Revision 3:b01267479d2e, committed 2012-02-03

Comitter:

nxp_ip

Date:

Fri Feb 03 03:50:55 2012 +0000

Parent:

2:2d07f1c46eb3

Child:

4:9a80b6d63005

Commit message:

initial version

Changed in this revision

--- a/PCA9629.cpp	Fri Feb 03 03:44:06 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,198 +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. 
- */
-
-#include    "mbed.h"
-#include    "PCA9629.h"
-
-#define     STEP_RESOLUTION     333333      //  1/(3e-6) = 333333
-
-char *reg_name[] = {
-    "MODE", "SUBADR1", "SUBADR2", "SUBADR3", "ALLCALLADR", "WDTC", "WDMOD", "IP",
-    "INTSTAT", "OP", "IOC", "MSK", "CLRINT", "INTMODE1", "INTMODE2", "INT_ACT_SETUP",
-    "INT_MRT_SETUP", "INT_ES_SETUP", "SETMODE", "PHCNTL", "SROTNL", "SROTNH",
-    "CWPWL", "CWPWH", "CCWPWL", "CCWPWH",
-    "CWSCOUNTL", "CWSCOUNTH", "CCWSCOUNTL", "CCWSCOUNTH",
-    "CWRCOUNTL", "CWRCOUNTH", "CCWRCOUNTL", "CCWRCOUNTH",
-    "EXTRASTEPS0", "EXTRASTEPS1", "RAMPX", "LOOPDLY", "MCNTL"
-};
-
-PCA9629::PCA9629(
-    PinName I2C_sda,
-    PinName I2C_scl,
-    char    I2C_address
-) : i2c( I2C_sda, I2C_scl ), i2c_addr( I2C_address ) {
-
-    i2c.frequency( 400 * 1000 );    
-    init_registers();
-}
-
-void PCA9629::init_registers( void ) {
-    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)
-                            0x07, 0x0F, 0x00, 0x0F, 0x0F, 0x00, 0x03, 0x02, 0x01, //  for registers OP - INT_AUTO_CLR (0x09 - 0x11)
-                            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, 0x00                                      //  for registers RMPCNTL - MCNTL (0x24 - 0x26)
-                           };
-
-    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 ) {
-    int     error_code;
-    char    cmd[ 2 ];
-
-    cmd[ 0 ]    = register_name;
-    cmd[ 1 ]    = value;
-
-    error_code  = i2c.write( i2c_addr, cmd, 2 );
-
-    if ( error_code )
-        error( "PCA9629 writing failed\r\n" );
-}
-
-void PCA9629::write( Register16bits register_name, short value ) {
-    int     error_code;
-    char    cmd[ 3 ];
-
-    cmd[ 0 ]    = register_name;
-    cmd[ 1 ]    = value & 0xFF;
-    cmd[ 2 ]    = value >> 8;
-
-    error_code  = i2c.write( i2c_addr, cmd, 3 );
-
-    if ( error_code )
-        error( "PCA9629 writing failed\r\n" );
-}
-
-char PCA9629::read( RegisterName register_name ) {
-    int     error_code;
-    char    cmd;
-    char    data;
-
-    cmd = register_name;
-
-    error_code  = i2c.write( i2c_addr, &cmd, 1, false );
-
-    if ( error_code )
-        error( "PCA9629 reading (command phase) failed\r\n" );
-
-    error_code  = i2c.read( i2c_addr, &data, 1 );
-
-    if ( error_code )
-        error( "PCA9629 reading (data phase) failed\r\n" );
-
-    return ( data );
-}
-
-short PCA9629::read( Register16bits register_name ) {
-    int     error_code;
