void L6470::goTo_DIR(byte dir, long pos) {
// Same as GOTO, but with user constrained rotational direction.
Xfer(GOTO_DIR);
if (pos > 0x3FFFFF) pos = 0x3FFFFF;
Xfer((byte)(pos >> 16));
Xfer((byte)(pos >> 8));
Xfer((byte)(pos));
}
int L6470::getStatus() {
// Fetch and return the 16-bit value in the STATUS register. Resets
// any warning flags and exits any error states. Using GetParam()
// to read STATUS does not clear these values.
int temp = 0;
Xfer(GET_STATUS);
temp = Xfer(0)<<8;
temp |= Xfer(0);
return temp;
}
void L6470::goTo(long pos) {
// GOTO operates much like MOVE, except it produces absolute motion instead
// of relative motion. The motor will be moved to the indicated position
// in the shortest possible fashion.
Xfer(GOTO);
if (pos > 0x3FFFFF) pos = 0x3FFFFF;
Xfer((byte)(pos >> 16));
Xfer((byte)(pos >> 8));
Xfer((byte)(pos));
}
void L6470::setMark(long value) {
Xfer(MARK);
if (value > 0x3FFFFF) value = 0x3FFFFF;
if (value < -0x3FFFFF) value = -0x3FFFFF;
Xfer((byte)(value >> 16));
Xfer((byte)(value >> 8));
Xfer((byte)(value));
}
void L6470::goUntil(byte act, byte dir, unsigned long spd) {
// GoUntil will set the motor running with direction dir (REV or
// FWD) until a falling edge is detected on the SW pin. Depending
// on bit SW_MODE in CONFIG, either a hard stop or a soft stop is
// performed at the falling edge, and depending on the value of
// act (either RESET or COPY) the value in the ABS_POS register is
// either RESET to 0 or COPY-ed into the MARK register.
Xfer(GO_UNTIL | act | dir);
if (spd > 0x3FFFFF) spd = 0x3FFFFF;
Xfer((byte)(spd >> 16));
Xfer((byte)(spd >> 8));
Xfer((byte)(spd));
}
void L6470::run(byte dir, float spd) {
// RUN sets the motor spinning in a direction (defined by the constants
// FWD and REV). Maximum speed and minimum speed are defined
// by the MAX_SPEED and MIN_SPEED registers; exceeding the FS_SPD value
// will switch the device into full-step mode.
// The SpdCalc() function is provided to convert steps/s values into
// appropriate integer values for this function.
unsigned long speedVal = SpdCalc(spd);
Xfer(RUN | dir);
if (speedVal > 0xFFFFF) speedVal = 0xFFFFF;
Xfer((byte)(speedVal >> 16));
Xfer((byte)(speedVal >> 8));
Xfer((byte)(speedVal));
}
void L6470::Step_Clock(byte dir) {
// STEP_CLOCK puts the device in external step clocking mode. When active,
// pin 25, STCK, becomes the step clock for the device, and steps it in
// the direction (set by the FWD and REV constants) imposed by the call
// of this function. Motion commands (RUN, MOVE, etc) will cause the device
// to exit step clocking mode.
Xfer(STEP_CLOCK | dir);
}
void L6470::releaseSW(byte act, byte dir) {
// Similar in nature to GoUntil, ReleaseSW produces motion at the
// higher of two speeds: the value in MIN_SPEED or 5 steps/s.
// The motor continues to run at this speed until a rising edge
// is detected on the switch input, then a hard stop is performed
// and the ABS_POS register is either COPY-ed into MARK or RESET to
// 0, depending on whether RESET or COPY was passed to the function
// for act.
Xfer(RELEASE_SW | act | dir);
}
void L6470::SetLowSpeedOpt(boolean enable) {
// Enable or disable the low-speed optimization option. If enabling,
// the other 12 bits of the register will be automatically zero.
// When disabling, the value will have to be explicitly written by
// the user with a SetParam() call. See the datasheet for further
// information about low-speed optimization.
