Diff: PCA9629.cpp

Revision:

7:199f109eb0c6

Parent:

6:138665018069

diff -r 138665018069 -r 199f109eb0c6 PCA9629.cpp
--- a/PCA9629.cpp	Wed Jul 18 07:42:48 2012 +0000
+++ b/PCA9629.cpp	Mon Jul 23 04:57:38 2012 +0000
@@ -1,13 +1,21 @@
-/** A sample code for PCA9629
+/** PCA9629 library
  *
  *  @author  Akifumi (Tedd) OKANO, NXP Semiconductors
- *  @version 1.0
- *  @date    24-Apr-2011
+ *  @version 1.1
+ *  @date    23-Jul-2012
+ *
+ *  revision history
+ *      version 1.0 (24-Apr-2011) : Initial version
+ *      version 1.1 (23-Jul-2012) : API modification
+ *                                  Correction for comments
  *
  *  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.
+ *
+ *  About PCA9629:
+ *    http://www.nxp.com/products/interface_and_connectivity/i2c/i2c_bus_controller_and_bridge_ics/PCA9629PW.html
  */
 
 #include    "mbed.h"
@@ -28,13 +36,22 @@
 PCA9629::PCA9629(
     PinName I2C_sda,
     PinName I2C_scl,
+    short   steps_per_rotation,
     char    I2C_address
 ) : i2c( I2C_sda, I2C_scl ), i2c_addr( I2C_address ) {
 
     i2c.frequency( 400 * 1000 );
+    software_reset();
     init_registers();
 }
 
+void PCA9629::software_reset( void ) {
+    char    v   = 0x06;
+    
+    i2c.write( 0x00, &v, 1 );
+    wait_ms( 1 );
+}
+
 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
@@ -71,7 +88,7 @@
         error( "PCA9629 writing failed\r\n" );
 }
 
-void PCA9629::write( Register16bits register_name, short value ) {
+void PCA9629::write( RegisterNameFor16bitAccess register_name, short value ) {
     int     error_code;
     char    cmd[ 3 ];
 
@@ -105,7 +122,7 @@
     return ( data );
 }
 
-short PCA9629::read( Register16bits register_name ) {
+short PCA9629::read( RegisterNameFor16bitAccess register_name ) {
     int     error_code;
     char    cmd;
     char    data[ 2 ];
@@ -150,7 +167,7 @@
 
     step_pulse_width    |= (prescaler << 13);
 
-    write( (dir == CW) ? CWPW_ : CCWPW_, step_pulse_width );
+    write( (dir == CW) ? CW__STEP_WIDTH : CCW_STEP_WIDTH, step_pulse_width );
 
     return ( step_pulse_width );
 }
@@ -172,14 +189,18 @@
     return ( pps( dir, (PrescalerRange)p, (int)pulse_per_second ) );
 }
 
-void PCA9629::rotations( Direction dir, int rotations ) {
-    write( (dir == CW) ? CWRCOUNT_ : CCWRCOUNT_, rotations );
+void PCA9629::rotations( Direction dir, int rotation_count ) {
+    write( (dir == CW) ? CW__ROTATION_COUNT : CCW_ROTATION_COUNT, rotation_count );
 }
 
-void PCA9629::steps( Direction dir, int steps ) {
-    write( (dir == CW) ? CWSCOUNT_ : CCWSCOUNT_, steps );
+void PCA9629::steps( Direction dir, int step_count ) {
+    write( (dir == CW) ? CW__STEP_COUNT : CCW_STEP_COUNT, step_count );
 }
 
+void PCA9629::rotations_and_steps( Direction dir, int rotation_count, int step_count ) {
+    rotations( dir, rotation_count );
+    steps( dir, step_count );
+}
 
 void PCA9629::register_dump( void ) {
     char    data[ 0x27 ];