InetrfaceProducts NXP
PCA9629 a stepper motor controller class library
Class library for PCA9629.
A sample program available on http://mbed.org/users/nxp_ip/code/PCA9629_Hello/
PCA9629.h@4:9a80b6d63005, 2012-02-03 (annotated)
- Committer:
- nxp_ip
- Date:
- Fri Feb 03 04:03:34 2012 +0000
- Revision:
- 4:9a80b6d63005
- Child:
- 5:aff87a1c8bd6
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nxp_ip | 4:9a80b6d63005 | 1 | /** A sample code for PCA9629 |
| nxp_ip | 4:9a80b6d63005 | 2 | * |
| nxp_ip | 4:9a80b6d63005 | 3 | * @author Tedd OKANO, NXP Semiconductors |
| nxp_ip | 4:9a80b6d63005 | 4 | * @version 1.0 |
| nxp_ip | 4:9a80b6d63005 | 5 | * @date 03-Feb-2011 |
| nxp_ip | 4:9a80b6d63005 | 6 | * |
| nxp_ip | 4:9a80b6d63005 | 7 | * Released under the MIT License: http://mbed.org/license/mit |
| nxp_ip | 4:9a80b6d63005 | 8 | * |
| nxp_ip | 4:9a80b6d63005 | 9 | * An operation sample of PCU9629 stepper motor controller. |
| nxp_ip | 4:9a80b6d63005 | 10 | * The mbed accesses the PCU9629 registers through I2C. |
| nxp_ip | 4:9a80b6d63005 | 11 | */ |
| nxp_ip | 4:9a80b6d63005 | 12 | |
| nxp_ip | 4:9a80b6d63005 | 13 | #ifndef MBED_PCA9629 |
| nxp_ip | 4:9a80b6d63005 | 14 | #define MBED_PCA9629 |
| nxp_ip | 4:9a80b6d63005 | 15 | |
| nxp_ip | 4:9a80b6d63005 | 16 | #define INTELIGENT_WRITE |
| nxp_ip | 4:9a80b6d63005 | 17 | |
| nxp_ip | 4:9a80b6d63005 | 18 | #define PCA9629_DEFAULT_ADDR 0x42 |
| nxp_ip | 4:9a80b6d63005 | 19 | |
| nxp_ip | 4:9a80b6d63005 | 20 | #define INIT_VALUE__MODE 0x10; |
| nxp_ip | 4:9a80b6d63005 | 21 | #define INIT_VALUE__SUBADR1 0xE2; |
| nxp_ip | 4:9a80b6d63005 | 22 | #define INIT_VALUE__SUBADR2 0xE4; |
| nxp_ip | 4:9a80b6d63005 | 23 | #define INIT_VALUE__SUBADR3 0xE8; |
| nxp_ip | 4:9a80b6d63005 | 24 | #define INIT_VALUE__ALLCALLADR 0xE0; |
| nxp_ip | 4:9a80b6d63005 | 25 | #define INIT_VALUE__WDTOI 0xFF; |
| nxp_ip | 4:9a80b6d63005 | 26 | #define INIT_VALUE__WDTCNTL 0x00; |
| nxp_ip | 4:9a80b6d63005 | 27 | #define INIT_VALUE__IP 0x00; |
| nxp_ip | 4:9a80b6d63005 | 28 | #define INIT_VALUE__INTSTAT 0x00; |
| nxp_ip | 4:9a80b6d63005 | 29 | #define INIT_VALUE__OP 0x0F; |
| nxp_ip | 4:9a80b6d63005 | 30 | #define INIT_VALUE__IOC 0x03; |
| nxp_ip | 4:9a80b6d63005 | 31 | #define INIT_VALUE__MSK 0x0F; |
| nxp_ip | 4:9a80b6d63005 | 32 | #define INIT_VALUE__CLRINT 0x0C; |
| nxp_ip | 4:9a80b6d63005 | 33 | #define INIT_VALUE__INTMODE 0x00; |
| nxp_ip | 4:9a80b6d63005 | 34 | #define INIT_VALUE__INT_ACT_SETUP 0x00; |
