Sample code for PCA9629 operation

Dependencies:   mbed PCA9629

What is "PCA9629" ?

Information

The stepper motor controller PCA9629A is available now!
This "A-version (PCA9629A)" is a feature extended version on "non-A (PCA9629)".
If you are thinking new design, the PCA9629A can be a good option.

The PCA9629A has several new features like on-the-fly speed change, extended ramp controls, filter settings for GPIO port inputs, braking and releasing by timeout.. and more.

Please find detail information here. The "A-version" chip is pin-compatible to "non-A". So it can be replaced easily.
The register mapping and bit fields are re-defined. Those should be cared by software.
A sample code and a class library are available for mbed.

Import programPCA9629A_Hello

Hello program for PCA9629A. Demonstrates basic operations of PCA9629A component library.

Import libraryPCA9629A

PCA9629A component library

A Stepper motor controller

/media/uploads/nxp_ip/9629x5-bd-s.jpg
PCA9629 (x5) demo board: PCA9629, 4x FETs and stepper motor

The PCA9629 is an I2C-bus controlled low-power CMOS device that provides all the logic and control required to drive a four phase stepper motor. PCA9629 is intended to be used with external high current drivers to drive the motor coils. The PCA9629 supports three stepper motor drive formats: one-phase (wave drive), two-phase, and half-step. In addition, when used as inputs, four General Purpose Input/Outputs (GPIOs) allow sensing of logic level output from optical interrupter modules and generate active LOW interrupt signal on the INT pin of PCA9629. This is a useful feature in sensing home position of motor shaft or reference for step pulses. Upon interrupt, the PCA9629 can be programmed to automatically stop the motor or reverse the direction of rotation of motor.

/media/uploads/nxp_ip/block-diagram0.png
Communicate with mbed through I2C. The motor can be operated by register settings

Output wave train is programmable using control registers. The control registers are programmed via the I2C-bus. Features built into the PCA9629 provide highly flexible control of stepper motor, off-load bus master/micro and significantly reduce I2C-bus traffic. These include control of step size, number of steps per single command, number of full rotations and direction of rotation. A ramp-up on start and/or ramp-down on stop is also provided.

/media/uploads/nxp_ip/pca9629_16steps_w_ramp_control.png
Waveforms: Lower 2 lines are I2C bus. Upper 4 lines are output for motor driver stage
Motor moving 16 steps with acceleration and deceleration after register setting via I2C

The PCA9629 is available in a 16-pin TSSOP package and is specified over the -40 deg-C to +85 deg-C industrial temperature range.

/media/uploads/nxp_ip/dsc_0103_-1-.jpg
TSSOP16 package

Datasheet is available at next URL.
http://www.nxp.com/documents/data_sheet/PCA9629.pdf

Hardware

A sample schematic diagram is shown in next picture.

/media/uploads/nxp_ip/sample-sch.png

This schematic diagram shows a sample of the PF35T-48C stepper motor. It is using 12V supply voltage for motor and driving by SI3812DV FETs.
Pull-up resisters: For /RESET and /INT pins : 4.7K-ohms, for I2C signals (SDA and SCL) : >1.3k-ohms.

NOTE

For the correct operation of the "auto interrupt" demo, the GPIO port P0(pin1) and P1(pin2) must be connected to sensor input. signal edge of those pins are treated as the interrupt.

Sample code

This sample code operates the PCA9629 using its class library.
For the details of the library, please find information in library page.

Import libraryPCA9629

PCA9629 a stepper motor controller class library

API details are available in here

This program targets PCA9629 which has I2C address of 0x42 on I2C bus on pin28 and pin27 of mbed. 4 types motor actions are demonstrated in sequence (following 1..4 steps in loop).

