Revision 0:0c797805233b, committed 2014-09-12
- Comitter:
- nxp_ip
- Date:
- Fri Sep 12 08:10:19 2014 +0000
- Commit message:
- PCA9629 "A". The "A" version component library. Version 1.1.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PCA9629A.cpp Fri Sep 12 08:10:19 2014 +0000
@@ -0,0 +1,294 @@
+/** A sample code for PCA9629A
+ *
+ * @author Akifumi (Tedd) OKANO, NXP Semiconductors
+ * @version 1.1
+ * @date 12-Sep-2012
+ *
+ * revision history (PCA9629A)
+ * version 0.1 (05-Jun-2013) : PCA9629"A" initial version
+ * version 0.2 (05-Jun-2013) : register name fix, register description added
+ * version 1.0 (23-Apr-2014) : unnecessary parameter for constructor has been removed
+ * version 1.1 (12-Sep-2014) : constructor variation added. ramp parameter API added
+ *
+ * Released under the Apache 2 license License
+ *
+ * An operation sample of PCU9629A stepper motor controller.
+ * The mbed accesses the PCU9629A registers through I2C.
+ *
+ * About PCA9629A:
+ * http://www.nxp.com/products/interface_and_connectivity/i2c/i2c_bus_controller_and_bridge_ics/PCA9629APW.html
+ */
+
+#include "mbed.h"
+#include "PCA9629A.h"
+
+#define STEP_RESOLUTION 333333 // 1/(3e-6) = 333333
+
+char *reg_name[] = {
+ "MODE", "WDTOI", "WDCNTL", "IO_CFG",
+ "INTMODE", "MSK", "INTSTAT", "IP", "INT_MTR_ACT", "EXTRASTEPS0", "EXTRASTEPS1",
+ "OP_CFG", "OP_STAT_PHS",
+ "RUCNTL", "RDCNTL",
+ "PMA", "LOOPDLY_CW", "LOOPDLY_CCW",
+ "CWSCOUNTL", "CWSCOUNTH", "CCWSCOUNTL", "CCWSCOUNTH",
+ "CWPWL", "CWPWH", "CCWPWL", "CCWPWH",
+ "MCNTL",
+ "SUBADR1", "SUBADR2", "SUBADR3", "ALLCALLADR",
+ "STEPCOUNT0", "STEPCOUNT1", "STEPCOUNT2", "STEPCOUNT3"
+};
+
+PCA9629A::PCA9629A(
+ PinName I2C_sda,
+ PinName I2C_scl,
+ char I2C_address
+) : i2c_p( new I2C( I2C_sda, I2C_scl ) ), i2c( *i2c_p ), i2c_addr( I2C_address )
+{
+ i2c.frequency( I2C_SCL_FREQUENCY );
+ init_registers();
+}
+
+PCA9629A::PCA9629A(
+ I2C &i2c_,
+ char I2C_address
+) : i2c_p( NULL ), i2c( i2c_ ), i2c_addr( I2C_address )
+{
+ init_registers();
+}
+
+PCA9629A::~PCA9629A()
+{
+ if ( NULL != i2c_p )
+ delete i2c_p;
+}
+
+void PCA9629A::software_reset( void )
+{
+ char v = 0x06;
+
+ i2c.write( 0x00, &v, 1 );
+ wait_ms( 1 );
+}
+
+void PCA9629A::init_registers( void )
+{
+ char init_array[] = { 0x80, // register access start address (0x00) with incremental access flag (MSB)
+ 0x20, 0x0A, 0x00, 0x03, 0x13, 0x1C, // for registers MODE - MSK (0x00 - 0x07
+ 0x00, 0x00, 0x68, 0x00, 0x00, // for registers INTSTAT - EXTRASTEPS1 (0x06, 0xA)
+ 0x10, 0x80, // for registers OP_CFG_PHS and OP_STAT_TO (0x0B - 0xC)
+ 0x09, 0x09, 0x01, 0x7D, 0x7D, // for registers RUCNTL - LOOPDLY_CCW (0xD- 0x10)
+ 0xFF, 0x01, 0xFF, 0x01, 0x05, 0x0D, 0x05, 0x0D, // for registers CWSCOUNTL - MCNTL (0x12 - 0x1A)
+ 0x20, // for register MCNTL (0x1A)
+ 0xE2, 0xE4, 0xE6, 0xE0 // for registers SUBADR1 - ALLCALLADR (0x1B - 0x1E)
+ };
+
+ set_all_registers( init_array, sizeof( init_array ) );
+}
+
+void PCA9629A::set_all_registers( char *a, char size )
+{
+ int error_code;
+
+ error_code = i2c.write( i2c_addr, a, size );
+
+ if ( error_code )
+ error( "error @ initializing PCA9629A" );
+}
+
+void PCA9629A::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( "PCA9629A writing failed\r\n" );
+}
+
+void PCA9629A::write( RegisterNameFor16bitAccess 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( "PCA9629A writing failed\r\n" );
+}
+
+char PCA9629A::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( "PCA9629A reading (command phase) failed\r\n" );
+
+ error_code = i2c.read( i2c_addr, &data, 1 );
+
+ if ( error_code )