| nxp_ip | 4:9a80b6d63005 | 35 | #define INIT_VALUE__INT_MTR_SETUP 0x00; |
| nxp_ip | 4:9a80b6d63005 | 36 | #define INIT_VALUE__INT_ES_SETUP 0x00; |
| nxp_ip | 4:9a80b6d63005 | 37 | #define INIT_VALUE__INT_AUTO_CLR 0x00; |
| nxp_ip | 4:9a80b6d63005 | 38 | #define INIT_VALUE__SETMODE 0x00; |
| nxp_ip | 4:9a80b6d63005 | 39 | #define INIT_VALUE__PHCNTL 0x00; |
| nxp_ip | 4:9a80b6d63005 | 40 | #define INIT_VALUE__SROTNL 0x30; |
| nxp_ip | 4:9a80b6d63005 | 41 | #define INIT_VALUE__SROTNH 0x00; |
| nxp_ip | 4:9a80b6d63005 | 42 | #define INIT_VALUE__CWPWL 0x00; |
| nxp_ip | 4:9a80b6d63005 | 43 | #define INIT_VALUE__CWPWH 0x00; |
| nxp_ip | 4:9a80b6d63005 | 44 | #define INIT_VALUE__CCWPWL 0x00; |
| nxp_ip | 4:9a80b6d63005 | 45 | #define INIT_VALUE__CCWPWH 0x00; |
| nxp_ip | 4:9a80b6d63005 | 46 | #define INIT_VALUE__CWSCOUNTL 0x00; |
| nxp_ip | 4:9a80b6d63005 | 47 | #define INIT_VALUE__CWSCOUNTH 0x00; |
| nxp_ip | 4:9a80b6d63005 | 48 | #define INIT_VALUE__CCWSCOUNTL 0x00; |
| nxp_ip | 4:9a80b6d63005 | 49 | #define INIT_VALUE__CCWSCOUNTH 0x00; |
| nxp_ip | 4:9a80b6d63005 | 50 | #define INIT_VALUE__CWRCOUNTL 0x00; |
| nxp_ip | 4:9a80b6d63005 | 51 | #define INIT_VALUE__CWRCOUNTH 0x00; |
| nxp_ip | 4:9a80b6d63005 | 52 | #define INIT_VALUE__CCWRCOUNTL 0x00; |
| nxp_ip | 4:9a80b6d63005 | 53 | #define INIT_VALUE__CCWRCOUNTH 0x00; |
| nxp_ip | 4:9a80b6d63005 | 54 | #define INIT_VALUE__EXTRASTEPS0 0x00; |
| nxp_ip | 4:9a80b6d63005 | 55 | #define INIT_VALUE__EXTRASTEPS1 0x00; |
| nxp_ip | 4:9a80b6d63005 | 56 | #define INIT_VALUE__RAMPCNTL 0x00; |
| nxp_ip | 4:9a80b6d63005 | 57 | #define INIT_VALUE__LOOPDLY 0x00; |
| nxp_ip | 4:9a80b6d63005 | 58 | #define INIT_VALUE__MCNTL 0x00; |
| nxp_ip | 4:9a80b6d63005 | 59 | |
| nxp_ip | 4:9a80b6d63005 | 60 | |
| nxp_ip | 4:9a80b6d63005 | 61 | /** PCA9629 class |
| nxp_ip | 4:9a80b6d63005 | 62 | * |
| nxp_ip | 4:9a80b6d63005 | 63 | */ |
| nxp_ip | 4:9a80b6d63005 | 64 | |
| nxp_ip | 4:9a80b6d63005 | 65 | class PCA9629 { |
| nxp_ip | 4:9a80b6d63005 | 66 | public: |
| nxp_ip | 4:9a80b6d63005 | 67 | |
| nxp_ip | 4:9a80b6d63005 | 68 | /** name of registers */ |
| nxp_ip | 4:9a80b6d63005 | 69 | typedef enum { |
| nxp_ip | 4:9a80b6d63005 | 70 | MODE, /**< Mode rgister */ |
| nxp_ip | 4:9a80b6d63005 | 71 | SUBADR1, /**< I2C-bus subaddress 1 */ |
| nxp_ip | 4:9a80b6d63005 | 72 | SUBADR2, /**< I2C-bus subaddress 2 */ |
| nxp_ip | 4:9a80b6d63005 | 73 | SUBADR3, /**< I2C-bus subaddress 3 */ |
| nxp_ip | 4:9a80b6d63005 | 74 | ALLCALLADR, /**< All call I2C-bus address */ |