-    char    cmd;
-    char    data[ 2 ];
-
-    cmd = register_name;
-
-    error_code  = i2c.write( i2c_addr, &cmd, 1, false );
-
-    if ( error_code )
-        error( "PCA9629 reading (command phase) failed\r\n" );
-
-    error_code  = i2c.read( i2c_addr, data, 2 );
-
-    if ( error_code )
-        error( "PCA9629 reading (data phase) failed\r\n" );
-
-    return ( data[ 1 ] << 8 | data[ 0 ] );
-}
-
-void PCA9629::start( Direction dir ) {
-    write( MCNTL, 0xA8 | dir );
-}
-
-void PCA9629::stop( void ) {
-    write( MCNTL, 0x00 );
-}
-
-short PCA9629::pps( Direction dir, PrescalerRange prescaler, int pps ) {
-    int     step_pulse_width;
-
-    step_pulse_width    = STEP_RESOLUTION / ((1 << prescaler) * pps);
-
-    if ( step_pulse_width & 0xE000 ) {  //error( "pps setting: out of range" );
-        step_pulse_width    = 0x1FFF;
-        printf( "the pps forced in to the range that user specified.. %fpps\r\n", (float)STEP_RESOLUTION / ((float)0x1FFF * (float)(1 << prescaler)) );
-    }
-    if ( !step_pulse_width ) {  //error( "pps setting: out of range" );
-        step_pulse_width    = 0x1;
-        printf( "the pps forced in to the range that user specified.. %fpps\r\n", (float)STEP_RESOLUTION / (float)(1 << prescaler) );
-    }
-
-    step_pulse_width    |= (prescaler << 13);
-
-    write( (dir == CW) ? CWPW_ : CCWPW_, step_pulse_width );
-
-    return ( step_pulse_width );
-}
-
-void PCA9629::rotations( Direction dir, int rotations ) {
-    write( (dir == CW) ? CWRCOUNT_ : CCWRCOUNT_, rotations );
-}
-
-void PCA9629::steps( Direction dir, int steps ) {
-    write( (dir == CW) ? CWSCOUNT_ : CCWSCOUNT_, steps );
-}
-
-
-void PCA9629::register_dump( void ) {
-    char    data[ 0x27 ];
-    char    cmd = 0x80;
-    int     i;
-    int     j;
-
-    i2c.write( i2c_addr, &cmd, 1 );
-    i2c.read( i2c_addr, data, sizeof( data ) );
-
-    printf( "PCA9629 register dump\r\n" );
-
-    for ( i = 0, j = 0x14; i <= 0x12; i++, j++ )
-        printf( "  %-13s (0x%02X): 0x%02X    %-13s (0x%02X): 0x%02X\r\n", reg_name[ i ], i, data[ i ], reg_name[ j ], j, data[ j ] );
-
-    printf( "  %-13s (0x%02X): 0x%02X\r\n", reg_name[ 0x13 ], 0x13, data[ 0x13 ] );
-}
-
-
-void PCA9629::speed_change( unsigned short pw ) {
-    char    cmd0[]   = { PCA9629::MCNTL, 0x00};                         //  data for stop the motor
-    char    cmd1[]   = { PCA9629::CW__STEP_WIDTH, pw & 0xFF, pw >> 8 }; //  data for rewrite pulse width
-    char    cmd2[]   = { PCA9629::MCNTL, 0xB4};   //  start             //  data for start again
-    wait_us(10);
-
-    i2c.write( i2c_addr, cmd0, sizeof( cmd0 ), true );  //  stop the motor
-    wait_us(50);
-    i2c.write( i2c_addr, cmd1, sizeof( cmd1 ), true );  //  rewrite pulse width
-    i2c.write( i2c_addr, cmd2, sizeof( cmd2 ), false ); //  start again
-}
-
-
-

