masayuki shindo / Mbed 2 deprecated L6470Stepper_test4

consept_meter

Dependencies:   mbed mbed-rtos

Files at this revision

API Documentation at this revision

Revision 0:134db3267830, committed 2012-11-06

Comitter:
shindo
Date:
Tue Nov 06 10:20:54 2012 +0000
Child:
1:39b4d6e71f76
Commit message:
conseptmeter_L6470

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Nov 06 10:20:54 2012 +0000
@@ -0,0 +1,484 @@
+#include "mbed.h"
+
+DigitalIn busy1(p26);
+DigitalIn flag1(p25);
+DigitalOut cs1(p8);
+DigitalOut stck1(p28);
+DigitalOut stby1(p27);
+
+DigitalIn busy2(p22);
+DigitalIn flag2(p21);
+DigitalOut cs2(p19);
+DigitalOut stck2(p24);
+DigitalOut stby2(p23);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+SPI spi(p5, p6, p7); // mosi, miso, sclk
+
+void writeCommand(int port, unsigned char data)
+{
+    if (port == 1) {
+        cs1 = 0;
+        spi.write(data);
+        cs1 = 1;
+    } else {
+        cs2 = 0;
+        spi.write(data);
+        cs2 = 1;
+    }
+}
+
+unsigned char readCommand(int port)
+{
+    unsigned char result = 0;
+
+    if (port == 1) {
+        cs1 = 0;
+        result = spi.write(0);
+        cs1 = 1;
+    } else {
+        cs2 = 0;
+        result = spi.write(0);
+        cs2 = 1;
+    }
+
+    return result;
+}
+
+void initMotor()
+{
+    spi.format(8,0);
+    busy1.mode(PullUp);
+    flag1.mode(PullUp);
+    busy2.mode(PullUp);
+    flag2.mode(PullUp);
+    stby1 = 1;
+    stby2 = 1;
+    for (int port = 1; port <= 2; port++) {
+
+        writeCommand(port, 0x08);
+        writeCommand(port, 0x00);
+
+        writeCommand(port, 0x09);
+        writeCommand(port, 0xff);
+
+        writeCommand(port, 0x0a);
+        writeCommand(port, 0xff);
+
+        writeCommand(port, 0x0b);
+        writeCommand(port, 0xff);
+
+        writeCommand(port, 0x0c);
+        writeCommand(port, 0xff);
+
+        writeCommand(port, 0x13);
+        writeCommand(port, 0x0f);
+
+        writeCommand(port, 0x14);
+        writeCommand(port, 0x7f);
+    }
+}
+void MAXspeed_port_1_A()
+{
+    writeCommand(1, 0x07);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x32);
+}
+void Step_Startspeed_port_1_A()
+{
+    writeCommand(1, 0x05);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x23);
+}
+void Step_Stopspeed_port_1_A()
+{
+    writeCommand(1, 0x06);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x15);
+}
+void CW_port_1_A()
+{
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x25);
+    writeCommand(1, 0x00);
+}
+void CCW_port_1_A()
+{
+    writeCommand(1, 0x50);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x10);
+    writeCommand(1, 0x00);
+}
+void CCW_port_1_A2()
+{
+    writeCommand(1, 0x50);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x40);
+    writeCommand(1, 0x00);
+}
+//----------------------------------------------
+void MAXspeed_port_2_A()
+{
+    writeCommand(2, 0x07);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x32);
+}
+void Step_Startspeed_port_2_A()
+{
+    writeCommand(2, 0x05);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x23);
+}
+void Step_Stopspeed_port_2_A()
+{
+    writeCommand(2, 0x06);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x15);
+}
+void CW_port_2_A()
+{
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x25);
+    writeCommand(2, 0x00);
+}
+void CCW_port_2_A()
+{
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x10);
+    writeCommand(2, 0x00);
+}
+void CCW_port_2_A2()
+{
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x40);
+    writeCommand(2, 0x00);
+}
+//-----------------------------------
+void stertup1 ()
+{
+    CW_port_1_A();
+    CW_port_2_A();
+}
+void stertup2 ()
+{
+    CCW_port_1_A();
+    CCW_port_2_A();
+}
+void power_up_p1_p2 ()
+{
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x40);
+    writeCommand(1, 0x00);
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x40);
+    writeCommand(2, 0x00);
+    wait_ms (630);
+    writeCommand(2, 0xb8);
+    wait_ms (175);
+    writeCommand(1, 0xb8);
+}
+void on ()
+{
+    CW_port_2_A();
+    wait_ms(200);
+    writeCommand(2, 0xb8);
+}
+void reb1 ()
+{
+    CW_port_2_A();
+    wait_ms(331);
+    writeCommand(2, 0xb0);
+    CCW_port_2_A();
+    wait_ms(1400);
+    writeCommand(2, 0xb0);
+    wait_ms(300);
+}
+void reb2 ()
+{
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x30);
+    writeCommand(2, 0x00);
+    wait_ms(60);
+    writeCommand(2, 0xb8);
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x30);
+    writeCommand(2, 0x00);
+    wait_ms(60);
+    writeCommand(2, 0xb8);
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x30);
+    writeCommand(2, 0x00);
+    wait_ms(60);
+    writeCommand(2, 0xb8);
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x30);
+    writeCommand(2, 0x00);
+    wait_ms(60);
+    writeCommand(2, 0xb8);
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x30);
+    writeCommand(2, 0x00);
+    wait_ms(60);
+}
+void reb3 ()
+{
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x15);
+    writeCommand(2, 0x00);
+    wait_ms(500);
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x03);
+    writeCommand(2, 0x00);
+    wait_ms(4000);
+    writeCommand(2, 0xb0);
+}
+void type1_tacho ()
+{