| nxp_ip | 4:9a80b6d63005 | 75 | WDTOI, /**< Watchdog time-out interval register */ |
| nxp_ip | 4:9a80b6d63005 | 76 | WDTCNTL, /**< Watchdog control register */ |
| nxp_ip | 4:9a80b6d63005 | 77 | IP, /**< Input port register */ |
| nxp_ip | 4:9a80b6d63005 | 78 | INTSTAT, /**< Interrupt status register */ |
| nxp_ip | 4:9a80b6d63005 | 79 | OP, /**< Output port register */ |
| nxp_ip | 4:9a80b6d63005 | 80 | IOC, /**< I/O configuration register */ |
| nxp_ip | 4:9a80b6d63005 | 81 | MSK, /**< Mask interrupt register */ |
| nxp_ip | 4:9a80b6d63005 | 82 | CLRINT, /**< Clear Interrupts */ |
| nxp_ip | 4:9a80b6d63005 | 83 | INTMODE, /**< Interrupt mode register */ |
| nxp_ip | 4:9a80b6d63005 | 84 | INT_ACT_SETUP, /**< Interrupt action setup control register */ |
| nxp_ip | 4:9a80b6d63005 | 85 | INT_MTR_SETUP, /**< Interrupt motor setup control register */ |
| nxp_ip | 4:9a80b6d63005 | 86 | INT_ES_SETUP, /**< Interrupt extra steps setup control register */ |
| nxp_ip | 4:9a80b6d63005 | 87 | INT_AUTO_CLR, /**< Interrupt auto clear control register */ |
| nxp_ip | 4:9a80b6d63005 | 88 | SETMODE, /**< Output state on STOP */ |
| nxp_ip | 4:9a80b6d63005 | 89 | PHCNTL, /**< Phase control register */ |
| nxp_ip | 4:9a80b6d63005 | 90 | SROTNL, /**< Steps per rotation low byte */ |
| nxp_ip | 4:9a80b6d63005 | 91 | SROTNH, /**< Steps per rotation high byte */ |
| nxp_ip | 4:9a80b6d63005 | 92 | CWPWL, /**< Step pulse width for CW rotation low byte */ |
| nxp_ip | 4:9a80b6d63005 | 93 | CWPWH, /**< Step pulse width for CW rotation high byte */ |
| nxp_ip | 4:9a80b6d63005 | 94 | CCWPWL, /**< Step pulse width for CCW rotation low byte */ |
| nxp_ip | 4:9a80b6d63005 | 95 | CCWPWH, /**< Step pulse width for CCW rotation high byte */ |
| nxp_ip | 4:9a80b6d63005 | 96 | CWSCOUNTL, /**< Number of steps CW low byte */ |
| nxp_ip | 4:9a80b6d63005 | 97 | CWSCOUNTH, /**< Number of steps CW high byte */ |
| nxp_ip | 4:9a80b6d63005 | 98 | CCWSCOUNTL, /**< Number of steps CCW low byte */ |
| nxp_ip | 4:9a80b6d63005 | 99 | CCWSCOUNTH, /**< Number of steps CCW high byte */ |
| nxp_ip | 4:9a80b6d63005 | 100 | CWRCOUNTL, /**< Number of rotatations CW low byte */ |
| nxp_ip | 4:9a80b6d63005 | 101 | CWRCOUNTH, /**< Number of rotatations CW high byte */ |
| nxp_ip | 4:9a80b6d63005 | 102 | CCWRCOUNTL, /**< Number of rotatations CCW low byte */ |
| nxp_ip | 4:9a80b6d63005 | 103 | CCWRCOUNTH, /**< Number of rotatations CCW high byte */ |
| nxp_ip | 4:9a80b6d63005 | 104 | EXTRASTEPS0, /**< Count value for extra steps or rotations for INTP0 */ |