--- 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
-

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Feb 03 03:50:55 2012 +0000
@@ -0,0 +1,143 @@
+#include "mbed.h"
+#include "PCA9629.h"
+
+BusOut      leds( LED4, LED3, LED2, LED1 );
+PCA9629     motor_controller( p28, p27, 0x42 );
+
+void motor_action_0( void );
+void motor_action_1( void );
+void motor_action_2( void );
+void motor_action_3( void );
+void motor_action_CDE( void );
+
+int main() {
+    printf( "PCA9629 simple sample program\r\n" );
+
+    while ( 1 ) {
+        leds    = 0x1;
+        motor_action_0();
+
+        leds    = 0x3;
+        motor_action_1();
+
+        leds    = 0x7;
+        motor_action_2();
+
+        leds    = 0xF;
+        motor_action_3();
+
+        leds    = 0x0;
+        motor_action_CDE();
+    }
+}
+
+void motor_action_0( void ) {
+
+    motor_controller.stop();
+    motor_controller.init_registers();
+
+    motor_controller.pps( PCA9629::CW, PCA9629::PRESCALER_FROM_40_TO_333333, 100 );
+    motor_controller.steps( PCA9629::CW, 96 );
+
+    motor_controller.pps( PCA9629::CCW, PCA9629::PRESCALER_FROM_40_TO_333333, 50 );
+    motor_controller.steps( PCA9629::CCW, 48 );
+
+    for ( int i = 0; i < 2; i++ ) {
+        motor_controller.start( PCA9629::CW );
+        wait( 2.0 );
+
+        motor_controller.start( PCA9629::CCW );
+        wait( 2.0 );
+    }
+}
+
+void motor_action_1( void ) {
+
+    motor_controller.stop();
+    motor_controller.init_registers();
+
+    //  auto generated example code for PCA9629 on mbed
+    //  setting: total operation time = 2, initial speed = 40.69, rotations = 5, steps = 0, ramp-up enable = enable, ramp-down enable = enable, rotate direction = CW
+
+    //  motor_controller.write( PCA9629::STEPS_PER_ROATION, 48  );
+    motor_controller.write( PCA9629::CW__STEP_WIDTH, 1175  );
+    motor_controller.write( PCA9629::CW__STEP_COUNT, 35  );
+    motor_controller.write( PCA9629::CW__ROTATION_COUNT, 2  );
+    motor_controller.write( PCA9629::RAMPCNTL, 0x37  );
+
+    for ( int i = 0; i < 2; i++ ) {
+        motor_controller.write( PCA9629::MCNTL, 0xA8  );  //  start
+        wait( 2.5 );
+    }
+}
+
+void motor_action_2( void ) {
+
+    motor_controller.stop();
+
+    //  this array is a sample for PCA9629 local interrupt operation
+    //  the P0 and P1 inputs enabled for interrupt in.
+    //  motor rotation will be reversed by interrupt signals.
+    //  the motor direction will be changed 12 steps after when the interrupt happened
+    //
+    //  CW = 40.69pps, CCW = 81.38pps
+
+    char init_array2[] = {    0x80,
+                              0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0xFF, 0x10,             //  for registers MODE - WDCNTL (0x00 - 0x06
+                              0x00, 0x00,                                           //  for registers IP and INTSTAT (0x07, 0x08)
+                              0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x01, 0x03, 0x03, 0x01, //  for registers OP - INT_AUTO_CLR (0x09 - 0x11)
+                              0x00, 0x00, 0x30, 0x00, 0xFF, 0x1F, 0xFF, 0x0F,       //  for registers SETMODE - CCWPWH (0x12 - 0x19)
+                              0xFF, 0xFF, 0xFF, 0xFF, 0x0A, 0x00, 0x0A, 0x00,       //  for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
+                              0x0C, 0x0C,                                           //  for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
+                              0x00, 0x00, 0xA8                                      //  for registers RMPCNTL - MCNTL (0x24 - 0x26)
+                         };
+
+    motor_controller.set_all_registers( init_array2, sizeof( init_array2 ));
+    wait( 5.0 );
+
+    motor_controller.stop();
+    wait( 0.5 );
+
+}
+
+void motor_action_3( void ) {
+
+    motor_controller.stop();
+    motor_controller.init_registers();
+
+    motor_controller.rotations( PCA9629::CCW, 0xFFFF );
+
+    for ( int i = 0; i < 2; i++ ) {
+        for ( int s = 1; s <= 5; s++ ) {
+            motor_controller.pps( PCA9629::CCW, PCA9629::PRESCALER_FROM_40_TO_333333, 55 * s );
+            motor_controller.start( PCA9629::CCW );
+            wait( 1.0 );
+            motor_controller.stop();
+        }
+    }
+}
+
+void motor_action_CDE( void ) {
+    char    scale[ 8 ]  = { 4, 6, 8, 9, 11, 13, 15, 16 };  //   CDEFGABC from A
+    float   freq[ 8 ];
+
+    motor_controller.stop();
+    motor_controller.init_registers();
+    motor_controller.rotations( PCA9629::CCW, 0xFFFF );
+    motor_controller.write( PCA9629::PHCNTL,0x1 );
+
+    for ( int i = 0; i < 8; i++ )
+        freq[ i ]   = 55.0 * pow( 2.0, (float)(scale[ i ]) / 12.0 );
+
+    for ( int i = 0; i < 2; i++ ) {
+        motor_controller.stop();
+        for ( int s = 0; s < 8; s++ ) {
+            motor_controller.pps( PCA9629::CCW, PCA9629::PRESCALER_FROM_40_TO_333333, (int)(freq[ s ]) );
+            motor_controller.start( PCA9629::CCW );
+            wait( 1 );
+
+            motor_controller.stop();
+        }
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Feb 03 03:50:55 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/b4b9f287a47e