Diff: L6470.h

Revision:

0:26699d53cd2a

Child:

1:bb4bb05904cb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L6470.h	Tue Dec 25 02:39:30 2012 +0000
@@ -0,0 +1,99 @@
+#ifndef MBED_L6470
+#define MBED_L6470
+ 
+#include "mbed.h"
+
+#define FORWARD     1
+#define REVERSE     0
+
+// name         (length<<2)+address
+#define ABS_POS      ((22<<8)+0x01)    //Current position         
+#define EL_POS        ((9<<8)+0x02)    //Electrical position
+#define MARK         ((22<<8)+0x03)    //Mark position
+#define SPEED        ((20<<8)+0x04)    //Current speed
+#define ACC          ((12<<8)+0x05)    //Acceleration
+#define DEC          ((12<<8)+0x06)    //Deceleration
+#define MAX_SPEED    ((10<<8)+0x07)    //Maximum speed
+#define MIN_SPEED    ((13<<8)+0x08)    //Minimum speed
+#define KVAL_HOLD     ((8<<8)+0x09)    //Full step speed
+#define KVAL_RUN      ((8<<8)+0x0A)    //
+#define KVAL_ACC      ((8<<8)+0x0B)    //
+#define KVAL_DEC      ((8<<8)+0x0C)    //
+#define INT_SPD      ((14<<8)+0x0D)    //
+#define ST_SLP        ((8<<8)+0x0E)    //
+#define FN_SLP_ACC    ((8<<8)+0x0F)    //
+#define FN_SLP_DEC    ((8<<8)+0x10)    //
+#define K_THERA       ((4<<8)+0x11)    //
+#define ADC_OUT       ((5<<8)+0x12)    //
+#define OCR_TH        ((4<<8)+0x13)    //
+#define STALL_TH      ((7<<8)+0x14)    //
+#define FS_SPD       ((10<<8)+0x15)    //
+#define STEP_MODE     ((8<<8)+0x16)    //
+#define ARARM_FN      ((8<<8)+0x17)    //
+#define CONFIG       ((16<<8)+0x18)    //
+#define STATUS       ((16<<8)+0x19)    //
+
+
+
+//RH = ResetHex
+#define RH_ABS_POS     0    //Current position         
+#define RH_EL_POS      0    //Electrical position
+#define RH_MARK        0    //Mark position
+#define RH_SPEED       0    //Current speed
+#define RH_ACC         0x8A    //Acceleration
+#define RH_DEC         0x8A    //Deceleration
+#define RH_MAX_SPEED   0x20    //Maximum speed
+#define RH_MIN_SPEED   0    //Minimum speed
+#define RH_KVAL_HOLD   0xFF    //Full step speed
+#define RH_KVAL_RUN    0xFF    //
+#define RH_KVAL_ACC    0xFF    //
+#define RH_KVAL_DEC    0xFF    //
+#define RH_INT_SPD     0x408   //
+#define RH_ST_SLP      0x19    //
+#define RH_FN_SLP_ACC  0x29    //
+#define RH_FN_SLP_DEC  0x29    //
+#define RH_K_THERA     0x0    //
+//         ADC_OUT     ReadOnly
+#define RH_OCR_TH      0xF      
+#define RH_STALL_TH    0x7F
+#define RH_FS_SPD      0x27
+#define RH_STEP_MODE   0x7
+#define RH_ARARM_FN    0xFF
+#define RH_CONFIG      0x2E88    
+//      RH_STATUS      ReadOnly
+
+
+
+class L6470{
+public:
+    L6470(PinName mosi, PinName miso, PinName sclk, PinName cs);
+
+    unsigned char send(unsigned char temp);    
+    void send_bytes(unsigned char temp[],int i);
+    void NOP();
+    void SetParam(int param,int value);
+    int GetParam(int param);
+    void Run(unsigned char dir,int spd);
+    void StepClock(unsigned char dir);
+    void Move(unsigned char dir,int n_step);
+    void GoTo(int abs_pos);
+    void GoTo_DIR(unsigned char dir,int abs_pos);
+    void GoUntil(unsigned char act,unsigned char dir,int spd);
+    void ReleaseSW(unsigned char act,unsigned char dir);
+    void GoHome();
+    void GoMark();
+    void ResetPos();
+    void ResetDevice();
+    void SoftStop();
+    void HardStop();
+    void SoftHiZ();
+    void HardHiZ();
+    void Resets();
+
+private:
+    SPI m_spi;
+    DigitalOut m_cs;
+};
+
+ 
+#endif
\ No newline at end of file