| nxp_ip | 4:9a80b6d63005 | 105 | EXTRASTEPS1, /**< Count value for extra steps or rotations for INTP1 */ |
| nxp_ip | 4:9a80b6d63005 | 106 | RAMPCNTL, /**< Ramp control register */ |
| nxp_ip | 4:9a80b6d63005 | 107 | LOOPDLY, /**< Loopdelay time register */ |
| nxp_ip | 4:9a80b6d63005 | 108 | MCNTL, /**< Control start/stop motor */ |
| nxp_ip | 4:9a80b6d63005 | 109 | } RegisterName; |
| nxp_ip | 4:9a80b6d63005 | 110 | |
| nxp_ip | 4:9a80b6d63005 | 111 | /** register names to make 2 bytes access */ |
| nxp_ip | 4:9a80b6d63005 | 112 | typedef enum { |
| nxp_ip | 4:9a80b6d63005 | 113 | SROTN_ = SROTNL | 0x80, /**< Steps per rotation */ |
| nxp_ip | 4:9a80b6d63005 | 114 | CWPW_ = CWPWL | 0x80, /**< Step pulse width for CW rotation */ |
| nxp_ip | 4:9a80b6d63005 | 115 | CCWPW_ = CCWPWL | 0x80, /**< Step pulse width for CCW rotation */ |
| nxp_ip | 4:9a80b6d63005 | 116 | CWSCOUNT_ = CWSCOUNTL | 0x80, /**< Number of steps CW */ |
| nxp_ip | 4:9a80b6d63005 | 117 | CCWSCOUNT_ = CCWSCOUNTL | 0x80, /**< Number of steps CCW */ |
| nxp_ip | 4:9a80b6d63005 | 118 | CWRCOUNT_ = CWRCOUNTL | 0x80, /**< Number of rotatations CW */ |
| nxp_ip | 4:9a80b6d63005 | 119 | CCWRCOUNT_ = CCWRCOUNTL | 0x80, /**< Number of rotatations CCW */ |
| nxp_ip | 4:9a80b6d63005 | 120 | STEPS_PER_ROATION = SROTN_, |
| nxp_ip | 4:9a80b6d63005 | 121 | CW__STEP_WIDTH = CWPW_, |
| nxp_ip | 4:9a80b6d63005 | 122 | CCW_STEP_WIDTH = CCWPW_, |
| nxp_ip | 4:9a80b6d63005 | 123 | CW__STEP_COUNT = CWSCOUNT_, |
| nxp_ip | 4:9a80b6d63005 | 124 | CCW_STEP_COUNT = CCWSCOUNT_, |
| nxp_ip | 4:9a80b6d63005 | 125 | CW__ROTATION_COUNT = CWRCOUNT_, |
| nxp_ip | 4:9a80b6d63005 | 126 | CCW_ROTATION_COUNT = CCWRCOUNT_ |
| nxp_ip | 4:9a80b6d63005 | 127 | } Register16bits; |
| nxp_ip | 4:9a80b6d63005 | 128 | |
| nxp_ip | 4:9a80b6d63005 | 129 | /** keyword to select direction of rotation */ |
| nxp_ip | 4:9a80b6d63005 | 130 | typedef enum { |
| nxp_ip | 4:9a80b6d63005 | 131 | CW = 0, /**< Clockwise direction */ |
| nxp_ip | 4:9a80b6d63005 | 132 | CCW /**< ConterClockwise direction */ |
| nxp_ip | 4:9a80b6d63005 | 133 | } Direction; |
| nxp_ip | 4:9a80b6d63005 | 134 | |
| nxp_ip | 4:9a80b6d63005 | 135 | /** plescaler range setting */ |
| nxp_ip | 4:9a80b6d63005 | 136 | typedef enum { |
| nxp_ip | 4:9a80b6d63005 | 137 | PRESCALER_FROM_40_TO_333333, /**< Prescaler range from 3us(333333pps) to 24.576ms(40 pps) */ |
| nxp_ip | 4:9a80b6d63005 | 138 | PRESCALER_FROM_20_TO_166667, /**< Prescaler range from 6us(166667pps) to 49.152ms(20 pps) */ |