  1. Simple motor turn demo
    • Motor moved 96 steps with 100pps (pulse persecond) speed
    • Then the motor turn reversed, move 48 steps by 50pps.
  2. Ramp control demo
    • total operation time = 2 seconds, initial speed = 40.69pps, rotations = 5turns+0steps, ramp-up enable = enable, ramp-down enable = enable, rotate direction = CW
    • The ramp control can be done with several register settings. The setting value calculation can be done by register setting tool (an Excel worksheet) from NXP.
  3. Auto interrupt demo
    • The GPIO inputs can be used as interrupt for PCA9629. The operation can be stopped or change the direction of turn.
    • This is turn direction auto reversing demo. Motor will switch the direction 12 steps after interrupt signal assertion.
    • The register setting of interrupt operation can be done by register setting tool also.
    • This demo works correctly only when sensor signals available on P0(pin1) and P1(pin2) input pins.
  4. Speed change demo
    • Changing motor speed in 5 steps from 55pps to 275pps.
Committer:
nxp_ip
Date:
Tue Apr 24 08:19:06 2012 +0000
Revision:
1:cab53217fcc1
Parent:
0:4f93f6ecf23c
Child:
2:2e75cedf6565
version 1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nxp_ip 0:4f93f6ecf23c 1 /** A sample/demo code for PCA9629
nxp_ip 0:4f93f6ecf23c 2 *
nxp_ip 1:cab53217fcc1 3 * @author Akifumi (Tedd) OKANO, NXP Semiconductors
nxp_ip 0:4f93f6ecf23c 4 * @version 1.0
nxp_ip 1:cab53217fcc1 5 * @date 24-Apr-2011
nxp_ip 0:4f93f6ecf23c 6 *
nxp_ip 0:4f93f6ecf23c 7 * Released under the MIT License: http://mbed.org/license/mit
nxp_ip 0:4f93f6ecf23c 8 *
nxp_ip 0:4f93f6ecf23c 9 * An operation sample of PCU9629 stepper motor controller.
nxp_ip 0:4f93f6ecf23c 10 * The mbed accesses the PCU9629 registers through I2C.
nxp_ip 0:4f93f6ecf23c 11 *
nxp_ip 0:4f93f6ecf23c 12 * This sample code demonstrates 4 type of PCA9629 operation
nxp_ip 0:4f93f6ecf23c 13 */
nxp_ip 0:4f93f6ecf23c 14
nxp_ip 0:4f93f6ecf23c 15 #include "mbed.h"
nxp_ip 0:4f93f6ecf23c 16 #include "PCA9629.h"
nxp_ip 0:4f93f6ecf23c 17
nxp_ip 0:4f93f6ecf23c 18 BusOut leds( LED4, LED3, LED2, LED1 );
nxp_ip 0:4f93f6ecf23c 19 PCA9629 motor_controller( p28, p27, 0x42 );
nxp_ip 0:4f93f6ecf23c 20
nxp_ip 0:4f93f6ecf23c 21 void motor_action_0( void );
nxp_ip 0:4f93f6ecf23c 22 void motor_action_1( void );
nxp_ip 0:4f93f6ecf23c 23 void motor_action_2( void );
nxp_ip 0:4f93f6ecf23c 24 void motor_action_3( void );
nxp_ip 0:4f93f6ecf23c 25 void motor_action_CDE( void );
nxp_ip 0:4f93f6ecf23c 26
nxp_ip 0:4f93f6ecf23c 27 int main() {
nxp_ip 0:4f93f6ecf23c 28 printf( "PCA9629 simple sample program\r\n" );
nxp_ip 0:4f93f6ecf23c 29
nxp_ip 0:4f93f6ecf23c 30 while ( 1 ) {
nxp_ip 0:4f93f6ecf23c 31 leds = 0x1;
nxp_ip 0:4f93f6ecf23c 32 motor_action_0();
nxp_ip 0:4f93f6ecf23c 33
nxp_ip 0:4f93f6ecf23c 34 leds = 0x3;
nxp_ip 0:4f93f6ecf23c 35 motor_action_1();
nxp_ip 0:4f93f6ecf23c 36
nxp_ip 0:4f93f6ecf23c 37 leds = 0x7;
nxp_ip 0:4f93f6ecf23c 38 motor_action_2();
nxp_ip 0:4f93f6ecf23c 39
nxp_ip 0:4f93f6ecf23c 40 leds = 0xF;
nxp_ip 0:4f93f6ecf23c 41 motor_action_3();
nxp_ip 0:4f93f6ecf23c 42 }
nxp_ip 0:4f93f6ecf23c 43 }
nxp_ip 0:4f93f6ecf23c 44
nxp_ip 0:4f93f6ecf23c 45 void motor_action_0( void ) {
nxp_ip 0:4f93f6ecf23c 46
