Diff: main.cpp

Revision:

0:e867e795937c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Sep 12 08:11:25 2014 +0000
@@ -0,0 +1,165 @@
+/** A sample code for PCA9629A
+ *
+ *  @author  Akifumi (Tedd) OKANO, NXP Semiconductors
+ *  @version 1.1
+ *  @date    12-Sep-2012
+ *
+ *  revision history (PCA9629A)
+ *      version 0.1 (05-Jun-2013) : PCA9629"A" initial version
+ *      version 0.2 (05-Jun-2013) : register name fix, register description added
+ *      version 1.0 (23-Apr-2014) : sample code for revision 1.0 library
+ *      version 1.1 (12-Sep-2014) : sample code for revision 1.1 library
+ *
+ *  Released under the Apache 2 license License
+ *
+ *  An operation sample of PCU9629A stepper motor controller.
+ *  The mbed accesses the PCU9629A registers through I2C.
+ *
+ *  This sample code demonstrates 4 type of PCA9629A operation
+ *
+ *  About PCA9629A:
+ *    http://www.nxp.com/products/interface_and_connectivity/i2c/i2c_bus_controller_and_bridge_ics/PCA9629APW.html
+ */
+
+#include "mbed.h"
+#include "PCA9629A.h"
+
+BusOut      leds( LED4, LED3, LED2, LED1 );
+
+PCA9629A    motor_controller( p28, p27, 0x42 );  //  SDA, SCL, Steps/rotation, I2C_address (option)
+
+void motor_action_0( void );
+void motor_action_1( void );
+void motor_action_2( void );
+void motor_action_3( void );
+void motor_action_CDE( void );
+
+int main()
+{
+    printf( "PCA9629A simple sample program\r\n" );
+
+    while ( 1 ) {
+        leds    = 0x1;
+        motor_action_0();   //  demo 0
+
+        leds    = 0x3;
+        motor_action_1();   //  demo 1
+
+        leds    = 0x7;
+        motor_action_2();   //  demo 2
+
+        leds    = 0xF;
+        motor_action_3();   //  demo 3
+    }
+}
+
+void motor_action_0( void )
+{
+    //  simple motor operation
+    //  the motor spins 2 times (200pps) for clockwise (CW), 1 time (100pps) for counter-clockwise.
+
+    motor_controller.stop();
+    motor_controller.init_registers();
+
+    motor_controller.pps( PCA9629A::CW, 200 );
+    motor_controller.steps( PCA9629A::CW, 96 );
+
+    motor_controller.pps( PCA9629A::CCW, 100 );
+    motor_controller.steps( PCA9629A::CCW, 48 );
+
+    for ( int i = 0; i < 2; i++ ) {
+        motor_controller.start( PCA9629A::CW );
+        wait( 2.0 );
+
+        motor_controller.start( PCA9629A::CCW );
+        wait( 2.0 );
+    }
+}
+
+void motor_action_1( void )
+{
+    //  ramp control demo
+
+    motor_controller.stop();
+    motor_controller.init_registers();
+
+    motor_controller.write( PCA9629A::RUCNTL, 0x27  );
+    motor_controller.write( PCA9629A::RDCNTL, 0x27  );
+    motor_controller.write( PCA9629A::CW__STEP_WIDTH, 1175  );
+    motor_controller.write( PCA9629A::CW__STEP_COUNT, 131  );
+
+    for ( int i = 0; i < 2; i++ ) {
+        motor_controller.start( PCA9629A::CW );  //  start
+        wait( 2.5 );
+    }
+}
+
+void motor_action_2( void )
+{
+    //  interrupt operation demo
+
+    motor_controller.stop();
+
+    //  this array is a sample for PCA9629A local interrupt operation
+    //  the P0 and P1 inputs enabled for interrupt in.
+    //  motor rotation will be reversed by interrupt signals.
+    //  the motor direction will be changed 12 steps after when the interrupt happened
+    //
+    //  CW = 40.69pps, CCW = 81.38pps
+
+    char init_array2[] = {    0x80,
+                              0x20, 0x0A, 0x00, 0x03, 0x13, 0x1C,             //  for registers MODE - MSK (0x00 - 0x07
+                              0x00, 0x00, 0x69, 0x00, 0x00,                   //  for registers INTSTAT - EXTRASTEPS1 (0x06, 0xA)
+                              0x10, 0x80,                                     //  for registers OP_CFG_PHS and OP_STAT_TO (0x0B - 0xC)
+                              0x09, 0x09, 0x00, 0x00, 0x00,                   //  for registers RUCNTL - LOOPDLY_CCW (0xD- 0x10)
+                              0x60, 0x00, 0x60, 0x00, 0x05, 0x0D, 0x05, 0x0D, //  for registers CWSCOUNTL - MCNTL (0x12 - 0x1A)
+                              0x82,                                           //  for register MCNTL (0x1A)
+                              0xE2, 0xE4, 0xE6, 0xE0                          //  for registers SUBADR1 - ALLCALLADR (0x1B - 0x1E)
+                         };
+
+    motor_controller.set_all_registers( init_array2, sizeof( init_array2 ));
+    wait( 5.0 );
+
+    motor_controller.stop();
+    wait( 0.5 );
+}
+
+void motor_action_3( void )
+{
+    //  speed change sample while the motor is running
+
+    motor_controller.stop();
+    motor_controller.init_registers();
+
+    motor_controller.steps( PCA9629A::CCW, 0xFFFF );
+
+    for ( int i = 0; i < 2; i++ ) {
+        for ( int s = 1; s <= 5; s++ ) {
+            motor_controller.pps( PCA9629A::CCW, 55 * s );
+            motor_controller.start( PCA9629A::CCW );
+            wait( 1.0 );
+        }
+    }
+}
+
+void motor_action_CDE( void )
+{
+    char    scale[ 8 ]  = { 4, 6, 8, 9, 11, 13, 15, 16 };  //   CDEFGABC (A=0)
+    float   freq[ 8 ];
+
+    for ( int i = 0; i < 8; i++ )
+        freq[ i ]   = (440.0 / 8.0) * pow( 2.0, (float)(scale[ i ]) / 12.0 );
+
+    motor_controller.stop();
+    motor_controller.init_registers();
+    motor_controller.steps( PCA9629A::CCW, 0xFFFF );
+
+    for ( int i = 0; i < 2; i++ ) {
+        motor_controller.stop();
+        for ( int s = 0; s < 8; s++ ) {
+            motor_controller.pps( PCA9629A::CCW, freq[ s ] );
+            motor_controller.start( PCA9629A::CCW );
+            wait( 1 );
+        }
+    }
+}