PCA9629 a stepper motor controller class library
Class library for PCA9629.
A sample program available on http://mbed.org/users/nxp_ip/code/PCA9629_Hello/
Diff: PCA9629.h
- Revision:
- 3:b01267479d2e
- Parent:
- 2:2d07f1c46eb3
- Child:
- 4:9a80b6d63005
--- a/PCA9629.h Fri Feb 03 03:44:06 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,288 +0,0 @@ -/** A sample code for PCA9629 - * - * @author Tedd OKANO, NXP Semiconductors - * @version 1.0 - * @date 03-Feb-2011 - * - * Released under the MIT License: http://mbed.org/license/mit - * - * An operation sample of PCU9629 stepper motor controller. - * The mbed accesses the PCU9629 registers through I2C. - */ - -#ifndef MBED_PCA9629 -#define MBED_PCA9629 - -#define INTELIGENT_WRITE - -#define PCA9629_DEFAULT_ADDR 0x42 - -#define INIT_VALUE__MODE 0x10; -#define INIT_VALUE__SUBADR1 0xE2; -#define INIT_VALUE__SUBADR2 0xE4; -#define INIT_VALUE__SUBADR3 0xE8; -#define INIT_VALUE__ALLCALLADR 0xE0; -#define INIT_VALUE__WDTOI 0xFF; -#define INIT_VALUE__WDTCNTL 0x00; -#define INIT_VALUE__IP 0x00; -#define INIT_VALUE__INTSTAT 0x00; -#define INIT_VALUE__OP 0x0F; -#define INIT_VALUE__IOC 0x03; -#define INIT_VALUE__MSK 0x0F; -#define INIT_VALUE__CLRINT 0x0C; -#define INIT_VALUE__INTMODE 0x00; -#define INIT_VALUE__INT_ACT_SETUP 0x00; -#define INIT_VALUE__INT_MTR_SETUP 0x00; -#define INIT_VALUE__INT_ES_SETUP 0x00; -#define INIT_VALUE__INT_AUTO_CLR 0x00; -#define INIT_VALUE__SETMODE 0x00; -#define INIT_VALUE__PHCNTL 0x00; -#define INIT_VALUE__SROTNL 0x30; -#define INIT_VALUE__SROTNH 0x00; -#define INIT_VALUE__CWPWL 0x00; -#define INIT_VALUE__CWPWH 0x00; -#define INIT_VALUE__CCWPWL 0x00; -#define INIT_VALUE__CCWPWH 0x00; -#define INIT_VALUE__CWSCOUNTL 0x00; -#define INIT_VALUE__CWSCOUNTH 0x00; -#define INIT_VALUE__CCWSCOUNTL 0x00; -#define INIT_VALUE__CCWSCOUNTH 0x00; -#define INIT_VALUE__CWRCOUNTL 0x00; -#define INIT_VALUE__CWRCOUNTH 0x00; -#define INIT_VALUE__CCWRCOUNTL 0x00; -#define INIT_VALUE__CCWRCOUNTH 0x00; -#define INIT_VALUE__EXTRASTEPS0 0x00; -#define INIT_VALUE__EXTRASTEPS1 0x00; -#define INIT_VALUE__RAMPCNTL 0x00; -#define INIT_VALUE__LOOPDLY 0x00; -#define INIT_VALUE__MCNTL 0x00; - - -/** PCA9629 class - * - */ - -class PCA9629 { -public: - - /** name of registers */ - typedef enum { - MODE, /**< Mode rgister */ - SUBADR1, /**< I2C-bus subaddress 1 */ - SUBADR2, /**< I2C-bus subaddress 2 */ - SUBADR3, /**< I2C-bus subaddress 3 */ - ALLCALLADR, /**< All call I2C-bus address */ - WDTOI, /**< Watchdog time-out interval register */ - WDTCNTL, /**< Watchdog control register */ - IP, /**< Input port register */ - INTSTAT, /**< Interrupt status register */ - OP, /**< Output port register */ - IOC, /**< I/O configuration register */ - MSK, /**< Mask interrupt register */ - CLRINT, /**< Clear Interrupts */ - INTMODE, /**< Interrupt mode register */ - INT_ACT_SETUP, /**< Interrupt action setup control register */ - INT_MTR_SETUP, /**< Interrupt motor setup control register */ - INT_ES_SETUP, /**< Interrupt extra steps setup control register */ - INT_AUTO_CLR, /**< Interrupt auto clear control register */ - SETMODE, /**< Output state on STOP */ - PHCNTL, /**< Phase control register */ - SROTNL, /**< Steps per rotation low byte */ - SROTNH, /**< Steps per rotation