CQ_I2C_book
Fm+ I2C-bus advanced stepper motor controller
Dependencies: mbed
PCA9629A.cpp
- Committer:
- wataaki
- Date:
- 2015-02-04
- Revision:
- 0:6607b5b5fd68
File content as of revision 0:6607b5b5fd68:
#include "mbed.h"
#include "PCA9629A.h"
I2C i2c(p28,p27); // sda, scl
Serial pc(USBTX, USBRX); // tx, rx
char cmd[32];
int sw, swp;
long dum;
int i, j;
void set_ch(char sel)
{ // PCA9541のサンプル
// MST_0側の自分にスレーブ側の制御権を得る場合
cmd[0] = 1; // PCA9541 コマンドコード Cont Reg
i2c.write( 0xe2, cmd, 1); // Cont Regを指定
i2c.read( 0xe2, cmd, 1); // Cont Regを読込み
wait(0.1); // 0.1s待つ
switch(cmd[0] & 0xf)
{
case 0: // bus off, has control
case 1: // bus off, no control
case 5: // bus on, no control
cmd[0] = 1; // PCA9541 コマンドコード Cont Reg
cmd[1] = 4; // bus on, has control
i2c.write( 0xe2, cmd, 2); // Cont Regにcmd[1]を書込み
i2c.read( 0xe2, cmd, 1); // Cont Regを読込み
break;
case 2: // bus off, no control
case 3: // bus off, has control
case 6: // bus on, no control
cmd[0] = 1; // PCA9541 コマンドコード Cont Reg
cmd[1] = 5; // bus on, has control
i2c.write( 0xe2, cmd, 2); // Cont Regにcmd[1]を書込み
i2c.read( 0xe2, cmd, 1); // Cont Regを読込み
break;
case 9: // bus on, no control
case 0xc: // bus on, no control
case 0xd: // bus off, no control
cmd[0] = 1; // PCA9541 コマンドコード Cont Reg
cmd[1] = 0; // bus on, has control
i2c.write( 0xe2, cmd, 2); // Cont Regにcmd[1]を書込み
i2c.read( 0xe2, cmd, 1); // Cont Regを読込み
break;
case 0xa: // bus on, no control
case 0xe: // bus off, no control
case 0xf: // bus on, has control
cmd[0] = 1; // PCA9541 コマンドコード Cont Reg
cmd[1] = 1; // bus on, has control
i2c.write( 0xe2, cmd, 2); // Cont Regにcmd[1]を書込み
i2c.read( 0xe2, cmd, 1); // Cont Regを読込み
break;
default:
break;
}
cmd[0] = sel; // PCA9546 Cont Reg sel channel enabled
i2c.write( 0xe8, cmd, 1); // Send command string
}
void wdt_rst(void) // WDT
{
cmd[0] = WDTOI;
cmd[1] = 0x1; // 1s
i2c.write(PCA9629A_ADDR, cmd, 2);
cmd[0] = WDCNTL;
cmd[1] = 0x2 + 0x1; // WDMOD = Reset & int WDEN = 1
i2c.write(PCA9629A_ADDR, cmd, 2);
wait(1.1);
}
int main ()
{
i2c.frequency(100000);
pc.printf("PCA9629A Sample Program\r\n");
set_ch(1); // PCA9629Aはch0に接続
// PCA9629A
while(1)
{
wdt_rst(); // reset
pc.printf("CW->CCW .. 1, Ramp .. 2, Phase .. 3 ? \r\n");
pc.scanf("%d", &sw);
switch (sw)
{
case 1:
pc.printf("CW->CCW Sample Start\r\n");
cmd[0] = MODE;
cmd[1] = 0x0; // Normal
i2c.write(PCA9629A_ADDR, cmd, 2);
cmd[0] = OP_CFG_PHS;
cmd[1] = 0x10; // 1Phase, OUT[3:0]
i2c.write(PCA9629A_ADDR, cmd, 2);
cmd[0] = CWPWL + 0x80; // Auto Increment
cmd[1] = 0x0; // 24us * 4096 = 98.304ms
cmd[2] = (0x3 << 5) + 0x10; // Prescaler = 3
i2c.write(PCA9629A_ADDR, cmd, 3);
cmd[0] = CCWPWL + 0x80; // Auto Increment
cmd[1] = 0x0; // 24us * 2048 = 49.152ms
cmd[2] = (0x3 << 5) + 0x8; // Prescaler = 3
i2c.write(PCA9629A_ADDR, cmd, 3);
cmd[0] = CWSCOUNTL + 0x80; // Auto Increment