| nxp_ip | 4:9a80b6d63005 | 139 | PRESCALER_FROM_10_TO_83333, /**< Prescaler range from 12us( 83333pps) to 98.304ms(10 pps) */ |
| nxp_ip | 4:9a80b6d63005 | 140 | PRESCALER_FROM_5_TO_41667, /**< Prescaler range from 24us( 41667pps) to 196.608ms( 5 pps) */ |
| nxp_ip | 4:9a80b6d63005 | 141 | PRESCALER_FROM_2_5_TO_20833, /**< Prescaler range from 48us( 20833pps) to 393.216ms( 2.5 pps) */ |
| nxp_ip | 4:9a80b6d63005 | 142 | PRESCALER_FROM_1_27_TO_10416, /**< Prescaler range from 96us( 10416pps) to 786.432ms( 1.27pps) */ |
| nxp_ip | 4:9a80b6d63005 | 143 | PRESCALER_FROM_0_64_TO_5208, /**< Prescaler range from 192us( 5208pps) to 1572.864ms( 0.64pps) */ |
| nxp_ip | 4:9a80b6d63005 | 144 | PRESCALER_FROM_0_32_TO_2604, /**< Prescaler range from 384us( 2604pps) to 3145.728ms( 0.32pps) */ |
| nxp_ip | 4:9a80b6d63005 | 145 | } PrescalerRange; |
| nxp_ip | 4:9a80b6d63005 | 146 | |
| nxp_ip | 4:9a80b6d63005 | 147 | /** Create a PCA9629 instance connected to specified I2C pins with specified address |
| nxp_ip | 4:9a80b6d63005 | 148 | * |
| nxp_ip | 4:9a80b6d63005 | 149 | * @param I2C_sda I2C-bus SDA pin |
| nxp_ip | 4:9a80b6d63005 | 150 | * @param I2C_scl I2C-bus SCL pin |
| nxp_ip | 4:9a80b6d63005 | 151 | * @param I2C_address I2C-bus address (default: 0x42) |
| nxp_ip | 4:9a80b6d63005 | 152 | */ |
| nxp_ip | 4:9a80b6d63005 | 153 | PCA9629( |
| nxp_ip | 4:9a80b6d63005 | 154 | PinName I2C_sda, |
| nxp_ip | 4:9a80b6d63005 | 155 | PinName I2C_scl, |
| nxp_ip | 4:9a80b6d63005 | 156 | char I2C_address = PCA9629_DEFAULT_ADDR |
| nxp_ip | 4:9a80b6d63005 | 157 | ); |
| nxp_ip | 4:9a80b6d63005 | 158 | |
| nxp_ip | 4:9a80b6d63005 | 159 | /** Initialize all registers |
| nxp_ip | 4:9a80b6d63005 | 160 | * |
| nxp_ip | 4:9a80b6d63005 | 161 | * The initializing values are defined in the function |
| nxp_ip | 4:9a80b6d63005 | 162 | */ |
| nxp_ip | 4:9a80b6d63005 | 163 | void init_registers( void ); |
| nxp_ip | 4:9a80b6d63005 | 164 | |
| nxp_ip | 4:9a80b6d63005 | 165 | /** Initialize all registers |
| nxp_ip | 4:9a80b6d63005 | 166 | * |
| nxp_ip | 4:9a80b6d63005 | 167 | * The initializing values are defined in the function |
| nxp_ip | 4:9a80b6d63005 | 168 | */ |
| nxp_ip | 4:9a80b6d63005 | 169 | void set_all_registers( char *a, char size ); |
| nxp_ip | 4:9a80b6d63005 | 170 | |
| nxp_ip | 4:9a80b6d63005 | 171 | /** Write 1 byte data into a register |
| nxp_ip | 4:9a80b6d63005 | 172 | * |
| nxp_ip | 4:9a80b6d63005 | 173 | * Setting 8 bits data into a register |
