PCA9629 class. More...

#include <PCA9629.h>

Public Types
enum	RegisterName { MODE, SUBADR1, SUBADR2, SUBADR3, ALLCALLADR, WDTOI, WDTCNTL, IP, INTSTAT, OP, IOC, MSK, CLRINT, INTMODE, INT_ACT_SETUP, INT_MTR_SETUP, INT_ES_SETUP, INT_AUTO_CLR, SETMODE, PHCNTL, SROTNL, SROTNH, CWPWL, CWPWH, CCWPWL, CCWPWH, CWSCOUNTL, CWSCOUNTH, CCWSCOUNTL, CCWSCOUNTH, CWRCOUNTL, CWRCOUNTH, CCWRCOUNTL, CCWRCOUNTH, EXTRASTEPS0, EXTRASTEPS1, RAMPCNTL, LOOPDLY, MCNTL }
	name of the PCA9629 registers More...
enum	RegisterNameFor16bitAccess
	register names for 2 bytes accessing More...
enum	Direction { CW = 0, CCW }
	keyword to select direction of rotation More...
Public Member Functions
	PCA9629 (PinName I2C_sda, PinName I2C_scl, short steps_per_rotation, char I2C_address=DEFAULT_PCA9629_ADDR)
	Create a PCA9629 instance connected to specified I2C pins with specified address.
void	software_reset (void)
	Software reset.
void	init_registers (void)
	Initialize all registers.
void	set_all_registers (char *a, char size)
	Initialize all registers.
void	write (RegisterName register_name, char value)
	Write 1 byte data into a register.
void	write (RegisterNameFor16bitAccess register_name, short value)
	Write 2 bytes data into a register.
char	read (RegisterName register_name)
	Read 1 byte data from a register.
short	read (RegisterNameFor16bitAccess register_name)
	Read 2 byte data from registers.
void	start (Direction dir)
	Motor start.
void	stop (void)
	Motor stop.
short	pps (Direction dir, float pulse_per_second)
	Set PPS.
void	rotations (Direction dir, int rotation_count)
	Set rotations count.
void	steps (Direction dir, int step_count)
	Set steps count.
void	rotations_and_steps (Direction dir, int rotation_count, int step_count)
	Set rotations and steps counts.
void	register_dump (void)
	Register dump.
void	speed_change (unsigned short pw)
	Register dump.

Detailed Description

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:

 #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 );
     }
 }

Definition at line 69 of file PCA9629.h.

Member Enumeration Documentation

enum Direction

keyword to select direction of rotation

Enumerator:

CW	Clockwise direction.
CCW	ConterClockwise direction.

Definition at line 139 of file PCA9629.h.

enum RegisterName

name of the PCA9629 registers

Enumerator:

MODE	Mode rgister.
SUBADR1	I2C-bus subaddress 1.
SUBADR2	I2C-bus subaddress 2.
SUBADR3	I2C-bus subaddress 3.
ALLCALLADR	All call I2C-bus address.
WDTOI	Watchdog time-out interval register.
WDTCNTL	Watchdog control register.
IP	Input port register.
INTSTAT	Interrupt status register.
OP	Output port register.
IOC	I/O configuration register.
MSK	Mask interrupt register.
CLRINT	Clear Interrupts.
INTMODE	Interrupt mode register.
INT_ACT_SETUP	Interrupt action setup control register.
INT_MTR_SETUP	Interrupt motor setup control register.
INT_ES_SETUP	Interrupt extra steps setup control register.
INT_AUTO_CLR	Interrupt auto clear control register.
SETMODE	Output state on STOP.
PHCNTL	Phase control register.
SROTNL	Steps per rotation low byte.
SROTNH	Steps per rotation high byte.
CWPWL	Step pulse width for CW rotation low byte.
CWPWH	Step pulse width for CW rotation high byte.
CCWPWL	Step pulse width for CCW rotation low byte.
CCWPWH	Step pulse width for CCW rotation high byte.
CWSCOUNTL	Number of steps CW low byte.
CWSCOUNTH	Number of steps CW high byte.
CCWSCOUNTL	Number of steps CCW low byte.
CCWSCOUNTH	Number of steps CCW high byte.
CWRCOUNTL	Number of rotatations CW low byte.
CWRCOUNTH	Number of rotatations CW high byte.
CCWRCOUNTL	Number of rotatations CCW low byte.
CCWRCOUNTH	Number of rotatations CCW high byte.
EXTRASTEPS0	Count value for extra steps or rotations for INTP0.
EXTRASTEPS1	Count value for extra steps or rotations for INTP1.
RAMPCNTL	Ramp control register.
LOOPDLY	Loopdelay time register.
MCNTL	Control start/stop motor.

Definition at line 72 of file PCA9629.h.

enum RegisterNameFor16bitAccess

register names for 2 bytes accessing

Definition at line 128 of file PCA9629.h.