cmd[1] = 0x00; //
cmd[2] = 0x1; // 256 steps
i2c.write(PCA9629A_ADDR, cmd, 3);
cmd[0] = CCWSCOUNTL + 0x80;
cmd[1] = 0x80; // 128 steps
cmd[2] = 0x0; //
i2c.write(PCA9629A_ADDR, cmd, 3);
cmd[0] = PMA;
cmd[1] = 2; // One time
i2c.write(PCA9629A_ADDR, cmd, 2);
cmd[0] = MCNTL;
cmd[1] = 0x80 + 0x2; // Start, CW->CCW
i2c.write(PCA9629A_ADDR, cmd, 2); // cmd[0]Regにcmd[1]を書込み
while(1)
{
wait(1);
cmd[0] = 0x80 + STEPCOUNT0;
i2c.write(PCA9629A_ADDR, cmd, 1, true);
i2c.read(PCA9629A_ADDR, cmd, 4); // STEPCOUNT 4byteを読込み
dum = cmd[0] + (cmd[1] << 8) + (cmd[2] << 16) + (cmd[3] << 24);
if (dum == 0) break;
}
pc.printf("CW->CCW Sample End\r\n");
break;
case 2:
pc.printf("Ramp Sample Start\r\n");
cmd[0] = MODE;
cmd[1] = 0x0; // Normal
i2c.write(PCA9629A_ADDR, cmd, 2);
cmd[0] = OP_CFG_PHS;
cmd[1] = 0x10; // 1Phase, OUT[3:0]
i2c.write(PCA9629A_ADDR, cmd, 2);
cmd[0] = CWPWL + 0x80; // Auto Increment
cmd[1] = 0x0; // 48us * 256 = 12.288ms
cmd[2] = (0x4 << 5) + 0x1; // Prescaler = 4
i2c.write(PCA9629A_ADDR, cmd, 3);
cmd[0] = CWSCOUNTL + 0x80; // Auto Increment
cmd[1] = 0x40; //
cmd[2] = 0x1; // 320 steps
i2c.write(PCA9629A_ADDR, cmd, 3);
cmd[0] = RUCNTL;
cmd[1] = 0x37; // 48us x 128 = 6.144ms
i2c.write(PCA9629A_ADDR, cmd, 2); //
cmd[0] = RDCNTL;
cmd[1] = 0x38; // 48us x 256 = 12.288ms
i2c.write(PCA9629A_ADDR, cmd, 2); //
cmd[0] = PMA;
cmd[1] = 2; // One time
i2c.write(PCA9629A_ADDR, cmd, 2);
cmd[0] = MCNTL;
cmd[1] = 0x80 + 0x0; // Start, CW
i2c.write(PCA9629A_ADDR, cmd, 2); // cmd[0]Regにcmd[1]を書込み
while(1)
{
wait(1);
cmd[0] = 0x80 + STEPCOUNT0;
i2c.write(PCA9629A_ADDR, cmd, 1, true);
i2c.read(PCA9629A_ADDR, cmd, 4); // STEPCOUNT 4byteを読込み
dum = cmd[0] + (cmd[1] << 8) + (cmd[2] << 16) + (cmd[3] << 24);
if (dum == 0) break;
}
pc.printf("Ramp Sample End\r\n");
break;
case 3:
pc.printf("Phase Sample Start\r\n");
pc.printf("1相 .. 1, 2相 .. 2, 1-2相 .. 3 ? \r\n");
pc.scanf("%d", &swp);
cmd[0] = MODE;
cmd[1] = 0x0; // Normal
i2c.write(PCA9629A_ADDR, cmd, 2);
cmd[0] = OP_CFG_PHS;
cmd[1] = ((swp - 1) << 6) + 0x10; // ?Phase, OUT[3:0]
i2c.write(PCA9629A_ADDR, cmd, 2);
cmd[0] = CWPWL + 0x80; // Auto Increment
cmd[1] = 0x0; // 48us * 4096 = 196.6ms
cmd[2] = (0x4 << 5) + 0x10; // Prescaler = 4
i2c.write(PCA9629A_ADDR, cmd, 3);
cmd[0] = CWSCOUNTL + 0x80; // Auto Increment
cmd[1] = 0x40; //
cmd[2] = 0x0; // 256 steps
i2c.write(PCA9629A_ADDR, cmd, 3);
cmd[0] = PMA;
cmd[1] = 2; // One time
i2c.write(PCA9629A_ADDR, cmd, 2);
cmd[0] = MCNTL;
cmd[1] = 0x80 + 0x0; // Start, CW
i2c.write(PCA9629A_ADDR, cmd, 2); // cmd[0]Regにcmd[1]を書込み
while(1)
{
wait(1);
cmd[0] = 0x80 + STEPCOUNT0;
i2c.write(PCA9629A_ADDR, cmd, 1, true);
i2c.read(PCA9629A_ADDR, cmd, 4); // STEPCOUNT 4byteを読込み
dum = cmd[0] + (cmd[1] << 8) + (cmd[2] << 16) + (cmd[3] << 24);
if (dum == 0) break;
}
pc.printf("Phase Sample End\r\n");
break;
default:
break;
}
}
}