nxp_ip 0:4f93f6ecf23c 47 // simple motor operation
nxp_ip 0:4f93f6ecf23c 48 // the motor spins 2 times (100pps) for clockwise (CW), 1 time (50pps) for counter-clockwise.
nxp_ip 0:4f93f6ecf23c 49
nxp_ip 0:4f93f6ecf23c 50 motor_controller.stop();
nxp_ip 0:4f93f6ecf23c 51 motor_controller.init_registers();
nxp_ip 0:4f93f6ecf23c 52
nxp_ip 0:4f93f6ecf23c 53 motor_controller.pps( PCA9629::CW, PCA9629::PRESCALER_FROM_40_TO_333333, 100 );
nxp_ip 0:4f93f6ecf23c 54 motor_controller.steps( PCA9629::CW, 96 );
nxp_ip 0:4f93f6ecf23c 55
nxp_ip 0:4f93f6ecf23c 56 motor_controller.pps( PCA9629::CCW, PCA9629::PRESCALER_FROM_40_TO_333333, 50 );
nxp_ip 0:4f93f6ecf23c 57 motor_controller.steps( PCA9629::CCW, 48 );
nxp_ip 0:4f93f6ecf23c 58
nxp_ip 0:4f93f6ecf23c 59 for ( int i = 0; i < 2; i++ ) {
nxp_ip 0:4f93f6ecf23c 60 motor_controller.start( PCA9629::CW );
nxp_ip 0:4f93f6ecf23c 61 wait( 2.0 );
nxp_ip 0:4f93f6ecf23c 62
nxp_ip 0:4f93f6ecf23c 63 motor_controller.start( PCA9629::CCW );
nxp_ip 0:4f93f6ecf23c 64 wait( 2.0 );
nxp_ip 0:4f93f6ecf23c 65 }
nxp_ip 0:4f93f6ecf23c 66 }
nxp_ip 0:4f93f6ecf23c 67
nxp_ip 0:4f93f6ecf23c 68 void motor_action_1( void ) {
nxp_ip 0:4f93f6ecf23c 69
nxp_ip 0:4f93f6ecf23c 70 // ramp control demo
nxp_ip 0:4f93f6ecf23c 71
nxp_ip 0:4f93f6ecf23c 72 motor_controller.stop();
nxp_ip 0:4f93f6ecf23c 73 motor_controller.init_registers();
nxp_ip 0:4f93f6ecf23c 74
nxp_ip 0:4f93f6ecf23c 75 // auto generated example code for PCA9629 on mbed
nxp_ip 0:4f93f6ecf23c 76 // setting: total operation time = 2, initial speed = 40.69, rotations = 5, steps = 0, ramp-up enable = enable, ramp-down enable = enable, rotate direction = CW
nxp_ip 0:4f93f6ecf23c 77
nxp_ip 0:4f93f6ecf23c 78 // motor_controller.write( PCA9629::STEPS_PER_ROATION, 48 );
nxp_ip 0:4f93f6ecf23c 79 motor_controller.write( PCA9629::CW__STEP_WIDTH, 1175 );
nxp_ip 0:4f93f6ecf23c 80 motor_controller.write( PCA9629::CW__STEP_COUNT, 35 );
nxp_ip 0:4f93f6ecf23c 81 motor_controller.write( PCA9629::CW__ROTATION_COUNT, 2 );
nxp_ip 0:4f93f6ecf23c 82 motor_controller.write( PCA9629::RAMPCNTL, 0x37 );
nxp_ip 0:4f93f6ecf23c 83
nxp_ip 0:4f93f6ecf23c 84 for ( int i = 0; i < 2; i++ ) {
nxp_ip 0:4f93f6ecf23c 85 motor_controller.write( PCA9629::MCNTL, 0xA8 ); // start
nxp_ip 0:4f93f6ecf23c 86 wait( 2.5 );
nxp_ip 0:4f93f6ecf23c 87 }
nxp_ip 0:4f93f6ecf23c 88 }
nxp_ip 0:4f93f6ecf23c 89
nxp_ip 0:4f93f6ecf23c 90 void motor_action_2( void ) {
nxp_ip 0:4f93f6ecf23c 91
nxp_ip 0:4f93f6ecf23c 92 // interrupt operation demo
nxp_ip 0:4f93f6ecf23c 93
nxp_ip 0:4f93f6ecf23c 94 motor_controller.stop();
nxp_ip 0:4f93f6ecf23c 95
nxp_ip 0:4f93f6ecf23c 96 // this array is a sample for PCA9629 local interrupt operation
nxp_ip 0:4f93f6ecf23c 97 // the P0 and P1 inputs enabled for interrupt in.
nxp_ip 0:4f93f6ecf23c 98 // motor rotation will be reversed by interrupt signals.
nxp_ip 0:4f93f6ecf23c 99 // the motor direction will be changed 12 steps after when the interrupt happened
nxp_ip 0:4f93f6ecf23c 100 //
nxp_ip 0:4f93f6ecf23c 101 // CW = 40.69pps, CCW = 81.38pps
nxp_ip 0:4f93f6ecf23c 102
nxp_ip 0:4f93f6ecf23c 103 char init_array2[] = { 0x80,
nxp_ip 0:4f93f6ecf23c 104 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0xFF, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
