Diff: Drivers/DE0_driver.cpp

Revision:

9:fe56b888985c

Parent:

8:a0890fa79084

--- a/Drivers/DE0_driver.cpp	Mon Feb 19 17:42:33 2018 +0000
+++ b/Drivers/DE0_driver.cpp	Fri Feb 23 20:58:34 2018 +0000
@@ -1,9 +1,9 @@
 /******************************************************************************/
 // ECE4333
-// LAB Partner 1: Ahmed Sobhy - ID: 3594449
-// LAB Partner 2: Brandon Kingman - ID: 3470444
-// Project: Autonomous Robot Design
-// Instructor: Prof. Chris Diduch
+// LAB Partner 1:   Ahmed Sobhy - ID: 3594449
+// LAB Partner 2:   Brandon Kingman - ID: 3470444
+// Project:         Autonomous Robot Design
+// Instructor:      Prof. Chris Diduch
 /******************************************************************************/
 // filename: DE0_driver.cpp
 // file content description:
@@ -13,6 +13,7 @@
 /******************************************************************************/
 
 #include "mbed.h"
+#include "DE0_driver.h"
 
 #define DUMMY   0
 
@@ -24,7 +25,6 @@
 DigitalOut IoReset(p15);    // 0-1-0 reset for all SPI peripherals in the DE0 FPGA
 DigitalOut SpiReset(p14);   // 0-1-0 tells the DE0 SPI interace that the next word sent is a control word
 
-
 int SignExtend(int16_t x)
 {
     // if number is negative
@@ -100,17 +100,21 @@
 * @param    none
 * @return   none
 *******************************************************************************/
-void DE0_read(uint16_t * id, int * dP, uint16_t * dT)
+void DE0_read(sensors_t * sensors)
 {
     // To place SPI module into control mode, where the next word received by the
     // slave is interpreted as a control word.
     RestartSpi();
     
     // rd = 1 (control if 1) address = 0 no of word = 2 - Specify a read only transactions of 2 words
-    *id = (uint16_t)DE0.write(0x8002);
+    sensors->id = (uint16_t)DE0.write(0x8004);
     
     // Read the two 16 bits registers from the FPGA 
-    *dP = SignExtend(DE0.write(DUMMY)); // A SPI read only transaction occurs.
-    *dT = DE0.write(DUMMY); //
+    sensors->dp_right = SignExtend(DE0.write(DUMMY)); // A SPI read only transaction occurs.
+    sensors->dt_right = DE0.write(DUMMY); //
+    
+    sensors->dp_left = SignExtend(DE0.write(DUMMY)); // A SPI read only transaction occurs.
+    sensors->dt_left = DE0.write(DUMMY); //
+    
 }
     
\ No newline at end of file