Diff: AngleEncoder.cpp

Revision:

6:63de50ac29be

Parent:

5:1b2dc43e8947

Child:

7:af255a90505e

--- a/AngleEncoder.cpp	Fri Nov 06 19:28:49 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,126 +0,0 @@
-#include "AngleEncoder.h"
-#include "mbed.h"
- 
-AngleEncoder::AngleEncoder(PinName mosi, PinName miso, PinName sclk, PinName cs, int bits, int mode, int hz) :  
-        _spi(mosi, miso, sclk), 
-        _cs(cs) {
-    // constructor
-    _cs = 1;
-    _spi.format(bits,mode);
-    _spi.frequency(hz);
-    
-    wait_ms(1000); // Angle encoder requires 0.1 seconds to boot up, so I gave it an entire second.
-    
-}
-
-
-
-/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 
- * 
- * Sends a NOP command.  This is a read command.
- *
- * Returns the 8 bit data read from the encoder.  
- *      0xA5 indicates communication is good, but no data to receive from encoder
- *      
- *      0x00 indicates that angle encoder probably wasn't read.  May need to 
- *      increase SPI_DELAY
- *  
- * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ 
-int AngleEncoder::nop() { // this function takes about 90us to complete (tested using Timer library)
-    _cs = 0;
-    wait_us(SPI_DELAY);
-    int received = _spi.write(0x00);
-    wait_us(SPI_DELAY);
-    _cs = 1;
-    wait_us(SPI_DELAY);
-    return received;
-}
-
-
-/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 
- * 
- * Sets the current position as the zero point from which angles are calculated
- *  
- * Returns true if successful, false otherwise
- * 
- * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
-bool AngleEncoder::set_zero() {
-    char received;
-    
-    // send "set_zero_point" command
-    _cs = 0;
-    wait_us(SPI_DELAY);
-    received = _spi.write(0x70); // send the command
-    wait_us(SPI_DELAY);
-    _cs = 1;
-    wait_us(SPI_DELAY);
-    
-    // send NOP until reset is confirmed 
-    while(received == 0xa5) received = nop();
-    
-    // 0x80 indicates that reset is confirmed
-    if(received == 0x80) return true;
-    else return false;
-}
-
-
-/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 
- * 
- *  Sets the current position as the zero point from which angles are calculated
- *  @param rotary_count  The address to the rotary_count variable, allowing this 
- *                       function to reset both the absolute and relative angles.
- *  
- *  Returns true if successful, false otherwise
- *
- * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
-bool AngleEncoder::set_zero(int* rotary_count) {
-    
-    *rotary_count = 0;  // reset relative counter
-    return set_zero();  // reset absolute counter
-}
-
-
-/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 
- * 
- * Reads the absolute angle from the angle encoder via SPI
- * Returns the 12 bit angle (-2048, 2047)
- *  
- * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
-int AngleEncoder::absolute_angle() { // this function takes about 500us to complete (tested using Timer library)
-    char received;
-    uint16_t absolute_pos;
-    
-    // send read command
-    _cs = 0;
-    wait_us(SPI_DELAY);
-    received = _spi.write(0x10);
-    wait_us(SPI_DELAY);
-    _cs = 1;
-    
-    // wait for angle encoder to echo the command
-    wait_us(SPI_DELAY);
-    
-    // read until encoder sends 0x10
-    for(uint32_t i = 0; i < 100; i++)
-    {
-        received = nop();
-        if(received == 0x10) break;
-    }
-    
-    //while(received != 0x10) received = nop(); // read until 0x10 is received
-        
-    // the command should have been echoed back.  If so, then read the angle    
-    if(received == 0x10)
-    {
-        // receive the most significatn 4 bits of the 12 bit angle
-        absolute_pos = nop();  // read first 4 bits of absolute angle
-        absolute_pos <<= 8; // shift the 4 bits into the right spot
-        absolute_pos |= nop(); // receive the last 8 bits of absolute angle
-        
-        //make data symmetric around 0.
-        //if(absolute_pos > 2048) absolute_pos -= 4096;
-        //absolute_pos = ~absolute_pos + 1; // inverts the data
-        return absolute_pos;
-        }
-    else return 0x00ff0000; // this is just a random number outside of the range of the encoder
-}