+ error( "PCA9629A reading (data phase) failed\r\n" );
+
+ return ( data );
+}
+
+short PCA9629A::read( RegisterNameFor16bitAccess 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( "PCA9629A reading (command phase) failed\r\n" );
+
+ error_code = i2c.read( i2c_addr, data, 2 );
+
+ if ( error_code )
+ error( "PCA9629A reading (data phase) failed\r\n" );
+
+ return ( data[ 1 ] << 8 | data[ 0 ] );
+}
+
+long PCA9629A::read( RegisterNameFor32bitAccess register_name )
+{
+ int error_code;
+ char cmd;
+ char data[ 4 ];
+
+ cmd = register_name | 0x80;
+
+ error_code = i2c.write( i2c_addr, &cmd, 1, false );
+
+ if ( error_code )
+ error( "PCA9629A reading (command phase) failed\r\n" );
+
+ error_code = i2c.read( i2c_addr, data, 4 );
+
+ if ( error_code )
+ error( "PCA9629A reading (data phase) failed\r\n" );
+
+ printf( "0x %02X %02X %02X %02X\r\n", data[3], data[2], data[1], data[0] );
+
+ return ( data[ 3 ] << 24 | data[ 2 ] << 16 | data[ 1 ] << 8 | data[ 0 ] );
+}
+
+void PCA9629A::start( Direction dir )
+{
+ write( MCNTL, 0xC0 | dir );
+}
+
+void PCA9629A::stop( void )
+{
+ write( MCNTL, 0xA0 );
+}
+
+
+short PCA9629A::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) ? CW__STEP_WIDTH : CCW_STEP_WIDTH, step_pulse_width );
+
+ return ( step_pulse_width );
+}
+
+short PCA9629A::pps( Direction dir, float pulse_per_second )
+{
+ char p = 0;
+ char ratio;
+
+ ratio = (char)(40.6901 / pulse_per_second);
+
+ p = (ratio & 0x01) ? 1 : p;
+ p = (ratio & 0x02) ? 2 : p;
+ p = (ratio & 0x04) ? 3 : p;
+ p = (ratio & 0x08) ? 4 : p;
+ p = (ratio & 0x10) ? 5 : p;
+ p = (ratio & 0x20) ? 6 : p;
+ p = (ratio & 0x40) ? 7 : p;
+
+ return ( pps( dir, (PrescalerRange)p, (int)pulse_per_second ) );
+}
+
+void PCA9629A::steps( Direction dir, int step_count )
+{
+ write( (dir == CW) ? CW__STEP_COUNT : CCW_STEP_COUNT, step_count );
+}
+
+void PCA9629A::ramp_up( char rate )
+{
+ write( RUCNTL, rate ? (0x30 | (rate -1)) : 0x00 );
+}
+
+void PCA9629A::ramp_down( char rate )
+{
+ write( RDCNTL, rate ? (0x30 | (rate -1)) : 0x00 );
+}
+
+void PCA9629A::register_dump( void )
+{
+ char data[ 0x23 ];
+ char cmd = 0x80;
+ int i;
+ int j;
+
+ i2c.write( i2c_addr, &cmd, 1 );
+ i2c.read( i2c_addr, data, sizeof( data ) );
+
+ printf( "PCA9629A 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 PCA9629A::speed_change( unsigned short pw )
+{
+#ifdef MBED_PCA9629
+ // this is for PCA9629(non-A version)
+ char cmd0[] = { PCA9629A::MCNTL, 0x00}; // data for stop the motor
+ char cmd1[] = { PCA9629A::CW__STEP_WIDTH, pw & 0xFF, pw >> 8 }; // data for rewrite pulse width
+ char cmd2[] = { PCA9629A::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
+#else
+ char cmd1[] = { PCA9629A::CW__STEP_WIDTH, pw & 0xFF, pw >> 8 }; // data for rewrite pulse width
+
+ i2c.write( i2c_addr, cmd1, sizeof( cmd1 ), true ); // rewrite pulse width
+#endif
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PCA9629A.h Fri Sep 12 08:10:19 2014 +0000
@@ -0,0 +1,340 @@
+/** A sample code for PCA9629A
+ *
+ * @author Akifumi (Tedd) OKANO, NXP Semiconductors
+ * @version 1.1
+ * @date 12-Sep-2012
+ *
+ * revision history (PCA9629A)
+ * version 0.1 (05-Jun-2013) : PCA9629"A" initial version
+ * version 0.2 (05-Jun-2013) : register name fix, register description added
+ * version 1.0 (23-Apr-2014) : unnecessary parameter for constructor has been removed
+ * version 1.1 (12-Sep-2014) : constructor variation added. ramp parameter API added
+ *
+ * Released under the Apache 2 license License
+ *
+ * An operation sample of PCA9629A stepper motor controller.
