Revision 7:199f109eb0c6, committed 2012-07-23

Comitter:

nxp_ip

Date:

Mon Jul 23 04:57:38 2012 +0000

Parent:

6:138665018069

Commit message:

version 1.1

Changed in this revision

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 ];

diff -r 138665018069 -r 199f109eb0c6 PCA9629.h
--- a/PCA9629.h	Wed Jul 18 07:42:48 2012 +0000
+++ b/PCA9629.h	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
  */
 
 #ifndef        MBED_PCA9629
@@ -15,16 +23,52 @@
 
 #define     INTELIGENT_WRITE
 
-#define     PCA9629_DEFAULT_ADDR      0x42
+#define     DEFAULT_STEPS_PER_ROTATION  48
+#define     DEFAULT_PCA9629_ADDR        0x42
 
 /** PCA9629 class
  *
+ *  This is a driver code for the PCA9629 stepper motor controller.
+ *  This class provides interface for PCA9629 operation and accessing its registers.
+ *  Detail information is available on next URL.
+ *    http://www.nxp.com/products/interface_and_connectivity/i2c/i2c_bus_controller_and_bridge_ics/PCA9629PW.html
+ *
+ *  Example:
+ *  @code
+ * #include "mbed.h"
+ * #include "PCA9629.h"
+ * 
+ * PCA9629 motor( p28, p27, 48 );  //  SDA, SCL, Steps/rotation, I2C_address (option)
+ * 
+ * int main() {
+ *     
+ *     //  Speed setting 200pps for clockwise (CW) rotation
+ *     motor.pps( PCA9629::CW, 200 );
+ *     
+ *     //  Set 2 rotations and 24 steps for CW
+ *     motor.rotations_and_steps( PCA9629::CW, 2, 24 );
+ * 
+ *     //  Speed setting 100pps for counterclockwise (CCW) rotation
+ *     motor.pps( PCA9629::CCW, 100 );
+ *     
+ *     //  Set 1 rotation and 24 steps for CCW
+ *     motor.rotations_and_steps( PCA9629::CCW, 1, 24 );
+ * 
+ *     while ( 1 ) {
+ *         motor.start( PCA9629::CW ); //  Motor start for CW
+ *         wait( 1.0 );
+ * 
+ *         motor.start( PCA9629::CCW ); //  Motor start for CCW
+ *         wait( 1.0 );
+ *     }
+ * }
+ *  @endcode
  */
 
+
 class PCA9629 {
 public:
-
-    /** name of registers */
+    /** name of the PCA9629 registers */
     typedef enum {
         MODE,            /**< Mode rgister */
         SUBADR1,         /**< I2C-bus subaddress 1 */
@@ -66,8 +110,9 @@
         LOOPDLY,         /**< Loopdelay time register */
         MCNTL,           /**< Control start/stop motor */
     } RegisterName;
-
-    /** register names to make 2 bytes access */
+    
+private:
+    /* register names for 2 bytes accessing */
     typedef enum {
         SROTN_      = SROTNL     | 0x80,    /**< Steps per rotation */
         CWPW_       = CWPWL      | 0x80,    /**< Step pulse width for CW rotation */
@@ -76,6 +121,11 @@
         CCWSCOUNT_  = CCWSCOUNTL | 0x80,    /**< Number of steps CCW */
         CWRCOUNT_   = CWRCOUNTL  | 0x80,    /**< Number of rotatations CW */
         CCWRCOUNT_  = CCWRCOUNTL | 0x80,    /**< Number of rotatations CCW */
+    } _RegisterNameFor16bitAccess;
+    
+public:
+    /** register names for 2 bytes accessing */
+    typedef enum {
         STEPS_PER_ROATION   = SROTN_,
         CW__STEP_WIDTH      = CWPW_,
         CCW_STEP_WIDTH      = CCWPW_,
@@ -83,7 +133,7 @@
         CCW_STEP_COUNT      = CCWSCOUNT_,
         CW__ROTATION_COUNT  = CWRCOUNT_,
         CCW_ROTATION_COUNT  = CCWRCOUNT_
-    } Register16bits;
+    } RegisterNameFor16bitAccess;
 
     /** keyword to select direction of rotation */
     typedef enum {
@@ -91,30 +141,26 @@
         CCW             /**< ConterClockwise direction */
     } Direction;
 
-    /** plescaler range setting */
-    typedef enum {
-        PRESCALER_FROM_40_TO_333333,    /**< Prescaler range from   3us(333333pps) to   24.576ms(40   pps) */
-        PRESCALER_FROM_20_TO_166667,    /**< Prescaler range from   6us(166667pps) to   49.152ms(20   pps) */
-        PRESCALER_FROM_10_TO_83333,     /**< Prescaler range from  12us( 83333pps) to   98.304ms(10   pps) */
-        PRESCALER_FROM_5_TO_41667,      /**< Prescaler range from  24us( 41667pps) to  196.608ms( 5   pps) */
-        PRESCALER_FROM_2_5_TO_20833,    /**< Prescaler range from  48us( 20833pps) to  393.216ms( 2.5 pps) */
-        PRESCALER_FROM_1_27_TO_10416,   /**< Prescaler range from  96us( 10416pps) to  786.432ms( 1.27pps) */
-        PRESCALER_FROM_0_64_TO_5208,    /**< Prescaler range from 192us(  5208pps) to 1572.864ms( 0.64pps) */
-        PRESCALER_FROM_0_32_TO_2604,    /**< Prescaler range from 384us(  2604pps) to 3145.728ms( 0.32pps) */
-    } PrescalerRange;
-
     /** Create a PCA9629 instance connected to specified I2C pins with specified address
      *
      * @param I2C_sda I2C-bus SDA pin
      * @param I2C_scl I2C-bus SCL pin
+     * @param steps_per_rotation motor specific setting. This determines how many steps are needed to execute one full turn of motor shaft (360°).
      * @param I2C_address I2C-bus address (default: 0x42)
      */
     PCA9629(
         PinName I2C_sda,
         PinName I2C_scl,
-        char    I2C_address = PCA9629_DEFAULT_ADDR
+        short   steps_per_rotation,
+        char    I2C_address         = DEFAULT_PCA9629_ADDR
     );
 