| nxp_ip | 4:9a80b6d63005 | 174 | * |
| nxp_ip | 4:9a80b6d63005 | 175 | * @param register_name the register name: data writing into |
| nxp_ip | 4:9a80b6d63005 | 176 | * @param value 8 bits writing data |
| nxp_ip | 4:9a80b6d63005 | 177 | */ |
| nxp_ip | 4:9a80b6d63005 | 178 | void write( RegisterName register_name, char value ); |
| nxp_ip | 4:9a80b6d63005 | 179 | |
| nxp_ip | 4:9a80b6d63005 | 180 | /** Write 2 bytes data into a register |
| nxp_ip | 4:9a80b6d63005 | 181 | * |
| nxp_ip | 4:9a80b6d63005 | 182 | * Setting 16 bits data into registers |
| nxp_ip | 4:9a80b6d63005 | 183 | * |
| nxp_ip | 4:9a80b6d63005 | 184 | * @param register_name the register name: data writing into (it can be "SROTN_", "CWPW_", "CCWPW_", "CWRCOUNT_", "CCWSCOUNT_", "CWRCOUNT_" or "CCWRCOUNT_" ) |
| nxp_ip | 4:9a80b6d63005 | 185 | * @param value 16 bits writing data |
| nxp_ip | 4:9a80b6d63005 | 186 | */ |
| nxp_ip | 4:9a80b6d63005 | 187 | void write( Register16bits register_name, short value ); |
| nxp_ip | 4:9a80b6d63005 | 188 | |
| nxp_ip | 4:9a80b6d63005 | 189 | /** Read 1 byte data from a register |
| nxp_ip | 4:9a80b6d63005 | 190 | * |
| nxp_ip | 4:9a80b6d63005 | 191 | * Setting data into a register |
| nxp_ip | 4:9a80b6d63005 | 192 | * |
| nxp_ip | 4:9a80b6d63005 | 193 | * @param register_name the register name: data reading from |
| nxp_ip | 4:9a80b6d63005 | 194 | * @return read 8 bits data from the register |
| nxp_ip | 4:9a80b6d63005 | 195 | */ |
| nxp_ip | 4:9a80b6d63005 | 196 | char read( RegisterName register_name ); |
| nxp_ip | 4:9a80b6d63005 | 197 | |
| nxp_ip | 4:9a80b6d63005 | 198 | /** Read 2 byte data from registers |
| nxp_ip | 4:9a80b6d63005 | 199 | * |
| nxp_ip | 4:9a80b6d63005 | 200 | * Setting data into a register |
| nxp_ip | 4:9a80b6d63005 | 201 | * |
| nxp_ip | 4:9a80b6d63005 | 202 | * @param register_name the register name: data writing into (it can be "SROTN_", "CWPW_", "CCWPW_", "CWRCOUNT_", "CCWSCOUNT_", "CWRCOUNT_" or "CCWRCOUNT_" ) |
| nxp_ip | 4:9a80b6d63005 | 203 | * @return read 16 bits data from the registers |
| nxp_ip | 4:9a80b6d63005 | 204 | */ |
| nxp_ip | 4:9a80b6d63005 | 205 | short read( Register16bits register_name ); |
| nxp_ip | 4:9a80b6d63005 | 206 | |
| nxp_ip | 4:9a80b6d63005 | 207 | /** Motor start |
| nxp_ip | 4:9a80b6d63005 | 208 | * |
| nxp_ip | 4:9a80b6d63005 | 209 | * Start command |
| nxp_ip | 4:9a80b6d63005 | 210 | * This function starts motor operation with hard-stop flag and rotation+step enabled, no repeat will be performed |
