Diff: LV8548.h

Revision:

0:04db82da014d

Child:

1:e60c7c42e6fc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LV8548.h	Fri Nov 16 16:45:46 2018 +0000
@@ -0,0 +1,119 @@
+/**
+[LV8548.h]
+Copyright (c) [2018] [YAMASHO]
+This software is released under the MIT License.
+http://opensource.org/licenses/mit-license.php
+*/
+
+#ifndef MBED_LV8548_H
+#define MBED_LV8548_H
+
+#include "mbed.h"
+
+#define MAXCH   (2)
+
+#define STEPMAX_FREQ (4800)
+
+/** Motor Use  */
+ enum DriverType {
+        DCMOTOR     /** DC Motor x2 */
+      , STEPERMOTOR /** STEPER x1   */
+};
+
+enum DriverPwmMode {
+          FWD_OPEN,    /** FWD_OPEN */
+          FWD_BRAKE,   /** FWD_BREAKE   */
+          RVS_OPEN,    /** REVERS OPEN */
+          RVS_BRAKE    /** REVSRS BRAKE  */
+};
+
+enum DriverPwmOut {
+          OUTPUT_OFF,    /* OFF */
+          OUTPUT_START,  /*  START  */
+          OUTPUT_BRAKE   /* BRAAKE */
+};
+
+/** Motor Number  */
+ enum DriverMotorNumber {
+        MOTOR_A   = 0      
+      , MOTOR_B   = 1   
+      , MOTOR_MAX
+};
+
+
+/** Motor Dirction  */
+ enum DriverMotorDirction {
+        DIR_CW   = 0      
+      , DIR_CCW  = 1   
+      , DIR_MAX
+};
+
+/** Motor Step Mode */
+ enum DriverStepMode {
+        FULLSTEP = 0      
+      , HALFSTEP = 1   
+      , MOTORSTEP_MAX
+};
+
+/** Motor Step Mode */
+ enum DriverPhaseStep {
+        STEPPHASE0 = 0,     
+        STEPPHASE1 = 1,    
+        STEPPHASE2 = 2,    
+        STEPPHASE3 = 3,    
+        STEPPHASE4 = 4,    
+        STEPPHASE5 = 5,    
+        STEPPHASE6 = 6,   
+        STEPPHASE7 = 7,    
+        STEPPHASEMAX = 8        /* 必ず8 */ 
+};
+
+class LV8548 {
+public:
+    LV8548(PinName in1, PinName in2, PinName in3, PinName in4, DriverType drivertype = DCMOTOR ,uint16_t baseus = 64);
+    PwmOut _in1,_in2,_in3,_in4;
+    DriverType   _Drivertype;
+    uint16_t     _baseus; 
+/***************************************************************************************************/
+    DriverPwmMode _Pwmmode[MOTOR_MAX];  // pwmのモード FWD.OPEN FWD.BRAKE RVS.OPEN REV.BRAKE
+    DriverPwmOut  _Pwmout [MOTOR_MAX];  // Start Stop Breke
+    float _PwmPeriod      [MOTOR_MAX];  // ポートのPwm周波数
+    float _PwmDuty        [MOTOR_MAX];  // 各Motor のduty 1.0f-0.0fまで
+//   uint8_t _testx;
+    
+    Ticker _Lv8548BaseTimer;
+    
+    void SetDcPwmFreqency( uint8_t ch ,float Freq );
+    void SetDcPwmMode( uint8_t ch ,DriverPwmMode  Mode );
+    void SetDcPwmDuty( uint8_t ch ,float        Duty   );         // 01まで
+    void SetDcOutPut ( uint8_t ch ,DriverPwmOut  Mode  );
+    void SetDcMotor  ( uint8_t ch );
+    void SetDcMotorStop( uint8_t ch );
+/*******************************************************************************************************************/
+    float _StepAngle;
+    float _StepDeg;                      // 角度 0-360度
+    float _StepFreq;                    // 周波数
+    float _TimerCounter;                  
+    volatile uint8_t _StepPhase;                   // Step Motorのphase
+    volatile uint32_t _IntTimerCount;
+//  volatile uint32_t _PhaseCounter;
+    volatile uint32_t _StepTimeCount;
+    volatile bool   _StepOperation;                       // 割込内の動作状況
+    volatile DriverStepMode _TargetStepMode;              // 目標のStep状態  Full(0)/Half(1)
+    volatile DriverStepMode _NowStepMode;                 // 動作中のStep状態  Full(0)/Half(1)
+    volatile DriverMotorDirction _TragetStepDirection;         // 目標のDirection Cw/Ccw
+    volatile DriverMotorDirction _NowStepDirection;            // 動作中のDirection cw/CCW
+    volatile uint32_t _NowStep;                    // 現状のStep
+    volatile uint32_t _TargetStep;                 // ターゲットのStep
+    void SetStepAngle( uint16_t Angle);         // 角度の設定
+    void SetStepDeg  ( uint16_t frequency , uint16_t deg  , uint8_t Direction, uint8_t StepMode);
+    void SetStepTime ( uint16_t frequency , uint16_t time , uint8_t Direction, uint8_t StepMode);
+    void SetStepStep ( uint16_t frequency , uint16_t step , uint8_t Direction, uint8_t StepMode);
+    void SetStepStop ( void );
+    void SetStepFree ( void );
+    void SetStepMotor( void );
+    void SetStepTimerInt ( void );
+};
+
+
+#endif