PCA9629A class. More...

#include <PCA9629A.h>

Public Types
enum	RegisterName { MODE, WDTOI, WDCNTL, IO_CFG, INTMODE, MSK, INTSTAT, IP, INT_MTR_ACT, EXTRASTEPS0, EXTRASTEPS1, OP_CFG_PHS, OP_STAT_TO, RUCNTL, RDCNTL, PMA, LOOPDLY_CW, LOOPDLY_CCW, CWSCOUNTL, CWSCOUNTH, CCWSCOUNTL, CCWSCOUNTH, CWPWL, CWPWH, CCWPWL, CCWPWH, MCNTL, SUBADR1, SUBADR2, SUBADR3, ALLCALLADR, STEPCOUNT0, STEPCOUNT1, STEPCOUNT2, STEPCOUNT3 }
	name of the PCA9629A registers More...
enum	RegisterNameFor16bitAccess
	register names for 2 bytes accessing More...
enum	RegisterNameFor32bitAccess
	register names for 4 bytes accessing More...
enum	Direction { CW = 0, CCW }
	keyword to select direction of rotation More...
Public Member Functions
	PCA9629A (PinName I2C_sda, PinName I2C_scl, char I2C_address=DEFAULT_PCA9629A_ADDR)
	Create a PCA9629A instance connected to specified I2C pins with specified address.
	PCA9629A (I2C &i2c_, char I2C_address=DEFAULT_PCA9629A_ADDR)
	Create a PCA9629A instance connected to specified I2C pins with specified address.
	~PCA9629A ()
	Destractor.
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.
long	read (RegisterNameFor32bitAccess register_name)
	Read 4 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	steps (Direction dir, int step_count)
	Set steps count.
void	ramp_up (char rate)
	Ramp-up rate.
void	ramp_down (char rate)
	Ramp-down rate.
void	register_dump (void)
	Register dump.
void	speed_change (unsigned short pw)
	Register dump.
void	calibration (float coefficient)
	Register dump.

Detailed Description

PCA9629A class.

This is a driver code for the PCA9629A stepper motor controller. This class provides interface for PCA9629A 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/PCA9629APW.html

Example:

 #include "mbed.h"
 #include "PCA9629A.h"

 PCA9629A motor( p28, p27, 0x42 );  //  SDA, SCL, I2C_address (option)

 int main() {

     //  Speed setting 200pps for clockwise (CW) rotation
     motor.pps( PCA9629A::CW, 200 );

     //  Set 24 steps for CW
     motor.steps( PCA9629A::CW, 24 );

     //  Speed setting 100pps for counterclockwise (CCW) rotation
     motor.pps( PCA9629A::CCW, 100 );

     //  Set 48 steps for CCW
     motor.steps( PCA9629A::CCW, 24 );

     while ( 1 ) {
         motor.start( PCA9629A::CW ); //  Motor start for CW
         wait( 1.0 );

         motor.start( PCA9629A::CCW ); //  Motor start for CCW
         wait( 1.0 );
     }
 }

Definition at line 70 of file PCA9629A.h.

Member Enumeration Documentation

enum Direction

keyword to select direction of rotation

Enumerator:

CW	Clockwise direction.
CCW	ConterClockwise direction.

Definition at line 137 of file PCA9629A.h.

enum RegisterName

name of the PCA9629A registers

Enumerator:

MODE	0x00 Mode register
WDTOI	0x01 WatchDog Time-Out Interval register
WDCNTL	0x02 WatchDog Control register
IO_CFG	0x03 I/O Configuration register
INTMODE	0x04 Interrupt Mode register
MSK	0x05 Mask interrupt register
INTSTAT	0x06 Interrupt Status register
IP	0x07 Input Port register
INT_MTR_ACT	0x08 Interrupt motor action control register
EXTRASTEPS0	0x09 Extra steps count for INTP0 control register
EXTRASTEPS1	0x0A Extra steps count for INTP1 control register
OP_CFG_PHS	0x0B Output Port Configuration and Phase control register
OP_STAT_TO	0x0C Output state and time-out control register
RUCNTL	0x0D Ramp-up control register
RDCNTL	0x0E Ramp-down control register
PMA	0x0F Perform multiple of actions control register
LOOPDLY_CW	0x10 Loop delay timer for CW to CCW control register
LOOPDLY_CCW	0x11 Loop delay timer for CCW to CW control register
CWSCOUNTL	0x12 Number of clockwise steps register (low byte)
CWSCOUNTH	0x13 Number of clockwise steps register (high byte)
CCWSCOUNTL	0x14 Number of counter-clockwise steps register (low byte)
CCWSCOUNTH	0x15 Number of counter-clockwise steps register (high byte)
CWPWL	0x16 Clockwise step pulse width register (low byte)
CWPWH	0x17 Clockwise step pulse width register (high byte)
CCWPWL	0x18 Counter-clockwise step pulse width register (low byte)
CCWPWH	0x19 Counter-clockwise step pulse width register (high byte)
MCNTL	0x1A Motor control register
SUBADR1	0x1B I2C-bus subaddress 1
SUBADR2	0x1C I2C-bus subaddress 2
SUBADR3	0x1D I2C-bus subaddress 3
ALLCALLADR	0x1E All Call I2C-bus address
STEPCOUNT0	0x1F Step counter registers: STEPCOUNT0
STEPCOUNT1	0x20 Step counter registers: STEPCOUNT1
STEPCOUNT2	0x21 Step counter registers: STEPCOUNT2
STEPCOUNT3	0x22 Step counter registers: STEPCOUNT3

