Revision 0:134db3267830, committed 2012-11-06

Comitter:

shindo

Date:

Tue Nov 06 10:20:54 2012 +0000

Child:

1:39b4d6e71f76

Commit message:

conseptmeter_L6470

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Nov 06 10:20:54 2012 +0000
@@ -0,0 +1,484 @@
+#include "mbed.h"
+
+DigitalIn busy1(p26);
+DigitalIn flag1(p25);
+DigitalOut cs1(p8);
+DigitalOut stck1(p28);
+DigitalOut stby1(p27);
+
+DigitalIn busy2(p22);
+DigitalIn flag2(p21);
+DigitalOut cs2(p19);
+DigitalOut stck2(p24);
+DigitalOut stby2(p23);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+SPI spi(p5, p6, p7); // mosi, miso, sclk
+
+void writeCommand(int port, unsigned char data)
+{
+    if (port == 1) {
+        cs1 = 0;
+        spi.write(data);
+        cs1 = 1;
+    } else {
+        cs2 = 0;
+        spi.write(data);
+        cs2 = 1;
+    }
+}
+
+unsigned char readCommand(int port)
+{
+    unsigned char result = 0;
+
+    if (port == 1) {
+        cs1 = 0;
+        result = spi.write(0);
+        cs1 = 1;
+    } else {
+        cs2 = 0;
+        result = spi.write(0);
+        cs2 = 1;
+    }
+
+    return result;
+}
+
+void initMotor()
+{
+    spi.format(8,0);
+    busy1.mode(PullUp);
+    flag1.mode(PullUp);
+    busy2.mode(PullUp);
+    flag2.mode(PullUp);
+    stby1 = 1;
+    stby2 = 1;
+    for (int port = 1; port <= 2; port++) {
+
+        writeCommand(port, 0x08);
+        writeCommand(port, 0x00);
+
+        writeCommand(port, 0x09);
+        writeCommand(port, 0xff);
+
+        writeCommand(port, 0x0a);
+        writeCommand(port, 0xff);
+
+        writeCommand(port, 0x0b);
+        writeCommand(port, 0xff);
+
+        writeCommand(port, 0x0c);
+        writeCommand(port, 0xff);
+
+        writeCommand(port, 0x13);
+        writeCommand(port, 0x0f);
+
+        writeCommand(port, 0x14);
+        writeCommand(port, 0x7f);
+    }
+}
+void MAXspeed_port_1_A()
+{
+    writeCommand(1, 0x07);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x32);
+}
+void Step_Startspeed_port_1_A()
+{
+    writeCommand(1, 0x05);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x23);
+}
+void Step_Stopspeed_port_1_A()
+{
+    writeCommand(1, 0x06);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x15);
+}
+void CW_port_1_A()
+{
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x25);
+    writeCommand(1, 0x00);
+}
+void CCW_port_1_A()
+{
+    writeCommand(1, 0x50);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x10);
+    writeCommand(1, 0x00);
+}
+void CCW_port_1_A2()
+{
+    writeCommand(1, 0x50);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x40);
+    writeCommand(1, 0x00);
+}
+//----------------------------------------------
+void MAXspeed_port_2_A()
+{
+    writeCommand(2, 0x07);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x32);
+}
+void Step_Startspeed_port_2_A()
+{
+    writeCommand(2, 0x05);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x23);
+}
+void Step_Stopspeed_port_2_A()
+{
+    writeCommand(2, 0x06);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x15);
+}
+void CW_port_2_A()
+{
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x25);
+    writeCommand(2, 0x00);
+}
+void CCW_port_2_A()
+{
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x10);
+    writeCommand(2, 0x00);
+}
+void CCW_port_2_A2()
+{
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x40);
+    writeCommand(2, 0x00);
+}
+//-----------------------------------
+void stertup1 ()
+{
+    CW_port_1_A();
+    CW_port_2_A();
+}
+void stertup2 ()
+{
+    CCW_port_1_A();
+    CCW_port_2_A();
+}
+void power_up_p1_p2 ()
+{
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x40);
+    writeCommand(1, 0x00);
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x40);
+    writeCommand(2, 0x00);
+    wait_ms (630);
+    writeCommand(2, 0xb8);
+    wait_ms (175);
+    writeCommand(1, 0xb8);
+}
+void on ()
+{
+    CW_port_2_A();
+    wait_ms(200);
+    writeCommand(2, 0xb8);
+}
+void reb1 ()
+{
+    CW_port_2_A();
+    wait_ms(331);
+    writeCommand(2, 0xb0);
+    CCW_port_2_A();
+    wait_ms(1400);
+    writeCommand(2, 0xb0);
+    wait_ms(300);
+}
+void reb2 ()
+{
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x30);
+    writeCommand(2, 0x00);
+    wait_ms(60);
+    writeCommand(2, 0xb8);
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x30);
+    writeCommand(2, 0x00);
+    wait_ms(60);
+    writeCommand(2, 0xb8);
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x30);
+    writeCommand(2, 0x00);
+    wait_ms(60);
+    writeCommand(2, 0xb8);
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x30);
+    writeCommand(2, 0x00);
+    wait_ms(60);
+    writeCommand(2, 0xb8);
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x30);
+    writeCommand(2, 0x00);
+    wait_ms(60);
+}
+void reb3 ()
+{
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x15);
+    writeCommand(2, 0x00);
+    wait_ms(500);
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x03);
+    writeCommand(2, 0x00);
+    wait_ms(4000);
+    writeCommand(2, 0xb0);
+}
+void type1_tacho ()
+{
+    wait_ms(2000);
+
