InetrfaceProducts NXP / PCA9629

PCA9629 a stepper motor controller class library

Dependents:   PCA9629_Hello

Class library for PCA9629.

A sample program available on http://mbed.org/users/nxp_ip/code/PCA9629_Hello/

Files at this revision

API Documentation at this revision

Revision 2:2d07f1c46eb3, committed 2012-02-03

Comitter:
nxp_ip
Date:
Fri Feb 03 03:44:06 2012 +0000
Parent:
1:b3d94e04adfa
Child:
3:b01267479d2e
Commit message:

Changed in this revision

PCA9629.cpp Show annotated file Show diff for this revision Revisions of this file
PCA9629.h Show annotated file Show diff for this revision Revisions of this file 
--- a/PCA9629.cpp	Thu Feb 02 05:23:12 2012 +0000
+++ b/PCA9629.cpp	Fri Feb 03 03:44:06 2012 +0000
@@ -36,7 +36,6 @@
 }
 
 void PCA9629::init_registers( void ) {
-    int     error_code;
     char    init_array[] = { 0x80,                                                //  register access start address (0x00) with incremental access flag (MSB)
                             0x30, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10,             //  for registers MODE - WDCNTL (0x00 - 0x06
                             0x00, 0x00,                                           //  for registers IP and INTSTAT (0x07, 0x08)
@@ -44,14 +43,20 @@
                             0x00, 0x00, 0x30, 0x00, 0x82, 0x66, 0x82, 0x06,       //  for registers SETMODE - CCWPWH (0x12 - 0x19)
                             0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF,       //  for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
                             0x00, 0x00,                                           //  for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
-                            0x00, 0x00, 0x94                                      //  for registers RMPCNTL - MCNTL (0x24 - 0x26)
+                            0x00, 0x00, 0x00                                      //  for registers RMPCNTL - MCNTL (0x24 - 0x26)
                            };
 
-    error_code  = i2c.write( i2c_addr, init_array, sizeof( init_array ) );
+    set_all_registers( init_array, sizeof( init_array ) );
+}
+
+void PCA9629::set_all_registers( char *a, char size )
+{
+    int     error_code;
+
+    error_code  = i2c.write( i2c_addr, a, size );
 
     if ( error_code )
         error( "error @ initializing PCA9629" );
-
 }
 
 void PCA9629::write( RegisterName register_name, char value ) {
@@ -121,6 +126,10 @@
     return ( data[ 1 ] << 8 | data[ 0 ] );
 }
 
+void PCA9629::start( Direction dir ) {
+    write( MCNTL, 0xA8 | dir );
+}
+
 void PCA9629::stop( void ) {
     write( MCNTL, 0x00 );
 }

--- a/PCA9629.h	Thu Feb 02 05:23:12 2012 +0000
+++ b/PCA9629.h	Fri Feb 03 03:44:06 2012 +0000
@@ -156,12 +156,18 @@
         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
@@ -198,6 +204,16 @@
      */
     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