high byte */ - CWPWL, /**< Step pulse width for CW rotation low byte */ - CWPWH, /**< Step pulse width for CW rotation high byte */ - CCWPWL, /**< Step pulse width for CCW rotation low byte */ - CCWPWH, /**< Step pulse width for CCW rotation high byte */ - CWSCOUNTL, /**< Number of steps CW low byte */ - CWSCOUNTH, /**< Number of steps CW high byte */ - CCWSCOUNTL, /**< Number of steps CCW low byte */ - CCWSCOUNTH, /**< Number of steps CCW high byte */ - CWRCOUNTL, /**< Number of rotatations CW low byte */ - CWRCOUNTH, /**< Number of rotatations CW high byte */ - CCWRCOUNTL, /**< Number of rotatations CCW low byte */ - CCWRCOUNTH, /**< Number of rotatations CCW high byte */ - EXTRASTEPS0, /**< Count value for extra steps or rotations for INTP0 */ - EXTRASTEPS1, /**< Count value for extra steps or rotations for INTP1 */ - RAMPCNTL, /**< Ramp control register */ - LOOPDLY, /**< Loopdelay time register */ - MCNTL, /**< Control start/stop motor */ - } RegisterName; - - /** register names to make 2 bytes access */ - typedef enum { - SROTN_ = SROTNL | 0x80, /**< Steps per rotation */ - CWPW_ = CWPWL | 0x80, /**< Step pulse width for CW rotation */ - CCWPW_ = CCWPWL | 0x80, /**< Step pulse width for CCW rotation */ - CWSCOUNT_ = CWSCOUNTL | 0x80, /**< Number of steps CW */ - CCWSCOUNT_ = CCWSCOUNTL | 0x80, /**< Number of steps CCW */ - CWRCOUNT_ = CWRCOUNTL | 0x80, /**< Number of rotatations CW */ - CCWRCOUNT_ = CCWRCOUNTL | 0x80, /**< Number of rotatations CCW */ - STEPS_PER_ROATION = SROTN_, - CW__STEP_WIDTH = CWPW_, - CCW_STEP_WIDTH = CCWPW_, - CW__STEP_COUNT = CWSCOUNT_, - CCW_STEP_COUNT = CCWSCOUNT_, - CW__ROTATION_COUNT = CWRCOUNT_, - CCW_ROTATION_COUNT = CCWRCOUNT_ - } Register16bits; - - /** keyword to select direction of rotation */ - typedef enum { - CW = 0, /**< Clockwise direction */ - CCW /**< ConterClockwise direction */ - } Direction; - - /** plescaler range setting */ - typedef enum { - PRESCALER_FROM_40_TO_333333, /**< Prescaler range from 3us(333333pps) to 24.576ms(40 pps) */ - PRESCALER_FROM_20_TO_166667, /**< Prescaler range from 6us(166667pps) to 49.152ms(20 pps) */ - PRESCALER_FROM_10_TO_83333, /**< Prescaler range from 12us( 83333pps) to 98.304ms(10 pps) */ - PRESCALER_FROM_5_TO_41667, /**< Prescaler range from 24us( 41667pps) to 196.608ms( 5 pps) */ - PRESCALER_FROM_2_5_TO_20833, /**< Prescaler range from 48us( 20833pps) to 393.216ms( 2.5 pps) */ - PRESCALER_FROM_1_27_TO_10416, /**< Prescaler range from 96us( 10416pps) to 786.432ms( 1.27pps) */ - PRESCALER_FROM_0_64_TO_5208, /**< Prescaler range from 192us( 5208pps) to 1572.864ms( 0.64pps) */ - PRESCALER_FROM_0_32_TO_2604, /**< Prescaler range from 384us( 2604pps) to 3145.728ms( 0.32pps) */ - } PrescalerRange; - - /** Create a PCA9629 instance connected to specified I2C pins with specified address - * - * @param I2C_sda I2C-bus SDA pin - * @param I2C_scl I2C-bus SCL pin - * @param I2C_address I2C-bus address (default: 0x42) - */ - PCA9629( - PinName I2C_sda, - PinName I2C_scl, - char I2C_address = PCA9629_DEFAULT_ADDR - ); - - /** Initialize all registers - * - * The initializing values are defined in the function - */ - void init_registers( void ); - - /** Initialize all registers - * - * The initializing values are defined in