+    writeCommand(2, 0x51);  //---1---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x10);
+    writeCommand(2, 0x00);
+    wait_ms(500);
+
+    writeCommand(2, 0xb0);
+    wait_ms(100);
+
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x25);
+    writeCommand(2, 0x00);
+    wait_ms(380);
+    reb2 ();
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x20);
+    writeCommand(2, 0x00);
+    wait_ms(500);
+    writeCommand(2, 0xb0);
+
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x08);
+    writeCommand(2, 0x00);
+    wait_ms(2050);
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x20);
+    writeCommand(2, 0x00);
+    wait_ms(450);
+    writeCommand(2, 0xb8);
+    wait_ms(200);
+    writeCommand(2, 0x51);//---2---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x05);
+    writeCommand(2, 0x00);
+    wait_ms(1550);
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x20);
+    writeCommand(2, 0x00);
+    wait_ms(430);
+    writeCommand(2, 0xb8);
+    wait_ms(200);
+    writeCommand(2, 0x51);//---3---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x04);
+    writeCommand(2, 0x00);
+    wait_ms(2000);
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x20);
+    writeCommand(2, 0x00);
+    wait_ms(400);
+    writeCommand(2, 0xb8);
+    wait_ms(200);
+    writeCommand(2, 0x51);//---4---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x02);
+    writeCommand(2, 0x00);
+    wait_ms(4000);
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x20);
+    writeCommand(2, 0x00);
+    wait_ms(300);
+    writeCommand(2, 0xb8);
+    wait_ms(200);
+    writeCommand(2, 0x51);//---5---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x01);
+    writeCommand(2, 0x50);
+    wait_ms(3000);
+    writeCommand(2, 0x51);//---5---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x01);
+    writeCommand(2, 0x00);
+    wait_ms(1500);
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x20);
+    writeCommand(2, 0x00);
+    wait_ms(300);
+    writeCommand(2, 0xb8);
+    wait_ms(200);
+    writeCommand(2, 0x51);//---6---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x01);
+    writeCommand(2, 0x50);
+    wait_ms(3000);
+    writeCommand(2, 0x51);//---6---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x01);
+    writeCommand(2, 0x00);
+    wait_ms(2500);
+}
+void type1_speed ()
+{
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x04);
+    writeCommand(1, 0xb0);
+    wait_ms(1500);
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x03);
+    writeCommand(1, 0xe8);
+    wait_ms(2000);
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x02);
+    writeCommand(1, 0x58);
+    wait_ms(2500);
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x01);
+    writeCommand(1, 0x90);
+    wait_ms(3000);
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x01);
+    writeCommand(1, 0x2c);
+    wait_ms(3500);
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0xfa);
+    wait_ms(4500);
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x78);
+    wait_ms(5200);
+    writeCommand(1, 0xb0);
+}
+
+int main()
+{
+    initMotor();
+    MAXspeed_port_1_A();
+    Step_Startspeed_port_1_A();
+    Step_Stopspeed_port_1_A();
+
+    MAXspeed_port_2_A();
+    Step_Startspeed_port_2_A();
+    Step_Stopspeed_port_2_A();
+
+    writeCommand(2, 0x83);
+    writeCommand(1, 0x83);
+
+    int i = 0;
+    while(1) {
+        if (i == 0) {
+            stertup1 ();
+            wait_ms(200);
+            stertup2 ();
+            wait_ms(4000);
+        } else if (i == 1) {
+            power_up_p1_p2 ();
+            wait_ms(1000);
+        } else if (i == 2) {
+            CCW_port_1_A2();
+            CCW_port_2_A2();
+            wait_ms(1000);
+        } else if (i == 3) {
+            on ();
+            wait_ms(2000);
+        } else if (i == 4) {
+            reb1 ();
+        } else if (i == 5) {
+
+            //type1_demo ();
+            type1_speed ();
+            type1_tacho ();
+
+        } else if (i == 6) {
+            writeCommand(1, 0x50);
+            writeCommand(1, 0x00);
+            writeCommand(1, 0x01);
+            writeCommand(1, 0x2c);
+
+            writeCommand(2, 0x50);
+            writeCommand(2, 0x00);
+            writeCommand(2, 0x03);
+            writeCommand(2, 0x00);
+            wait_ms(5000);
+            reb3 ();
+            reb3 ();
+            reb3 ();
+            reb3 ();
+            reb3 ();
+
+
+            writeCommand(2, 0x50);
+            writeCommand(2, 0x00);
+            writeCommand(2, 0x03);
+            writeCommand(2, 0x00);
+            wait_ms(1800);
+            writeCommand(1, 0xb8);
+            writeCommand(2, 0xb8);
+            wait(10);
+
+        } else if (i == 8) {
+            CCW_port_1_A();
+            CCW_port_2_A();
+            wait_ms(5000);
+            i = -1;
+        }
+        wait_ms(200);
+
+        i++;
+
+    }
+
+}
+
+
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Nov 06 10:20:54 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ed12d17f06
\ No newline at end of file