Diff: PCA9629.cpp

Revision:

6:138665018069

Parent:

5:aff87a1c8bd6

Child:

7:199f109eb0c6

--- a/PCA9629.cpp	Tue Apr 24 08:05:03 2012 +0000
+++ b/PCA9629.cpp	Wed Jul 18 07:42:48 2012 +0000
@@ -6,8 +6,8 @@
  *
  *  Released under the MIT License: http://mbed.org/license/mit
  *
- *  An operation sample of PCU9629 stepper motor controller. 
- *  The mbed accesses the PCU9629 registers through I2C. 
+ *  An operation sample of PCU9629 stepper motor controller.
+ *  The mbed accesses the PCU9629 registers through I2C.
  */
 
 #include    "mbed.h"
@@ -31,26 +31,25 @@
     char    I2C_address
 ) : i2c( I2C_sda, I2C_scl ), i2c_addr( I2C_address ) {
 
-    i2c.frequency( 400 * 1000 );    
+    i2c.frequency( 400 * 1000 );
     init_registers();
 }
 
 void PCA9629::init_registers( void ) {
     char    init_array[] = { 0x80,                                                //  register access start address (0x00) with incremental access flag (MSB)
-                            0x30, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10,             //  for registers MODE - WDCNTL (0x00 - 0x06
-                            0x00, 0x00,                                           //  for registers IP and INTSTAT (0x07, 0x08)
-                            0x07, 0x0F, 0x00, 0x0F, 0x0F, 0x00, 0x03, 0x02, 0x01, //  for registers OP - INT_AUTO_CLR (0x09 - 0x11)
-                            0x00, 0x00, 0x30, 0x00, 0x82, 0x66, 0x82, 0x06,       //  for registers SETMODE - CCWPWH (0x12 - 0x19)
-                            0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF,       //  for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
-                            0x00, 0x00,                                           //  for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
-                            0x00, 0x00, 0x00                                      //  for registers RMPCNTL - MCNTL (0x24 - 0x26)
+                             0x30, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10,             //  for registers MODE - WDCNTL (0x00 - 0x06
+                             0x00, 0x00,                                           //  for registers IP and INTSTAT (0x07, 0x08)
+                             0x07, 0x0F, 0x00, 0x0F, 0x0F, 0x00, 0x03, 0x02, 0x01, //  for registers OP - INT_AUTO_CLR (0x09 - 0x11)
+                             0x00, 0x00, 0x30, 0x00, 0x82, 0x66, 0x82, 0x06,       //  for registers SETMODE - CCWPWH (0x12 - 0x19)
+                             0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF,       //  for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
+                             0x00, 0x00,                                           //  for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
+                             0x00, 0x00, 0x00                                      //  for registers RMPCNTL - MCNTL (0x24 - 0x26)
                            };
 
     set_all_registers( init_array, sizeof( init_array ) );
 }
 
-void PCA9629::set_all_registers( char *a, char size )
-{
+void PCA9629::set_all_registers( char *a, char size ) {
     int     error_code;
 
     error_code  = i2c.write( i2c_addr, a, size );
@@ -134,6 +133,7 @@
     write( MCNTL, 0x00 );
 }
 
+
 short PCA9629::pps( Direction dir, PrescalerRange prescaler, int pps ) {
     int     step_pulse_width;
 
@@ -155,6 +155,23 @@
     return ( step_pulse_width );
 }
 
+short PCA9629::pps( Direction dir, float pulse_per_second ) {
+    char    p       = 0;
+    char    ratio;
+
+    ratio   = (char)(40.6901 / pulse_per_second);
+
+    p   = (ratio & 0x01) ? 1 : p;
+    p   = (ratio & 0x02) ? 2 : p;
+    p   = (ratio & 0x04) ? 3 : p;
+    p   = (ratio & 0x08) ? 4 : p;
+    p   = (ratio & 0x10) ? 5 : p;
+    p   = (ratio & 0x20) ? 6 : p;
+    p   = (ratio & 0x40) ? 7 : p;
+
+    return ( pps( dir, (PrescalerRange)p, (int)pulse_per_second ) );
+}
+
 void PCA9629::rotations( Direction dir, int rotations ) {
     write( (dir == CW) ? CWRCOUNT_ : CCWRCOUNT_, rotations );
 }