the function - */ - void set_all_registers( char *a, char size ); - - /** Write 1 byte data into a register - * - * Setting 8 bits data into a register - * - * @param register_name the register name: data writing into - * @param value 8 bits writing data - */ - void write( RegisterName register_name, char value ); - - /** Write 2 bytes data into a register - * - * Setting 16 bits data into registers - * - * @param register_name the register name: data writing into (it can be "SROTN_", "CWPW_", "CCWPW_", "CWRCOUNT_", "CCWSCOUNT_", "CWRCOUNT_" or "CCWRCOUNT_" ) - * @param value 16 bits writing data - */ - void write( Register16bits register_name, short value ); - - /** Read 1 byte data from a register - * - * Setting data into a register - * - * @param register_name the register name: data reading from - * @return read 8 bits data from the register - */ - char read( RegisterName register_name ); - - /** Read 2 byte data from registers - * - * Setting data into a register - * - * @param register_name the register name: data writing into (it can be "SROTN_", "CWPW_", "CCWPW_", "CWRCOUNT_", "CCWSCOUNT_", "CWRCOUNT_" or "CCWRCOUNT_" ) - * @return read 16 bits data from the registers - */ - short read( Register16bits register_name ); - - /** 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( PCA9629::MCNTL, 0xXX )" to control each bits. - * - * @param dir rotate direction ("CW" or "CCW") - */ - void start( Direction dir ); - - /** Motor stop - * - * Stop command - * - */ - void stop( void ); - - /** Set PPS - * - * Setting PulsePerSecond - * This interface can be used to set CWPWx or CCWPWx registers - * - * @param dir rotate direction ("CW" or "CCW") - * @param prescaler prescaler setting (for 3 bits setting range from 0 to 0x7. See datasheet) - * @param pps pps defineds pulse width for the motor. The pulse width will be 1/pps - * @return 16 bit data that what set to the CWPWx or CCWPWx registers - */ - short pps( Direction dir, PrescalerRange prescaler, int pps ); - - /** Set PPS - * - * Setting PulsePerSecond - * This interface can be used to set CWPWx or CCWPWx registers - * - * @param dir rotate direction ("CW" or "CCW") - * @param prescaler prescaler setting (for 3 bits setting range from 0 to 0x7. See datasheet) - * @param pps pps defineds pulse width for the motor. The pulse width will be 1/pps - * @return 16 bit data that what set to the CWPWx or CCWPWx registers - */ - - /** Set rotation count - * - * Setting rotation count - * This interfaces CWRCOUNTx, CCWRCOUNTx registers - * - * @param dir rotate direction ("CW" or "CCW") - * @param rotations sets number of rotations with 16 bit value - */ - void rotations( Direction dir, int rotations ); - - /** Set PPS - * - * Setting step count - * This interfaces CWSCOUNTx, CCWSCOUNTx registers - * - * @param dir rotate direction ("CW" or "CCW") - * @param steps sets number of steps with 16 bit value - */ - void steps( Direction dir, int pps ); - - - /** Register dump - * - * Dumping all register data to serial console - * - */ - void register_dump( void ); - - /** Register dump - * - * Dumping all register data to serial console - * - */ - void speed_change( unsigned short pw ); - -private: - I2C i2c; - char i2c_addr; -}; - -#endif // MBED_PCA9629 -