Definition at line 74 of file PCA9629A.h.

enum RegisterNameFor16bitAccess

register names for 2 bytes accessing

Definition at line 124 of file PCA9629A.h.

enum RegisterNameFor32bitAccess

register names for 4 bytes accessing

Definition at line 132 of file PCA9629A.h.

Constructor & Destructor Documentation

PCA9629A	(	PinName	I2C_sda,
		PinName	I2C_scl,
		char	I2C_address = `DEFAULT_PCA9629A_ADDR`
	)

Create a PCA9629A instance connected to specified I2C pins with specified address.

Parameters:

I2C_sda	I2C-bus SDA pin
I2C_scl	I2C-bus SCL pin
I2C_address	I2C-bus address (default: 0x42)

Definition at line 40 of file PCA9629A.cpp.

PCA9629A	(	I2C &	i2c_,
		char	I2C_address = `DEFAULT_PCA9629A_ADDR`
	)

Create a PCA9629A instance connected to specified I2C pins with specified address.

Parameters:

I2C	object (instance)
I2C_address	I2C-bus address (default: 0x42)

Definition at line 50 of file PCA9629A.cpp.

~PCA9629A ( )

Destractor.

Definition at line 58 of file PCA9629A.cpp.

Member Function Documentation

void calibration ( float coefficient )

Register dump.

Dumping all register data to serial console

void init_registers ( void )

Initialize all registers.

The initializing values are defined in the function

Definition at line 72 of file PCA9629A.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 222 of file PCA9629A.cpp.

void ramp_down ( char rate )

Ramp-down rate.

Setting ramp-down rate

Parameters:

rate	set deceleration ratio. From 0 to 13. 0 for disable. Bigger valure decelerate faster.

Definition at line 250 of file PCA9629A.cpp.

void ramp_up ( char rate )

Ramp-up rate.

Setting ramp-up rate

Parameters:

rate	set acceleration ratio. From 0 to 13. 0 for disable. Bigger valure accelerate faster.

Definition at line 245 of file PCA9629A.cpp.

long read ( RegisterNameFor32bitAccess register_name )

Read 4 byte data from registers.

Setting data into a register

Parameters:

register_name the register name: data writing into (it can be "STEPCOUNT")

Returns:: read 32 bits data from the registers

Definition at line 168 of file PCA9629A.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 126 of file PCA9629A.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 147 of file PCA9629A.cpp.

void register_dump ( void )

Register dump.

Dumping all register data to serial console

Definition at line 255 of file PCA9629A.cpp.

void set_all_registers	(	char *	a,
		char	size
	)

Initialize all registers.

The initializing values are defined in the function

Definition at line 87 of file PCA9629A.cpp.

void software_reset ( void )

Software reset.

Performs software reset through I2C bus

Definition at line 64 of file PCA9629A.cpp.

void speed_change ( unsigned short pw )

Register dump.

Dumping all register data to serial console

Definition at line 274 of file PCA9629A.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( PCA9629A::MCNTL, 0xXX )" to control each bits.

Parameters:

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

Definition at line 189 of file PCA9629A.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 240 of file PCA9629A.cpp.

void stop ( void )

Motor stop.

Stop command

Definition at line 194 of file PCA9629A.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 97 of file PCA9629A.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 111 of file PCA9629A.cpp.

Type:	Library
Created:	20 Sep 2016
Imports:	0
Forks:	0
Commits:	2
Dependents:	0
Dependencies:	0
Followers:	1

PCA9629A Class Reference

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Repository toolbox

Repository details

Important Information for this Arm website

PCA9629A Class Reference

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Repository toolbox

Repository details

Important Information for this Arm website

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