Xfer(SET_PARAM | MIN_SPEED);
if (enable) Param(0x1000, 13);
else Param(0, 13);
}
void L6470::move(long n_step) {
// MOVE will send the motor n_step steps (size based on step mode) in the
// direction imposed by dir (FWD or REV constants may be used). The motor
// will accelerate according the acceleration and deceleration curves, and
// will run at MAX_SPEED. Stepping mode will adhere to FS_SPD value, as well.
byte dir;
if(n_step >= 0) {
dir = FWD;
} else {
dir = REV;
}
long n_stepABS = abs(n_step);
Xfer(MOVE | dir); //set direction
if (n_stepABS > 0x3FFFFF) n_step = 0x3FFFFF;
Xfer((byte)(n_stepABS >> 16));
Xfer((byte)(n_stepABS >> 8));
Xfer((byte)(n_stepABS));
}
/*执行"nlist"命令(即把指定路径下的所有文件（不包括目录）的信息返回来)
入参：pOutputfile - 信息返回后保存到这个文件里，如果pOutputfile为NULL，则信息直接打印到屏幕
pPath - 指定的路径
nMode - 以文本或二进制模式返回，缺省是二进制模式（文本：'A' ；二进制：'I'）
出参：成功返回1，失败返回0
*/
int yCFtp::Nlist (const char *pOutputfile, const char *pPath, int nMode)
{
return Xfer (pOutputfile, pPath, FTPLIB_DIR, nMode);
}
/*执行"ls"命令(即把指定路径下的所有文件、目录的信息返回来)
入参：pOutputfile - 信息返回后保存到这个文件里，如果pOutputfile为NULL，则信息直接打印到屏幕
pPath - 指定的路径
nMode - 以文本或二进制模式返回，缺省是二进制模式
出参：成功返回1，失败返回0
*/
int yCFtp::Ls (const char *pOutputfile, const char *pPath, int nMode)
{
return Xfer (pOutputfile, pPath, FTPLIB_DIR_VERBOSE, nMode);
}
void L6470::free() {
// disengage the motor immediately with no deceleration.
Xfer(HARD_HIZ);
}
void L6470::goMark() {
// GoMark is equivalent to GoTo(MARK), but requires less time to send.
// Note that no direction is provided; motion occurs through shortest
// path. If a direction is required, use GoTo_DIR().
Xfer(GO_MARK);
}
void L6470::softFree() {
// Decelerate the motor and disengage
Xfer(SOFT_HIZ);
}
void L6470::hardStop() {
// Stop the motor right away. No deceleration.
Xfer(HARD_STOP);
}
void L6470::softStop() {
// Bring the motor to a halt using the deceleration curve.
Xfer(SOFT_STOP);
}
void L6470::resetDev() {
// Reset device to power up conditions. Equivalent to toggling the STBY
// pin or cycling power.
Xfer(RESET_DEVICE);
}
/*执行"get"命令（从服务器下载某个文件）
入参：pOutputfile - 下载的文件保存在这个文件中
pPath - 要下载的文件
nMode - 以文本或二进制模式下载，缺省是二进制模式
出参：成功返回1，失败返回0
*/
int yCFtp::Get (const char *pOutputfile, const char *pPath, int nMode)
{
return Xfer (pOutputfile, pPath, FTPLIB_FILE_READ, nMode);
}
/*执行"put"命令（往服务器上传某个文件）
入参：pOutputfile - 要上传的文件
pPath - 上传的文件保存到服务器的这个文件中
nMode - 以文本或二进制模式上传，缺省是二进制模式
出参：成功返回1，失败返回0
*/
int yCFtp::Put (const char *pInputfile, const char *pPath, int nMode)
{
return Xfer (pInputfile, pPath, FTPLIB_FILE_WRITE, nMode);
}
void L6470::setAsHome() {
// Sets the ABS_POS register to 0, effectively declaring the current
// position to be "HOME".
Xfer(RESET_POS);
}
