ( | PARAM )
+#define GetParam 0x01<<5 // ( | PARAM )
+#define Run_Forward 0x50
+#define Run_Back 0x51
+#define Step_Clock_Forward 0x58
+#define Step_Clock_Back 0x59
+#define Move_Forward 0x40
+#define Move_Back 0x41 
+#define GoTo 0x60
+#define GoTo_DIR_Forward 0x68
+#define GoTo_DIR_Back 0x69
+//#define GoUntill
+//#define ReleseSW 
+#define GoHome 0x70
+#define GoMark 0x78
+#define ResetPos 0xD8
+#define ResetDevice 0xC0
+#define SoftStop 0xB0
+#define HardStop 0xB8
+#define SoftHiZ 0xA0
+#define HardHiz 0xA8
+#define GetStatus 0xD8
+
+
+
+
+class L6470 
+{
+    SPI _spi;
+    DigitalOut _cs;
+    
+    public:
+    L6470(PinName mosi, PinName miso, PinName sclk, PinName cs):_spi(mosi, miso, sclk),_cs(cs)
+    {
+        _spi.format(8,2);
+        _spi.frequency(4960000);
+    }
+    //~L6470();
+
+    
+    //L6470(PinName mosi, PinName miso, PinName sclk, PinName ssel);
+    
+    void init()
+    {
+        // L6470のspi通信の有効化
+    //spi.format(8,2);
+    //spi.frequency(4960000);
+    
+    //　nopを送ることで残留している命令を排除
+    _cs = 1;
+    _spi.write(0x00);
+    _spi.write(0x00);
+    _spi.write(0x00);
+    _spi.write(0x00);
+    _cs = 0;
+        
+    //リセット
+    _cs = 1;
+    _spi.write(0xC0);
+    _cs = 0;
+        
+    // MAX_SPEED設定。
+    _cs = 1;
+    _spi.write(0x07);
+    // 最大回転スピード値(10bit) 初期値は 0x41
+    _spi.write(0x00);
+    _spi.write(0x23);
+    _cs = 0;
+
+    // KVAL_HOLD設定。
+    /// レジスタアドレス。
+    _cs = 1;
+    _spi.write(0x09);
+    _spi.write(0xFF);
+    _cs = 0;
+        
+    // KVAL_spiUN設定。
+    /// レジスタアドレス。
+    _cs = 1;
+    _spi.write(0x0A);
+    _spi.write(0xFF);
+    _cs = 0;
+        
+    // KVAL_ACC設定。
+    _cs = 1;
+    _spi.write(0x0B);
+    _spi.write(0xFF);
+    _cs = 0;
+        
+    // KVAL_DEC設定。
+    /// レジスタアドレス。
+    _cs= 1;
+    _spi.write(0x0C);
+    _spi.write(0x40);
+    _cs = 0;
+        
+    // OCD_TH設定。
+    /// レジスタアドレス。
+    _cs = 1;
+    _spi.write(0x13);
+    _spi.write(0x0F);
+    _cs = 0;
+        
+    // STALL_TH設定。
+    /// レジスタアドレス。
+    _cs = 1;
+    _spi.write(0x14);
+    _spi.write(0x7F);
+    _cs = 0;
+};
+    //void writeByte(uint8_t);
+    void writeByte(uint8_t data)
+{
+    _cs = 1;
+    _spi.write(data);
+    _cs = 0;
+}
+
+    void writeBytes(uint8_t add, int bytes, uint32_t value)
+{
+    uint32_t data[3];
+    for (int i = 0; i < bytes; i++){
+        data[i] = value & 0xff;
+        value = value >> 8;
+    }
+    if(bytes == 3){
+        _cs = 1;
+        _spi.write(add);
+        _spi.write(data[2]);
+        _spi.write(data[1]);
+        _spi.write(data[0]);
+        _cs = 0;
+        }
+    else if ( bytes == 2 ) {
+        _cs = 1;
+        _spi.write( add );
+        _spi.write( data[1] ) ;
+        _spi.write( data[0] ) ;
+        _cs = 0;
+    }
+    else if ( bytes == 1 ) {
+        _cs = 1;
+        _spi.write( add );
+        _spi.write( data[0] ) ;
+        _cs = 0;
+    }
+}
+
+    //void writeBytes(uint8_t, int, uint32_t);
+    void L6470_run(uint32_t speed)
+{
+        uint8_t dir;
+        uint32_t spd;
+        uint8_t spd_h;
+        uint8_t spd_m;
+        uint8_t spd_l;
+
+        // 方向検出。
+        if (speed < 0)
+        {
+            dir = 0x50;
+            spd = -1 * speed;
+        }
+        else
+        {
+            dir = 0x51;
+            spd = speed;
+        }
+
+        // 送信バイトデータ生成。
+        spd_h = (uint8_t)((0x000F0000 & spd) >> 16);
+        spd_m = (uint8_t)((0x0000FF00 & spd) >> 8);
+        spd_l = (uint8_t)(0x000000FF & spd);
+        // コマンド（レジスタアドレス）送信。
+        _cs = 1;
+        _spi.write(dir);
+        _spi.write(spd_h);
+        _spi.write(spd_m);
+        _spi.write(spd_l);
+        _cs = 0;
+}    
+
+    //void L6470_run(uint32_t);
+    
+};
+    
+    
+#endif
\ No newline at end of file