| nxp_ip | 4:9a80b6d63005 | 211 | * If custom start is required, use "write( PCA9629::MCNTL, 0xXX )" to control each bits. |
| nxp_ip | 4:9a80b6d63005 | 212 | * |
| nxp_ip | 4:9a80b6d63005 | 213 | * @param dir rotate direction ("CW" or "CCW") |
| nxp_ip | 4:9a80b6d63005 | 214 | */ |
| nxp_ip | 4:9a80b6d63005 | 215 | void start( Direction dir ); |
| nxp_ip | 4:9a80b6d63005 | 216 | |
| nxp_ip | 4:9a80b6d63005 | 217 | /** Motor stop |
| nxp_ip | 4:9a80b6d63005 | 218 | * |
| nxp_ip | 4:9a80b6d63005 | 219 | * Stop command |
| nxp_ip | 4:9a80b6d63005 | 220 | * |
| nxp_ip | 4:9a80b6d63005 | 221 | */ |
| nxp_ip | 4:9a80b6d63005 | 222 | void stop( void ); |
| nxp_ip | 4:9a80b6d63005 | 223 | |
| nxp_ip | 4:9a80b6d63005 | 224 | /** Set PPS |
| nxp_ip | 4:9a80b6d63005 | 225 | * |
| nxp_ip | 4:9a80b6d63005 | 226 | * Setting PulsePerSecond |
| nxp_ip | 4:9a80b6d63005 | 227 | * This interface can be used to set CWPWx or CCWPWx registers |
| nxp_ip | 4:9a80b6d63005 | 228 | * |
| nxp_ip | 4:9a80b6d63005 | 229 | * @param dir rotate direction ("CW" or "CCW") |
| nxp_ip | 4:9a80b6d63005 | 230 | * @param prescaler prescaler setting (for 3 bits setting range from 0 to 0x7. See datasheet) |
| nxp_ip | 4:9a80b6d63005 | 231 | * @param pps pps defineds pulse width for the motor. The pulse width will be 1/pps |
| nxp_ip | 4:9a80b6d63005 | 232 | * @return 16 bit data that what set to the CWPWx or CCWPWx registers |
| nxp_ip | 4:9a80b6d63005 | 233 | */ |
| nxp_ip | 4:9a80b6d63005 | 234 | short pps( Direction dir, PrescalerRange prescaler, int pps ); |
| nxp_ip | 4:9a80b6d63005 | 235 | |
| nxp_ip | 4:9a80b6d63005 | 236 | /** Set PPS |
| nxp_ip | 4:9a80b6d63005 | 237 | * |
| nxp_ip | 4:9a80b6d63005 | 238 | * Setting PulsePerSecond |
| nxp_ip | 4:9a80b6d63005 | 239 | * This interface can be used to set CWPWx or CCWPWx registers |
| nxp_ip | 4:9a80b6d63005 | 240 | * |
| nxp_ip | 4:9a80b6d63005 | 241 | * @param dir rotate direction ("CW" or "CCW") |
| nxp_ip | 4:9a80b6d63005 | 242 | * @param prescaler prescaler setting (for 3 bits setting range from 0 to 0x7. See datasheet) |
| nxp_ip | 4:9a80b6d63005 | 243 | * @param pps pps defineds pulse width for the motor. The pulse width will be 1/pps |
| nxp_ip | 4:9a80b6d63005 | 244 | * @return 16 bit data that what set to the CWPWx or CCWPWx registers |
| nxp_ip | 4:9a80b6d63005 | 245 | */ |
| nxp_ip | 4:9a80b6d63005 | 246 | |
| nxp_ip | 4:9a80b6d63005 | 247 | /** Set rotation count |
| nxp_ip | 4:9a80b6d63005 | 248 | * |