+    wait_ms(2000);
+
+    writeCommand(2, 0x51);  //---1---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x10);
+    writeCommand(2, 0x00);
+    wait_ms(500);
+
+    writeCommand(2, 0xb0);
+    wait_ms(100);
+
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x25);
+    writeCommand(2, 0x00);
+    wait_ms(380);
+    reb2 ();
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x20);
+    writeCommand(2, 0x00);
+    wait_ms(500);
+    writeCommand(2, 0xb0);
+
+    writeCommand(2, 0x51);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x08);
+    writeCommand(2, 0x00);
+    wait_ms(2050);
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x20);
+    writeCommand(2, 0x00);
+    wait_ms(450);
+    writeCommand(2, 0xb8);
+    wait_ms(200);
+    writeCommand(2, 0x51);//---2---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x05);
+    writeCommand(2, 0x00);
+    wait_ms(1550);
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x20);
+    writeCommand(2, 0x00);
+    wait_ms(430);
+    writeCommand(2, 0xb8);
+    wait_ms(200);
+    writeCommand(2, 0x51);//---3---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x04);
+    writeCommand(2, 0x00);
+    wait_ms(2000);
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x20);
+    writeCommand(2, 0x00);
+    wait_ms(400);
+    writeCommand(2, 0xb8);
+    wait_ms(200);
+    writeCommand(2, 0x51);//---4---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x02);
+    writeCommand(2, 0x00);
+    wait_ms(4000);
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x20);
+    writeCommand(2, 0x00);
+    wait_ms(300);
+    writeCommand(2, 0xb8);
+    wait_ms(200);
+    writeCommand(2, 0x51);//---5---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x01);
+    writeCommand(2, 0x50);
+    wait_ms(3000);
+    writeCommand(2, 0x51);//---5---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x01);
+    writeCommand(2, 0x00);
+    wait_ms(1500);
+
+    writeCommand(2, 0x50);
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x20);
+    writeCommand(2, 0x00);
+    wait_ms(300);
+    writeCommand(2, 0xb8);
+    wait_ms(200);
+    writeCommand(2, 0x51);//---6---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x01);
+    writeCommand(2, 0x50);
+    wait_ms(3000);
+    writeCommand(2, 0x51);//---6---
+    writeCommand(2, 0x00);
+    writeCommand(2, 0x01);
+    writeCommand(2, 0x00);
+    wait_ms(2500);
+}
+void type1_speed ()
+{
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x04);
+    writeCommand(1, 0xb0);
+    wait_ms(1500);
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x03);
+    writeCommand(1, 0xe8);
+    wait_ms(2000);
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x02);
+    writeCommand(1, 0x58);
+    wait_ms(2500);
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x01);
+    writeCommand(1, 0x90);
+    wait_ms(3000);
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x01);
+    writeCommand(1, 0x2c);
+    wait_ms(3500);
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0xfa);
+    wait_ms(4500);
+    writeCommand(1, 0x51);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x00);
+    writeCommand(1, 0x78);
+    wait_ms(5200);
+    writeCommand(1, 0xb0);
+}
+
+int main()
+{
+    initMotor();
+    MAXspeed_port_1_A();
+    Step_Startspeed_port_1_A();
+    Step_Stopspeed_port_1_A();
+
+    MAXspeed_port_2_A();
+    Step_Startspeed_port_2_A();
+    Step_Stopspeed_port_2_A();
+
+    writeCommand(2, 0x83);
+    writeCommand(1, 0x83);
+
+    int i = 0;
+    while(1) {
+        if (i == 0) {
+            stertup1 ();
+            wait_ms(200);
+            stertup2 ();
+            wait_ms(4000);
+        } else if (i == 1) {
+            power_up_p1_p2 ();
+            wait_ms(1000);
+        } else if (i == 2) {
+            CCW_port_1_A2();
+            CCW_port_2_A2();
+            wait_ms(1000);
+        } else if (i == 3) {
+            on ();
+            wait_ms(2000);
+        } else if (i == 4) {
+            reb1 ();
+        } else if (i == 5) {
+
+            //type1_demo ();
+            type1_speed ();
+            type1_tacho ();
+
+        } else if (i == 6) {
+            writeCommand(1, 0x50);
+            writeCommand(1, 0x00);
+            writeCommand(1, 0x01);
+            writeCommand(1, 0x2c);
+
+            writeCommand(2, 0x50);
+            writeCommand(2, 0x00);
+            writeCommand(2, 0x03);
+            writeCommand(2, 0x00);
+            wait_ms(5000);
+            reb3 ();
+            reb3 ();
+            reb3 ();
+            reb3 ();
+            reb3 ();
+
+
+            writeCommand(2, 0x50);
+            writeCommand(2, 0x00);
+            writeCommand(2, 0x03);
+            writeCommand(2, 0x00);
+            wait_ms(1800);
+            writeCommand(1, 0xb8);
+            writeCommand(2, 0xb8);
+            wait(10);
+
+        } else if (i == 8) {
+            CCW_port_1_A();
+            CCW_port_2_A();
+            wait_ms(5000);
+            i = -1;
+        }
+        wait_ms(200);
+
+        i++;
+
+    }
+
+}
+
+
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Nov 06 10:20:54 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ed12d17f06
\ No newline at end of file