Diff: MagneticEncoder.cpp

Revision:

2:67cf01beacc1

Child:

3:1b3354f31db4

diff -r b0fc2c9a5d06 -r 67cf01beacc1 MagneticEncoder.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MagneticEncoder.cpp	Fri Nov 11 00:54:37 2016 +0000
@@ -0,0 +1,193 @@
+#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; 
+}
+
+
+
+
+
+*/
\ No newline at end of file