+ * The mbed accesses the PCA9629A registers through I2C.
+ *
+ * About PCA9629A:
+ * http://www.nxp.com/products/interface_and_connectivity/i2c/i2c_bus_controller_and_bridge_ics/PCA9629APW.html
+ */
+
+#ifndef MBED_PCA9629A
+#define MBED_PCA9629A
+
+#define DEFAULT_PCA9629A_ADDR 0x42
+#define I2C_SCL_FREQUENCY (400 * 1000) // I2C SCL clock frequency (for when the cunstructor with pin names is used)
+#define ALLCALL_ADDR 0xE0
+
+
+/** PCA9629A class
+ *
+ * This is a driver code for the PCA9629A stepper motor controller.
+ * This class provides interface for PCA9629A operation and accessing its registers.
+ * Detail information is available on next URL.
+ * http://www.nxp.com/products/interface_and_connectivity/i2c/i2c_bus_controller_and_bridge_ics/PCA9629APW.html
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "PCA9629A.h"
+ *
+ * PCA9629A motor( p28, p27, 0x42 ); // SDA, SCL, I2C_address (option)
+ *
+ * int main() {
+ *
+ * // Speed setting 200pps for clockwise (CW) rotation
+ * motor.pps( PCA9629A::CW, 200 );
+ *
+ * // Set 24 steps for CW
+ * motor.steps( PCA9629A::CW, 24 );
+ *
+ * // Speed setting 100pps for counterclockwise (CCW) rotation
+ * motor.pps( PCA9629A::CCW, 100 );
+ *
+ * // Set 48 steps for CCW
+ * motor.steps( PCA9629A::CCW, 24 );
+ *
+ * while ( 1 ) {
+ * motor.start( PCA9629A::CW ); // Motor start for CW
+ * wait( 1.0 );
+ *
+ * motor.start( PCA9629A::CCW ); // Motor start for CCW
+ * wait( 1.0 );
+ * }
+ * }
+ * @endcode
+ */
+
+
+class PCA9629A
+{
+public:
+ /** name of the PCA9629A registers */
+ typedef enum {
+ MODE, /**< 0x00 Mode register */
+ WDTOI, /**< 0x01 WatchDog Time-Out Interval register */
+ WDCNTL, /**< 0x02 WatchDog Control register */
+ IO_CFG, /**< 0x03 I/O Configuration register */
+ INTMODE, /**< 0x04 Interrupt Mode register */
+ MSK, /**< 0x05 Mask interrupt register */
+ INTSTAT, /**< 0x06 Interrupt Status register */
+ IP, /**< 0x07 Input Port register */
+ INT_MTR_ACT, /**< 0x08 Interrupt motor action control register */
+ EXTRASTEPS0, /**< 0x09 Extra steps count for INTP0 control register */
+ EXTRASTEPS1, /**< 0x0A Extra steps count for INTP1 control register */
+ OP_CFG_PHS, /**< 0x0B Output Port Configuration and Phase control register */
+ OP_STAT_TO, /**< 0x0C Output state and time-out control register */
+ RUCNTL, /**< 0x0D Ramp-up control register */
+ RDCNTL, /**< 0x0E Ramp-down control register */
+ PMA, /**< 0x0F Perform multiple of actions control register */
+ LOOPDLY_CW, /**< 0x10 Loop delay timer for CW to CCW control register */
+ LOOPDLY_CCW, /**< 0x11 Loop delay timer for CCW to CW control register */
+ CWSCOUNTL, /**< 0x12 Number of clockwise steps register (low byte) */
+ CWSCOUNTH, /**< 0x13 Number of clockwise steps register (high byte) */
+ CCWSCOUNTL, /**< 0x14 Number of counter-clockwise steps register (low byte) */
+ CCWSCOUNTH, /**< 0x15 Number of counter-clockwise steps register (high byte) */
+ CWPWL, /**< 0x16 Clockwise step pulse width register (low byte) */
+ CWPWH, /**< 0x17 Clockwise step pulse width register (high byte) */
+ CCWPWL, /**< 0x18 Counter-clockwise step pulse width register (low byte) */
+ CCWPWH, /**< 0x19 Counter-clockwise step pulse width register (high byte) */
+ MCNTL, /**< 0x1A Motor control register */
+ SUBADR1, /**< 0x1B I2C-bus subaddress 1 */
+ SUBADR2, /**< 0x1C I2C-bus subaddress 2 */
+ SUBADR3, /**< 0x1D I2C-bus subaddress 3 */
+ ALLCALLADR, /**< 0x1E All Call I2C-bus address */