+    /** Software reset
+     *
+     *  Performs software reset through I2C bus
+     */
+    void software_reset( void );
+
     /** Initialize all registers
      *
      *  The initializing values are defined in the function
@@ -143,7 +189,7 @@
      *  @param register_name the register name: data writing into (it can be "SROTN_", "CWPW_", "CCWPW_", "CWRCOUNT_", "CCWSCOUNT_", "CWRCOUNT_" or "CCWRCOUNT_" )
      *  @param value 16 bits writing data
      */
-    void write( Register16bits register_name, short value );
+    void write( RegisterNameFor16bitAccess register_name, short value );
 
     /** Read 1 byte data from a register
      *
@@ -161,7 +207,7 @@
      *  @param register_name the register name: data writing into (it can be "SROTN_", "CWPW_", "CCWPW_", "CWRCOUNT_", "CCWSCOUNT_", "CWRCOUNT_" or "CCWRCOUNT_" )
      *  @return read 16 bits data from the registers
      */
-    short read( Register16bits register_name );
+    short read( RegisterNameFor16bitAccess register_name );
 
     /** Motor start
      *
@@ -186,43 +232,41 @@
      *  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 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 pulse_per_second );
-
-    /** Set PPS
-     *
-     *  Setting PulsePerSecond
-     *  This interface can be used to set CWPWx or CCWPWx registers
-     *
-     *  @param dir rotate direction ("CW" or "CCW")
      *  @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
+    /** Set rotations count
      *
      *  Setting rotation count
-     *  This interfaces CWRCOUNTx, CCWRCOUNTx registers
+     *  This interfaces CWRCOUNTx and CCWRCOUNTx registers
      *
      *  @param dir rotate direction ("CW" or "CCW")
-     *  @param rotations sets number of rotations with 16 bit value
+     *  @param rotation_count sets number of rotations with 16 bit value
      */
-    void rotations( Direction dir, int rotations );
+    void rotations( Direction dir, int rotation_count );
 
-    /** Set PPS
+    /** Set steps count
      *
      *  Setting step count
-     *  This interfaces CWSCOUNTx, CCWSCOUNTx registers
+     *  This interfaces CWSCOUNTx and CCWSCOUNTx registers
      *
      *  @param dir rotate direction ("CW" or "CCW")
-     *  @param steps sets number of steps with 16 bit value
+     *  @param step_count sets number of steps with 16 bit value
      */
-    void steps( Direction dir, int pps );
+    void steps( Direction dir, int step_count );
 
+    /** Set rotations and steps counts
+     *
+     *  Setting rotation and step count
+     *  This interfaces CWRCOUNTx, CCWRCOUNTx, CWSCOUNTx and CCWSCOUNTx registers
+     *
+     *  @param dir rotate direction ("CW" or "CCW")
+     *  @param rotation_count sets number of rotations with 16 bit value
+     *  @param step_count sets number of steps with 16 bit value
+     */
+    void rotations_and_steps( Direction dir, int rotation_count, int step_count );
 
     /** Register dump
      *
@@ -239,6 +283,29 @@
     void speed_change( unsigned short pw );
 
 private:
+    /* plescaler range setting */
+    typedef enum {
+        PRESCALER_FROM_40_TO_333333,    /*< Prescaler range from   3us(333333pps) to   24.576ms(40   pps) */
+        PRESCALER_FROM_20_TO_166667,    /*< Prescaler range from   6us(166667pps) to   49.152ms(20   pps) */
+        PRESCALER_FROM_10_TO_83333,     /*< Prescaler range from  12us( 83333pps) to   98.304ms(10   pps) */
+        PRESCALER_FROM_5_TO_41667,      /*< Prescaler range from  24us( 41667pps) to  196.608ms( 5   pps) */
+        PRESCALER_FROM_2_5_TO_20833,    /*< Prescaler range from  48us( 20833pps) to  393.216ms( 2.5 pps) */
+        PRESCALER_FROM_1_27_TO_10416,   /*< Prescaler range from  96us( 10416pps) to  786.432ms( 1.27pps) */
+        PRESCALER_FROM_0_64_TO_5208,    /*< Prescaler range from 192us(  5208pps) to 1572.864ms( 0.64pps) */
+        PRESCALER_FROM_0_32_TO_2604,    /*< Prescaler range from 384us(  2604pps) to 3145.728ms( 0.32pps) */
+    } PrescalerRange;
+
+    /* Set PPS
+     *
+     *  Setting PulsePerSecond
+     *  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 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 pulse_per_second );
 
     I2C     i2c;
     char    i2c_addr;