main.cpp

00001 /** A sample code for PCA9629
00002  *
00003  *  @author  Akifumi (Tedd) OKANO, NXP Semiconductors
00004  *  @version 1.1
00005  *  @date    23-Jul-2012
00006  *
00007  *  revision history
00008  *      version 1.0 (24-Apr-2011) : Initial version
00009  *      version 1.1 (23-Jul-2012) : API modification
00010  *                                  Correction for comments
00011  *
00012  *  Released under the MIT License: http://mbed.org/license/mit
00013  *
00014  *  An operation sample of PCU9629 stepper motor controller.
00015  *  The mbed accesses the PCU9629 registers through I2C.
00016  *
00017  *  This sample code demonstrates 4 type of PCA9629 operation
00018  *
00019  *  About PCA9629:
00020  *    http://www.nxp.com/products/interface_and_connectivity/i2c/i2c_bus_controller_and_bridge_ics/PCA9629PW.html
00021  */
00022 
00023 #include "mbed.h"
00024 #include "PCA9629.h"
00025 
00026 BusOut      leds( LED4, LED3, LED2, LED1 );
00027 PCA9629     motor_controller( p28, p27, 48 );  //  SDA, SCL, Steps/rotation, I2C_address (option)
00028 
00029 void motor_action_0( void );
00030 void motor_action_1( void );
00031 void motor_action_2( void );
00032 void motor_action_3( void );
00033 void motor_action_CDE( void );
00034 
00035 int main() {
00036     printf( "PCA9629 simple sample program\r\n" );
00037 
00038     while ( 1 ) {
00039         leds    = 0x1;
00040         motor_action_0();   //  demo 0
00041 
00042         leds    = 0x3;
00043         motor_action_1();   //  demo 1
00044 
00045         leds    = 0x7;
00046         motor_action_2();   //  demo 2
00047 
00048         leds    = 0xF;
00049         motor_action_3();   //  demo 3
00050     }
00051 }
00052 
00053 void motor_action_0( void ) {
00054 
00055     //  simple motor operation
00056     //  the motor spins 2 times (200pps) for clockwise (CW), 1 time (100pps) for counter-clockwise.
00057 
00058     motor_controller.stop();
00059     motor_controller.init_registers();
00060 
00061     motor_controller.pps( PCA9629::CW, 200 );
00062     motor_controller.rotations_and_steps( PCA9629::CW, 0, 96 );
00063 
00064     motor_controller.pps( PCA9629::CCW, 100 );
00065     motor_controller.rotations_and_steps( PCA9629::CCW, 0, 48 );
00066 
00067     for ( int i = 0; i < 2; i++ ) {
00068         motor_controller.start( PCA9629::CW );
00069         wait( 2.0 );
00070 
00071         motor_controller.start( PCA9629::CCW );
00072         wait( 2.0 );
00073     }
00074 }
00075 
00076 void motor_action_1( void ) {
00077 
00078     //  ramp control demo
00079 
00080     motor_controller.stop();
00081     motor_controller.init_registers();
00082 
00083     //  auto generated example code for PCA9629 on mbed
00084     //  setting: total operation time = 2, initial speed = 40.69, rotations = 5, steps = 0, ramp-up enable = enable, ramp-down enable = enable, rotate direction = CW
00085 
00086     //  motor_controller.write( PCA9629::STEPS_PER_ROATION, 48  );
00087     motor_controller.write( PCA9629::CW__STEP_WIDTH, 1175  );
00088     motor_controller.write( PCA9629::CW__STEP_COUNT, 35  );
00089     motor_controller.write( PCA9629::CW__ROTATION_COUNT, 2  );
00090     motor_controller.write( PCA9629::RAMPCNTL, 0x37  );
00091 
00092     for ( int i = 0; i < 2; i++ ) {
00093         motor_controller.write( PCA9629::MCNTL, 0xA8  );  //  start
00094         wait( 2.5 );
00095     }
00096 }
00097 
00098 void motor_action_2( void ) {
00099 
00100     //  interrupt operation demo
00101 
00102     motor_controller.stop();
00103 
00104     //  this array is a sample for PCA9629 local interrupt operation
00105     //  the P0 and P1 inputs enabled for interrupt in.
00106     //  motor rotation will be reversed by interrupt signals.
00107     //  the motor direction will be changed 12 steps after when the interrupt happened
00108     //
00109     //  CW = 40.69pps, CCW = 81.38pps
00110 
00111     char init_array2[] = {    0x80,
00112                               0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0xFF, 0x10,             //  for registers MODE - WDCNTL (0x00 - 0x06
00113                               0x00, 0x00,                                           //  for registers IP and INTSTAT (0x07, 0x08)
00114                               0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x01, 0x03, 0x03, 0x01, //  for registers OP - INT_AUTO_CLR (0x09 - 0x11)
00115                               0x00, 0x00, 0x30, 0x00, 0xFF, 0x1F, 0xFF, 0x0F,       //  for registers SETMODE - CCWPWH (0x12 - 0x19)
00116                               0xFF, 0xFF, 0xFF, 0xFF, 0x0A, 0x00, 0x0A, 0x00,       //  for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
00117                               0x0C, 0x0C,                                           //  for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
00118                               0x00, 0x00, 0xA8                                      //  for registers RMPCNTL - MCNTL (0x24 - 0x26)
00119                          };
00120 
00121     motor_controller.set_all_registers( init_array2, sizeof( init_array2 ));
00122     wait( 5.0 );
00123 
00124     motor_controller.stop();
00125     wait( 0.5 );
00126 
00127 }
00128 
00129 void motor_action_3( void ) {
00130 
00131     //  speed change sample while the motor is running
00132 
00133     motor_controller.stop();
00134     motor_controller.init_registers();
00135 
00136     motor_controller.rotations( PCA9629::CCW, 0xFFFF );
00137 
00138     for ( int i = 0; i < 2; i++ ) {
00139         for ( int s = 1; s <= 5; s++ ) {
00140             motor_controller.pps( PCA9629::CCW, 55 * s );
00141             motor_controller.start( PCA9629::CCW );
00142             wait( 1.0 );
00143             motor_controller.stop();
00144         }
00145     }
00146 }
00147 
00148 void motor_action_CDE( void ) {
00149     char    scale[ 8 ]  = { 4, 6, 8, 9, 11, 13, 15, 16 };  //   CDEFGABC (A=0)
00150     float   freq[ 8 ];
00151 
00152     for ( int i = 0; i < 8; i++ )
00153         freq[ i ]   = (440.0 / 8.0) * pow( 2.0, (float)(scale[ i ]) / 12.0 );
00154 
00155     motor_controller.stop();
00156     motor_controller.init_registers();
00157     motor_controller.rotations( PCA9629::CCW, 0xFFFF );
00158     motor_controller.write( PCA9629::PHCNTL, 0x1 );
00159 
00160     for ( int i = 0; i < 2; i++ ) {
00161         motor_controller.stop();
00162         for ( int s = 0; s < 8; s++ ) {
00163             motor_controller.pps( PCA9629::CCW, freq[ s ] );
00164             motor_controller.start( PCA9629::CCW );
00165             wait( 1 );
00166 
00167             motor_controller.stop();
00168         }
00169     }
00170 }
00171