nxp_ip 0:4f93f6ecf23c 105 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
nxp_ip 0:4f93f6ecf23c 106 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x01, 0x03, 0x03, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
nxp_ip 0:4f93f6ecf23c 107 0x00, 0x00, 0x30, 0x00, 0xFF, 0x1F, 0xFF, 0x0F, // for registers SETMODE - CCWPWH (0x12 - 0x19)
nxp_ip 0:4f93f6ecf23c 108 0xFF, 0xFF, 0xFF, 0xFF, 0x0A, 0x00, 0x0A, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
nxp_ip 0:4f93f6ecf23c 109 0x0C, 0x0C, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
nxp_ip 0:4f93f6ecf23c 110 0x00, 0x00, 0xA8 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
nxp_ip 0:4f93f6ecf23c 111 };
nxp_ip 0:4f93f6ecf23c 112
nxp_ip 0:4f93f6ecf23c 113 motor_controller.set_all_registers( init_array2, sizeof( init_array2 ));
nxp_ip 0:4f93f6ecf23c 114 wait( 5.0 );
nxp_ip 0:4f93f6ecf23c 115
nxp_ip 0:4f93f6ecf23c 116 motor_controller.stop();
nxp_ip 0:4f93f6ecf23c 117 wait( 0.5 );
nxp_ip 0:4f93f6ecf23c 118
nxp_ip 0:4f93f6ecf23c 119 }
nxp_ip 0:4f93f6ecf23c 120
nxp_ip 0:4f93f6ecf23c 121 void motor_action_3( void ) {
nxp_ip 0:4f93f6ecf23c 122
nxp_ip 0:4f93f6ecf23c 123 // speed change sample while the motor is running
nxp_ip 0:4f93f6ecf23c 124
nxp_ip 0:4f93f6ecf23c 125 motor_controller.stop();
nxp_ip 0:4f93f6ecf23c 126 motor_controller.init_registers();
nxp_ip 0:4f93f6ecf23c 127
nxp_ip 0:4f93f6ecf23c 128 motor_controller.rotations( PCA9629::CCW, 0xFFFF );
nxp_ip 0:4f93f6ecf23c 129
nxp_ip 0:4f93f6ecf23c 130 for ( int i = 0; i < 2; i++ ) {
nxp_ip 0:4f93f6ecf23c 131 for ( int s = 1; s <= 5; s++ ) {
nxp_ip 0:4f93f6ecf23c 132 motor_controller.pps( PCA9629::CCW, PCA9629::PRESCALER_FROM_40_TO_333333, 55 * s );
nxp_ip 0:4f93f6ecf23c 133 motor_controller.start( PCA9629::CCW );
nxp_ip 0:4f93f6ecf23c 134 wait( 1.0 );
nxp_ip 0:4f93f6ecf23c 135 motor_controller.stop();
nxp_ip 0:4f93f6ecf23c 136 }
nxp_ip 0:4f93f6ecf23c 137 }
nxp_ip 0:4f93f6ecf23c 138 }
nxp_ip 0:4f93f6ecf23c 139
nxp_ip 0:4f93f6ecf23c 140 void motor_action_CDE( void ) {
nxp_ip 0:4f93f6ecf23c 141 char scale[ 8 ] = { 4, 6, 8, 9, 11, 13, 15, 16 }; // CDEFGABC from A
nxp_ip 0:4f93f6ecf23c 142 float freq[ 8 ];
nxp_ip 0:4f93f6ecf23c 143
nxp_ip 0:4f93f6ecf23c 144 for ( int i = 0; i < 8; i++ )
nxp_ip 0:4f93f6ecf23c 145 freq[ i ] = 55.0 * pow( 2.0, (float)(scale[ i ]) / 12.0 );
nxp_ip 0:4f93f6ecf23c 146
nxp_ip 0:4f93f6ecf23c 147 motor_controller.stop();
nxp_ip 0:4f93f6ecf23c 148 motor_controller.init_registers();
nxp_ip 0:4f93f6ecf23c 149 motor_controller.rotations( PCA9629::CCW, 0xFFFF );
nxp_ip 0:4f93f6ecf23c 150 motor_controller.write( PCA9629::PHCNTL,0x1 );
nxp_ip 0:4f93f6ecf23c 151
nxp_ip 0:4f93f6ecf23c 152 for ( int i = 0; i < 2; i++ ) {
nxp_ip 0:4f93f6ecf23c 153 motor_controller.stop();
nxp_ip 0:4f93f6ecf23c 154 for ( int s = 0; s < 8; s++ ) {
nxp_ip 0:4f93f6ecf23c 155 motor_controller.pps( PCA9629::CCW, PCA9629::PRESCALER_FROM_40_TO_333333, (int)(freq[ s ]) );
nxp_ip 0:4f93f6ecf23c 156 motor_controller.start( PCA9629::CCW );
nxp_ip 0:4f93f6ecf23c 157 wait( 1 );
nxp_ip 0:4f93f6ecf23c 158
nxp_ip 0:4f93f6ecf23c 159 motor_controller.stop();
nxp_ip 0:4f93f6ecf23c 160 }
nxp_ip 0:4f93f6ecf23c 161 }
nxp_ip 0:4f93f6ecf23c 162 }
nxp_ip 0:4f93f6ecf23c 163