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MagneticEncoder.cpp
- Committer:
- enderceylan
- Date:
- 2016-11-11
- Revision:
- 2:67cf01beacc1
- Child:
- 3:1b3354f31db4
File content as of revision 2:67cf01beacc1:
#include "mbed.h" PwmOut mypwm(PWM_OUT); Serial serial(USBTX, USBRX); DigitalOut myled(LED1); int main() { mypwm.period_ms(10); mypwm.pulsewidth_ms(1); serial.printf("pwm set to %.2f %%\n", mypwm.read() * 100); while(1) { myled = !myled; wait(1); } } /* #define SPI_CMD_READ 0x4000 /*!< flag indicating read attempt when using SPI in terfac*//* #define SPI_REG_AGC 0x3ffd /*!< agc register when using SPI */ /* #define SPI_REG_MAG 0x3ffe /*!< magnitude register when using SPI */ /* #define SPI_REG_DATA 0x3fff /*!< data register when using SPI */ /* #define SPI_REG_CLRERR 0x1 /*!< clear error register when using SPI */ /*! ************************************************** *************************** * Reads out chip data via SPI interface * * This function is used to read out cordic value from chips supporting SPI * interface. ************************************************** *************************** *//* void spiReadData() { u16 dat; // 16-bit data buffer for SPI communication ushort angle, agcreg; ubyte agc; ushort value; bit alarmHi, alarmLo; /* Send READ AGC command. Received data is thrown a way: this data comes from the precedent command (unknown)*/ /* dat = SPI_CMD_READ | SPI_REG_AGC; dat |= spiCalcEvenParity(dat) << 15; spiTransfer((u8*)&dat, sizeof (u16)); / /* Send READ MAG command. Received data is the AG C value: this data comes from the precedent command (unknown)*/ /* dat = SPI_CMD_READ | SPI_REG_MAG; dat |= spiCalcEvenParity(dat) << 15; spiTransfer((u8*)&dat, sizeof (u16)); magreg = dat; /* Send READ ANGLE command. Received data is the MA G value, from the precedent command */ /* dat = SPI_CMD_READ | SPI_REG_DATA; dat |= spiCalcEvenParity(dat) << 15; spiTransfer((u8*)&dat, sizeof (u16)); agcreg = dat; /* Send NOP command. Received data is the ANGLE value, from the precedent command *//* dat = 0x0000; // NOP command. spiTransfer((u8*)&dat, sizeof (u16)); angle = dat >> 2; } if ((dat & 0x4000) || (agcreg & 0x4000) || (magreg & 0x4000)) { /* error flag set - need to reset it */ /* dat = SPI_CMD_READ | SPI_REG_CLRERR; dat |= spiCalcEvenParity(dat)<<15; spiTransfer((u8*)&dat, sizeof(u16)); } else { agc = agcreg & 0xff value = dat & (currentChipDescription->positions - 31 - 1); angle = (dd->value * 360) / currentChipDescription->positions; magnitude = magreg & (currentChipDescription->positions - 31 - 1); alarmLo = (agcreg >> 10) & 0x1; alarmHi = (agcreg >> 11) & 0x1; } } /*! *************************************************** ************************** * Calculate even parity of a 16 bit unsigned integ er * * This function is used by the SPI interface to ca lculate the even parity * of the data which will be sent via SPI to the en coder. * * \param[in] value : 16 bit unsigned integer whose parity shall be calculated * * \return : Even parity * *************************************************** ************************** */ /* static u8 spiCalcEvenParity(ushort value) { u8 cnt = 0; u8 i; for (i = 0; i < 16; i++) { if (value & 0x1) { cnt++; } value >>= 1; } return cnt & 0x1; } /*! ************************************************** *************************** * Calculate even parity of a 16 bit unsigned inte ger * * This function is used by the SPI interface to c alculate the even parity * of the data which will be sent via SPI to the e ncoder. * * \param[in] value : 16 bit unsigned integer whos e parity shall be calculated * * \return : Even parity * ************************************************** *************************** */ /* static u8 spiCalcEvenParity(ushort value) { u8 cnt = 0; u8 i; for (i = 0; i < 16; i++) { if (value & 0x1) { cnt++; } value >>= 1; } return cnt & 0x1; } */