| nxp_ip | 4:9a80b6d63005 | 249 | * Setting rotation count |
| nxp_ip | 4:9a80b6d63005 | 250 | * This interfaces CWRCOUNTx, CCWRCOUNTx registers |
| nxp_ip | 4:9a80b6d63005 | 251 | * |
| nxp_ip | 4:9a80b6d63005 | 252 | * @param dir rotate direction ("CW" or "CCW") |
| nxp_ip | 4:9a80b6d63005 | 253 | * @param rotations sets number of rotations with 16 bit value |
| nxp_ip | 4:9a80b6d63005 | 254 | */ |
| nxp_ip | 4:9a80b6d63005 | 255 | void rotations( Direction dir, int rotations ); |
| nxp_ip | 4:9a80b6d63005 | 256 | |
| nxp_ip | 4:9a80b6d63005 | 257 | /** Set PPS |
| nxp_ip | 4:9a80b6d63005 | 258 | * |
| nxp_ip | 4:9a80b6d63005 | 259 | * Setting step count |
| nxp_ip | 4:9a80b6d63005 | 260 | * This interfaces CWSCOUNTx, CCWSCOUNTx registers |
| nxp_ip | 4:9a80b6d63005 | 261 | * |
| nxp_ip | 4:9a80b6d63005 | 262 | * @param dir rotate direction ("CW" or "CCW") |
| nxp_ip | 4:9a80b6d63005 | 263 | * @param steps sets number of steps with 16 bit value |
| nxp_ip | 4:9a80b6d63005 | 264 | */ |
| nxp_ip | 4:9a80b6d63005 | 265 | void steps( Direction dir, int pps ); |
| nxp_ip | 4:9a80b6d63005 | 266 | |
| nxp_ip | 4:9a80b6d63005 | 267 | |
| nxp_ip | 4:9a80b6d63005 | 268 | /** Register dump |
| nxp_ip | 4:9a80b6d63005 | 269 | * |
| nxp_ip | 4:9a80b6d63005 | 270 | * Dumping all register data to serial console |
| nxp_ip | 4:9a80b6d63005 | 271 | * |
| nxp_ip | 4:9a80b6d63005 | 272 | */ |
| nxp_ip | 4:9a80b6d63005 | 273 | void register_dump( void ); |
| nxp_ip | 4:9a80b6d63005 | 274 | |
| nxp_ip | 4:9a80b6d63005 | 275 | /** Register dump |
| nxp_ip | 4:9a80b6d63005 | 276 | * |
| nxp_ip | 4:9a80b6d63005 | 277 | * Dumping all register data to serial console |
| nxp_ip | 4:9a80b6d63005 | 278 | * |
| nxp_ip | 4:9a80b6d63005 | 279 | */ |
| nxp_ip | 4:9a80b6d63005 | 280 | void speed_change( unsigned short pw ); |
| nxp_ip | 4:9a80b6d63005 | 281 | |
| nxp_ip | 4:9a80b6d63005 | 282 | private: |
| nxp_ip | 4:9a80b6d63005 | 283 | I2C i2c; |
| nxp_ip | 4:9a80b6d63005 | 284 | char i2c_addr; |
| nxp_ip | 4:9a80b6d63005 | 285 | }; |
| nxp_ip | 4:9a80b6d63005 | 286 | |
| nxp_ip | 4:9a80b6d63005 | 287 | #endif // MBED_PCA9629 |
| nxp_ip | 4:9a80b6d63005 | 288 |
Repository toolbox
| Export to desktop IDE |
Repository details
| Type: | Library |
|---|---|
| Created: | 02 Feb 2012 |
| Imports: | 54 |
| Forks: | 0 |
| Commits: | 8 |
| Dependents: | 1 |
| Dependencies: | 0 |
| Followers: | 2 |
The code in this repository is MIT licensed.
Components
PCA9629 Stepper motor controller