+ STEPCOUNT0, /**< 0x1F Step counter registers: STEPCOUNT0 */
+ STEPCOUNT1, /**< 0x20 Step counter registers: STEPCOUNT1 */
+ STEPCOUNT2, /**< 0x21 Step counter registers: STEPCOUNT2 */
+ STEPCOUNT3 /**< 0x22 Step counter registers: STEPCOUNT3 */
+ } RegisterName;
+
+private:
+ /* register names for 2 bytes accessing */
+ typedef enum {
+ 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 */
+
+ } _RegisterNameFor16bitAccess;
+
+public:
+ /** register names for 2 bytes accessing */
+ typedef enum {
+ CW__STEP_WIDTH = CWPW_,
+ CCW_STEP_WIDTH = CCWPW_,
+ CW__STEP_COUNT = CWSCOUNT_,
+ CCW_STEP_COUNT = CCWSCOUNT_,
+ } RegisterNameFor16bitAccess;
+
+ /** register names for 4 bytes accessing */
+ typedef enum {
+ STEPCOUNT = STEPCOUNT0,
+ } RegisterNameFor32bitAccess;
+
+ /** keyword to select direction of rotation */
+ typedef enum {
+ CW = 0, /**< Clockwise direction */
+ CCW /**< ConterClockwise direction */
+ } Direction;
+
+ /** Create a PCA9629A 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)
+ */
+ PCA9629A(
+ PinName I2C_sda,
+ PinName I2C_scl,
+ char I2C_address = DEFAULT_PCA9629A_ADDR
+ );
+
+ /** Create a PCA9629A instance connected to specified I2C pins with specified address
+ *
+ * @param I2C object (instance)
+ * @param I2C_address I2C-bus address (default: 0x42)
+ */
+ PCA9629A(
+ I2C &i2c_,
+ char I2C_address = DEFAULT_PCA9629A_ADDR
+ );
+
+ /** Destractor
+ *
+ *
+ *
+ */
+ ~PCA9629A();
+
+ /** Software reset
+ *
+ * Performs software reset through I2C bus
+ */
+ void software_reset( void );
+
+ /** 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( RegisterNameFor16bitAccess 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( RegisterNameFor16bitAccess register_name );
+
+ /** Read 4 byte data from registers
+ *
+ * Setting data into a register
+ *
+ * @param register_name the register name: data writing into (it can be "STEPCOUNT")
+ * @return read 32 bits data from the registers
+ */
+ long read( RegisterNameFor32bitAccess 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( PCA9629A::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 pulse_per_second 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, float pulse_per_second );
+
+ /** Set steps count
+ *
+ * Setting step count
+ * This interfaces CWSCOUNTx and CCWSCOUNTx registers
+ *
+ * @param dir rotate direction ("CW" or "CCW")
+ * @param step_count sets number of steps with 16 bit value
+ */
+ void steps( Direction dir, int step_count );
+
+ /** Ramp-up rate
+ *
+ * Setting ramp-up rate
+ *
+ * @param rate set acceleration ratio. From 0 to 13. 0 for disable. Bigger valure accelerate faster.
+ */
+ void ramp_up( char rate );
+
+ /** Ramp-down rate
+ *
+ * Setting ramp-down rate
+ *
+ * @param rate set deceleration ratio. From 0 to 13. 0 for disable. Bigger valure decelerate faster.
+ */
+ void ramp_down( char rate );
+
+ /** 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 );
+
+ /** Register dump
+ *
+ * Dumping all register data to serial console
+ *
+ */
+ void calibration( float coefficient );
+
+
+private:
+ /* 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;
+
+ /* 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 pulse_per_second 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 pulse_per_second );
+
+ I2C *i2c_p;
+ I2C &i2c;
+ char i2c_addr;
+};
+
+#endif // MBED_PCA9629A
InetrfaceProducts NXP
PCA9629A Advanced stepper motor controller