Brid .
test upload STMicroelectronics L6470
Diff: L6470.h
- Revision:
- 2:97c203ed65da
- Parent:
- 1:bb4bb05904cb
--- a/L6470.h Tue Dec 25 02:46:32 2012 +0000
+++ b/L6470.h Wed Mar 05 06:17:55 2014 +0000
@@ -8,63 +8,119 @@
#define FORWARD 1
#define REVERSE 0
-// name (length<<8)+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) //
+//
+//INI = ResetHex
+//My specification for Initial value
+#define INI_ABS_POS 0 //Current position
+#define INI_EL_POS 0 //Electrical position
+#define INI_MARK 0 //Mark position
+#define INI_SPEED 0 //Current speed
+#define INI_ACC 0x8A //Acceleration
+#define INI_DEC 0x8A //Deceleration
+#define INI_MAX_SPEED 0x20 //Maximum speed
+#define INI_MIN_SPEED 0 //Minimum speed
+#define INI_KVAL_HOLD 0xFF //Full step speed
+#define INI_KVAL_RUN 0xFF //
+#define INI_KVAL_ACC 0xFF //
+#define INI_KVAL_DEC 0xFF //
+#define INI_INT_SPD 0x408 //
+#define INI_ST_SLP 0x19 //
+#define INI_FN_SLP_ACC 0x29 //
+#define INI_FN_SLP_DEC 0x29 //
+#define INI_K_THERA 0x0 //
+// ADC_OUT ReadOnly
+#define INI_OCR_TH 0xF
+#define INI_STALL_TH 0x7F
+#define INI_FS_SPD 0x27
+#define INI_STEP_MODE 0x7
+#define INI_ARARM_FN 0xFF
+#define INI_CONFIG 0x2E88
+// INI_STATUS ReadOnly
+
+
+#define LEN_ABS_POS 22
+#define LEN_EL_POS 9
+#define LEN_MARK 22
+#define LEN_SPEED 20
+#define LEN_ACC 12
+#define LEN_DEC 12
+#define LEN_MAX_SPEED 10
+#define LEN_MIN_SPEED 13
+#define LEN_KVAL_HOLD 8
+#define LEN_KVAL_RUN 8
+#define LEN_KVAL_ACC 8
+#define LEN_KVAL_DEC 8
+#define LEN_INT_SPD 14
+#define LEN_ST_SLP 8
+#define LEN_FN_SLP_ACC 8
+#define LEN_FN_SLP_DEC 8
+#define LEN_K_THERA 4
+#define LEN_ADC_OUT 5
+#define LEN_OCR_TH 4
+#define LEN_STALL_TH 7
+#define LEN_FS_SPD 10
+#define LEN_STEP_MODE 8
+#define LEN_ARARM_FN 8
+#define LEN_CONFIG 16
+#define LEN_STATUS 16
+
+
+#define ADD_ABS_POS 0x01
+#define ADD_EL_POS 0x02
+#define ADD_MARK 0x03
+#define ADD_SPEED 0x04
+#define ADD_ACC 0x05
+#define ADD_DEC 0x06
+#define ADD_MAX_SPEED 0x07
+#define ADD_MIN_SPEED 0x08
+#define ADD_KVAL_HOLD 0x09
+#define ADD_KVAL_RUN 0x0A
+#define ADD_KVAL_ACC 0x0B
+#define ADD_KVAL_DEC 0x0C
+#define ADD_INT_SPD 0x0D
+#define ADD_ST_SLP 0x0E
+#define ADD_FN_SLP_ACC 0x0F
+#define ADD_FN_SLP_DEC 0x10
+#define ADD_K_THERA 0x11
+#define ADD_ADC_OUT 0x12
+#define ADD_OCR_TH 0x13
+#define ADD_STALL_TH 0x14
+#define ADD_FS_SPD 0x15
+#define ADD_STEP_MODE 0x16
+#define ADD_ARARM_FN 0x17
+#define ADD_CONFIG 0x18
+#define ADD_STATUS 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
-
+enum L6470_Register{
+ ABS_POS = 0x01,
+ EL_POS,
+ MARK,
+ SPEED,
+ ACC,
+ DEC,
+ MAX_SPEED,
+ MIN_SPEED,
+ KVAL_HOLD,
+ KVAL_RUN,
+ KVAL_ACC,
+ KVAL_DEC,
+ INT_SPD,
+ ST_SLP,
+ FN_SLP_ACC,
+ FN_SLP_DEC,
+ K_THERA,
+ ADC_OUT,
+ OCR_TH,
+ STALL_TH,
+ FS_SPD,
+ STEP_MODE,
+ ARARM_FN,
+ CONFIG,
+ STATUS
+};
class L6470{
public:
@@ -73,8 +129,8 @@
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 SetParam(L6470_Register param,int value);
+ int GetParam(L6470_Register param);
void Run(unsigned char dir,int spd);
void StepClock(unsigned char dir);
void Move(unsigned char dir,int n_step);