Diff: PCA9629.h

Revision:

6:138665018069

Parent:

5:aff87a1c8bd6

Child:

7:199f109eb0c6

--- a/PCA9629.h	Tue Apr 24 08:05:03 2012 +0000
+++ b/PCA9629.h	Wed Jul 18 07:42:48 2012 +0000
@@ -17,51 +17,10 @@
 
 #define     PCA9629_DEFAULT_ADDR      0x42
 
-#define        INIT_VALUE__MODE          0x10;
-#define        INIT_VALUE__SUBADR1       0xE2;
-#define        INIT_VALUE__SUBADR2       0xE4;
-#define        INIT_VALUE__SUBADR3       0xE8;
-#define        INIT_VALUE__ALLCALLADR    0xE0;
-#define        INIT_VALUE__WDTOI         0xFF;
-#define        INIT_VALUE__WDTCNTL       0x00;
-#define        INIT_VALUE__IP            0x00;
-#define        INIT_VALUE__INTSTAT       0x00;
-#define        INIT_VALUE__OP            0x0F;
-#define        INIT_VALUE__IOC           0x03;
-#define        INIT_VALUE__MSK           0x0F;
-#define        INIT_VALUE__CLRINT        0x0C;
-#define        INIT_VALUE__INTMODE       0x00;
-#define        INIT_VALUE__INT_ACT_SETUP 0x00;
-#define        INIT_VALUE__INT_MTR_SETUP 0x00;
-#define        INIT_VALUE__INT_ES_SETUP  0x00;
-#define        INIT_VALUE__INT_AUTO_CLR  0x00;
-#define        INIT_VALUE__SETMODE       0x00;
-#define        INIT_VALUE__PHCNTL        0x00;
-#define        INIT_VALUE__SROTNL        0x30;
-#define        INIT_VALUE__SROTNH        0x00;
-#define        INIT_VALUE__CWPWL         0x00;
-#define        INIT_VALUE__CWPWH         0x00;
-#define        INIT_VALUE__CCWPWL        0x00;
-#define        INIT_VALUE__CCWPWH        0x00;
-#define        INIT_VALUE__CWSCOUNTL     0x00;
-#define        INIT_VALUE__CWSCOUNTH     0x00;
-#define        INIT_VALUE__CCWSCOUNTL    0x00;
-#define        INIT_VALUE__CCWSCOUNTH    0x00;
-#define        INIT_VALUE__CWRCOUNTL     0x00;
-#define        INIT_VALUE__CWRCOUNTH     0x00;
-#define        INIT_VALUE__CCWRCOUNTL    0x00;
-#define        INIT_VALUE__CCWRCOUNTH    0x00;
-#define        INIT_VALUE__EXTRASTEPS0   0x00;
-#define        INIT_VALUE__EXTRASTEPS1   0x00;
-#define        INIT_VALUE__RAMPCNTL      0x00;
-#define        INIT_VALUE__LOOPDLY       0x00;
-#define        INIT_VALUE__MCNTL         0x00;
-
-
 /** PCA9629 class
  *
  */
- 
+
 class PCA9629 {
 public:
 
@@ -167,7 +126,7 @@
      *  The initializing values are defined in the function
      */
     void set_all_registers( char *a, char size );
-    
+
     /** Write 1 byte data into a register
      *
      *  Setting 8 bits data into a register
@@ -208,12 +167,12 @@
      *
      *  Start command
      *  This function starts motor operation with hard-stop flag and rotation+step enabled, no repeat will be performed
-     *  If custom start is required, use "write( PCA9629::MCNTL, 0xXX  )" to control each bits. 
+     *  If custom start is required, use "write( PCA9629::MCNTL, 0xXX  )" to control each bits.
      *
      *  @param dir rotate direction ("CW" or "CCW")
      */
     void start( Direction dir );
-    
+
     /** Motor stop
      *
      *  Stop command
@@ -228,10 +187,10 @@
      *
      *  @param dir rotate direction ("CW" or "CCW")
      *  @param prescaler prescaler setting (for 3 bits setting range from 0 to 0x7. See datasheet)
-     *  @param pps pps defineds pulse width for the motor. The pulse width will be 1/pps
+     *  @param pulse_per_second pps defineds pulse width for the motor. The pulse width will be 1/pps
      *  @return 16 bit data that what set to the CWPWx or CCWPWx registers
      */
-    short pps( Direction dir, PrescalerRange prescaler, int pps );
+    short pps( Direction dir, PrescalerRange prescaler, int pulse_per_second );
 
     /** Set PPS
      *
@@ -239,10 +198,10 @@
      *  This interface can be used to set CWPWx or CCWPWx registers
      *
      *  @param dir rotate direction ("CW" or "CCW")
-     *  @param prescaler prescaler setting (for 3 bits setting range from 0 to 0x7. See datasheet)
-     *  @param pps pps defineds pulse width for the motor. The pulse width will be 1/pps
+     *  @param pulse_per_second pps defineds pulse width for the motor. The pulse width will be 1/pps
      *  @return 16 bit data that what set to the CWPWx or CCWPWx registers
      */
+    short pps( Direction dir, float pulse_per_second );
 
     /** Set rotation count
      *
@@ -280,6 +239,7 @@
     void speed_change( unsigned short pw );
 
 private:
+
     I2C     i2c;
     char    i2c_addr;
 };