Revision 0:ed3c161e6715, committed 2015-02-04

Comitter:

ms523

Date:

Wed Feb 04 14:19:14 2015 +0000

Child:

1:ae562ccce5bd

Commit message:

working

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/iC_MU.cpp	Wed Feb 04 14:19:14 2015 +0000
@@ -0,0 +1,84 @@
+#include "mbed.h"
+#include "iC_MU.h"
+
+iC_MU::iC_MU(PinName MOSI, PinName MISO, PinName CLK, PinName nCS) : _spi(MOSI, MISO, CLK), _ncs(nCS) {
+
+    // Set up the SPI port...
+    _spi.frequency(10000000);           // 10MHz is the fastest mbed frequency supported by the iC_MU
+    _spi.format(16,3);                  // Set for mode 3 16_bits
+    
+    // To start with I need the chip select high and wait 1ms after powering up
+    _ncs = 1;
+    wait(0.001);
+}
+
+int iC_MU::RequestSTATUS()
+{
+    int reply = 0;
+
+    _spi.format(8,3);               // Set to 8_bit mode 3
+    _ncs = 0;                       // Bring nCS low to start write
+    reply = _spi.write(0xAD);       // Write REGISTER status/data cmd
+    reply = reply << 8;             // bit shift reply
+    reply += _spi.write(0x00);      // Send dummy byte
+    reply = reply << 8;             // bit shift reply
+    reply += _spi.write(0x00);      // Send dummy byte
+    _ncs = 1;                       // Set nCS high to send write
+    _spi.format(16,3);              // Set back to 16_bit mode 3
+    return(reply);
+}
+
+int iC_MU::ReadREGISTER(char reg)
+{
+    int reply = 0;
+    int msg = 0x9700 + reg;
+
+    _ncs = 0;                       // Bring nCS low to start write
+    reply = _spi.write(msg);        // Write ACTIVATE cmd
+    _ncs = 1;                       // Set nCS high to send write
+    return(reply);
+}
+
+int iC_MU::WriteREGISTER(char reg, char data)
+{
+    int reply = 0;
+
+    _spi.format(8,3);               // Set to 8_bit mode 3
+    _ncs = 0;                       // Bring nCS low to start write
+    reply = _spi.write(0xD2);       // Write REGISTER status/data cmd
+    reply = reply << 8;             // bit shift reply
+    reply += _spi.write(reg);       // Send the register addres to be written to
+    reply = reply << 8;             // bit shift reply
+    reply += _spi.write(data);      // Send the data to be written
+    _ncs = 1;                       // Set nCS high to send write
+    _spi.format(16,3);              // Set back to 16_bit mode 3
+    return(reply);
+}
+
+int iC_MU::ACTIVATE(char reg)
+{
+    int reply = 0;
+    int msg = 0xB000 + reg;
+
+    _ncs = 0;                       // Bring nCS low to start write
+    reply = _spi.write(msg);        // Write ACTIVATE cmd
+    _ncs = 1;                       // Set nCS high to send write
+    return(reply);
+}
+
+int iC_MU::ReadPOSITION()
+{
+    int reply = 0;
+
+    _ncs = 0;                       // Bring nCS low to start write
+    reply = _spi.write(0xA600);     // Write REGISTER status/data cmd
+    reply = reply << 16;            // bit shift reply
+    reply += _spi.write(0x0000);    // Send dummy byte
+    _ncs = 1;                       // Set nCS high to send write
+
+    // Shift around data
+    reply = (reply & 0x00FFFFFF);   // Mask out top byte
+    reply = reply >> 5;             // Cut off last nibble
+
+    return(reply);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/iC_MU.h	Wed Feb 04 14:19:14 2015 +0000
@@ -0,0 +1,61 @@
+#ifndef MBED_IC_MU_H
+#define MBED_IC_MU_H
+ 
+#include "mbed.h"
+ 
+class iC_MU {
+public:
+    /**
+     * Constructor.
+     */
+    iC_MU(PinName mosi, PinName miso, PinName sclk, PinName cs);
+    
+    /**
+     * Request the device status
+     *
+     * returns the current status
+     */
+    int RequestSTATUS();
+    
+    /**
+     * Reads the specified reg
+     *
+     * @returns the reg contents
+     */
+    int ReadREGISTER(char reg);
+    
+    /**
+     * Writes to the specified reg.
+     *
+     * @returns the device reply
+     */
+    int WriteREGISTER(char reg, char data);
+    
+    /**
+     * Send the activate cmd
+     *
+     * @returns the device reply
+     */
+    int ACTIVATE(char reg);
+    
+    /**
+     * Read the current position
+     *
+     * @returns the position as an int
+     */
+    int ReadPOSITION();
+    
+    /**
+     * Sets the iC_MU up as the eval board was sniffed.
+     * Not sure we need to do this???
+     *
+     * @returns 1
+     */
+    int initalise();
+  
+private:  
+    SPI _spi;
+    DigitalOut _ncs;
+};
+ 
+#endif
\ No newline at end of file