Constructor & Destructor Documentation

PCA9629	(	PinName	I2C_sda,
		PinName	I2C_scl,
		short	steps_per_rotation,
		char	I2C_address = `DEFAULT_PCA9629_ADDR`
	)

Create a PCA9629 instance connected to specified I2C pins with specified address.

Parameters:

I2C_sda	I2C-bus SDA pin
I2C_scl	I2C-bus SCL pin
steps_per_rotation	motor specific setting. This determines how many steps are needed to execute one full turn of motor shaft (360°).
I2C_address	I2C-bus address (default: 0x42)

Definition at line 36 of file PCA9629.cpp.

Member Function Documentation

void init_registers ( void )

Initialize all registers.

The initializing values are defined in the function

Definition at line 55 of file PCA9629.cpp.

short pps	(	Direction	dir,
		float	pulse_per_second
	)

Set PPS.

Setting PulsePerSecond This interface can be used to set CWPWx or CCWPWx registers

Parameters:

dir	rotate direction ("CW" or "CCW")
pulse_per_second	pps defineds pulse width for the motor. The pulse width will be 1/pps

Returns:: 16 bit data that what set to the CWPWx or CCWPWx registers

Definition at line 175 of file PCA9629.cpp.

char read ( RegisterName register_name )

Read 1 byte data from a register.

Setting data into a register

Parameters:

register_name the register name: data reading from

Returns:: read 8 bits data from the register

Definition at line 105 of file PCA9629.cpp.

short read ( RegisterNameFor16bitAccess register_name )

Read 2 byte data from registers.

Setting data into a register

Parameters:

register_name the register name: data writing into (it can be "SROTN_", "CWPW_", "CCWPW_", "CWRCOUNT_", "CCWSCOUNT_", "CWRCOUNT_" or "CCWRCOUNT_" )

Returns:: read 16 bits data from the registers

Definition at line 125 of file PCA9629.cpp.

void register_dump ( void )

Register dump.

Dumping all register data to serial console

Definition at line 205 of file PCA9629.cpp.

void rotations	(	Direction	dir,
		int	rotation_count
	)

Set rotations count.

Setting rotation count This interfaces CWRCOUNTx and CCWRCOUNTx registers

Parameters:

dir	rotate direction ("CW" or "CCW")
rotation_count	sets number of rotations with 16 bit value

Definition at line 192 of file PCA9629.cpp.

void rotations_and_steps	(	Direction	dir,
		int	rotation_count,
		int	step_count
	)

Set rotations and steps counts.

Setting rotation and step count This interfaces CWRCOUNTx, CCWRCOUNTx, CWSCOUNTx and CCWSCOUNTx registers

Parameters:

dir	rotate direction ("CW" or "CCW")
rotation_count	sets number of rotations with 16 bit value
step_count	sets number of steps with 16 bit value

Definition at line 200 of file PCA9629.cpp.

void set_all_registers	(	char *	a,
		char	size
	)

Initialize all registers.

The initializing values are defined in the function

Definition at line 69 of file PCA9629.cpp.

void software_reset ( void )

Software reset.

Performs software reset through I2C bus

Definition at line 48 of file PCA9629.cpp.

void speed_change ( unsigned short pw )

Register dump.

Dumping all register data to serial console

Definition at line 223 of file PCA9629.cpp.

void start ( Direction dir )

Motor start.

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.

Parameters:

dir	rotate direction ("CW" or "CCW")

Definition at line 145 of file PCA9629.cpp.

void steps	(	Direction	dir,
		int	step_count
	)

Set steps count.

Setting step count This interfaces CWSCOUNTx and CCWSCOUNTx registers

Parameters:

dir	rotate direction ("CW" or "CCW")
step_count	sets number of steps with 16 bit value

Definition at line 196 of file PCA9629.cpp.

void stop ( void )

Motor stop.

Stop command

Definition at line 149 of file PCA9629.cpp.

void write	(	RegisterName	register_name,
		char	value
	)

Write 1 byte data into a register.

Setting 8 bits data into a register

Parameters:

register_name	the register name: data writing into
value	8 bits writing data

Definition at line 78 of file PCA9629.cpp.

void write	(	RegisterNameFor16bitAccess	register_name,
		short	value
	)

Write 2 bytes data into a register.

Setting 16 bits data into registers

Parameters:

register_name	the register name: data writing into (it can be "SROTN_", "CWPW_", "CCWPW_", "CWRCOUNT_", "CCWSCOUNT_", "CWRCOUNT_" or "CCWRCOUNT_" )
value	16 bits writing data

Definition at line 91 of file PCA9629.cpp.

Type:	Library
Created:	02 Feb 2012
Imports:	54
Forks:	0
Commits:	8
Dependents:	1
Dependencies:	0
Followers:	2

PCA9629 Class Reference

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Repository toolbox

Repository details

Components

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PCA9629 Class Reference

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Repository toolbox

Repository details

Components

Important Information for this Arm website

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