Robotics Studio / Mbed 2 deprecated test_SPI

sss

Dependencies:   mbed Map

main.cpp@0:eac841605c08, 2019-03-18 (annotated)

Committer:
pbdt1997
Date:
Mon Mar 18 12:20:30 2019 +0000
Revision:
0:eac841605c08
Child:
1:d935f9ed6be5
read encoder using spi library;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pbdt1997 0:eac841605c08 1 #include "mbed.h"
pbdt1997 0:eac841605c08 2 #include <Map.hpp>
pbdt1997 0:eac841605c08 3
pbdt1997 0:eac841605c08 4 //Variable Declarations
pbdt1997 0:eac841605c08 5
pbdt1997 0:eac841605c08 6 Serial pc(USBTX, USBRX);
pbdt1997 0:eac841605c08 7
pbdt1997 0:eac841605c08 8 SPI spi(D11, D12, D13);//MOSI, MISO, SCLK
pbdt1997 0:eac841605c08 9 DigitalOut encode1(D10);//Encoder 1
pbdt1997 0:eac841605c08 10
pbdt1997 0:eac841605c08 11 char rx_in = 0, rx_out = 0;
pbdt1997 0:eac841605c08 12
pbdt1997 0:eac841605c08 13 char dataSize = 5;
pbdt1997 0:eac841605c08 14 char array[5];
pbdt1997 0:eac841605c08 15 char arraySize = sizeof(array);
pbdt1997 0:eac841605c08 16 char getData = 0;
pbdt1997 0:eac841605c08 17 char checkData = 0;
pbdt1997 0:eac841605c08 18 char encArr[2]= {255,255};
pbdt1997 0:eac841605c08 19 char encLength = 2;
pbdt1997 0:eac841605c08 20
pbdt1997 0:eac841605c08 21 /////////////////////////////
pbdt1997 0:eac841605c08 22
pbdt1997 0:eac841605c08 23 //Functions
pbdt1997 0:eac841605c08 24
pbdt1997 0:eac841605c08 25 void RX(int data){
pbdt1997 0:eac841605c08 26 array[checkData] = data;
pbdt1997 0:eac841605c08 27 checkData++;
pbdt1997 0:eac841605c08 28 if(checkData == arraySize){
pbdt1997 0:eac841605c08 29 getData = 1;
pbdt1997 0:eac841605c08 30 checkData = 0;
pbdt1997 0:eac841605c08 31 }
pbdt1997 0:eac841605c08 32 }
pbdt1997 0:eac841605c08 33
pbdt1997 0:eac841605c08 34 void RX_INT(){
pbdt1997 0:eac841605c08 35 int data = pc.getc();
pbdt1997 0:eac841605c08 36 RX(data);
pbdt1997 0:eac841605c08 37 }
pbdt1997 0:eac841605c08 38
pbdt1997 0:eac841605c08 39 float ConvertAngle(int encData){
pbdt1997 0:eac841605c08 40 Map map(0, 16383, 0, 359);
pbdt1997 0:eac841605c08 41 float angle = map.Calculate(encData);
pbdt1997 0:eac841605c08 42 return angle;
pbdt1997 0:eac841605c08 43 }
pbdt1997 0:eac841605c08 44
pbdt1997 0:eac841605c08 45 float ReadEncoder(int encid){
pbdt1997 0:eac841605c08 46 if(encid == 1){
pbdt1997 0:eac841605c08 47 encode1 = 0;
pbdt1997 0:eac841605c08 48 }
pbdt1997 0:eac841605c08 49 else{
pbdt1997 0:eac841605c08 50 //encode2 = 0;
pbdt1997 0:eac841605c08 51 }
pbdt1997 0:eac841605c08 52 char *arrAdd = &encArr[0];
pbdt1997 0:eac841605c08 53 int encData = spi.write(arrAdd, 2, arrAdd, 2);
pbdt1997 0:eac841605c08 54 // printf("encoder reads %d \n\r", encData);
pbdt1997 0:eac841605c08 55 encData = encArr[0] * 256 + encArr[1];
pbdt1997 0:eac841605c08 56 encode1 = 1;
pbdt1997 0:eac841605c08 57 printf("encoder reads %d \n\r", encData);
pbdt1997 0:eac841605c08 58 return ConvertAngle(encData/2);
pbdt1997 0:eac841605c08 59 }
pbdt1997 0:eac841605c08 60
pbdt1997 0:eac841605c08 61
pbdt1997 0:eac841605c08 62 void RX_INT();
pbdt1997 0:eac841605c08 63
pbdt1997 0:eac841605c08 64 //Main
pbdt1997 0:eac841605c08 65
pbdt1997 0:eac841605c08 66 int main() {
pbdt1997 0:eac841605c08 67 pc.baud(250000);
pbdt1997 0:eac841605c08 68 pc.attach(&RX_INT, Serial::RxIrq);
pbdt1997 0:eac841605c08 69
pbdt1997 0:eac841605c08 70 encode1 = 1;
pbdt1997 0:eac841605c08 71
pbdt1997 0:eac841605c08 72 spi.format(14, 3);
pbdt1997 0:eac841605c08 73 spi.frequency(500000);
pbdt1997 0:eac841605c08 74
pbdt1997 0:eac841605c08 75
pbdt1997 0:eac841605c08 76 //Program Loop
pbdt1997 0:eac841605c08 77 while(true){
pbdt1997 0:eac841605c08 78 //if(getData == 1){
pbdt1997 0:eac841605c08 79 // for(char i = 0; i < arraySize; i++){
pbdt1997 0:eac841605c08 80 // printf("array[%d] = %d\n", i,array[i]);
pbdt1997 0:eac841605c08 81 // pc.putc(array[i]);
pbdt1997 0:eac841605c08 82 //}
pbdt1997 0:eac841605c08 83 // pc.putc('A');
pbdt1997 0:eac841605c08 84 // getData = 0;
pbdt1997 0:eac841605c08 85 //}
pbdt1997 0:eac841605c08 86 float encdat = ReadEncoder(1);
pbdt1997 0:eac841605c08 87 printf("angle = %.2f \n\r", encdat);
pbdt1997 0:eac841605c08 88 }
pbdt1997 0:eac841605c08 89
pbdt1997 0:eac841605c08 90
pbdt1997 0:eac841605c08 91
pbdt1997 0:eac841605c08 92
pbdt1997 0:eac841605c08 93 }