TER Atienza Pongnot 2019
/
7366_lib
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Dependents: Carte_Moteur_test_asservissement_1M identification Carte_Moteur_test_asservissement_3M
Diff: 7366_lib.cpp
- Revision:
- 7:ea991921ae55
- Parent:
- 6:fafe7c5a4b2f
- Child:
- 8:e849d7188c41
--- a/7366_lib.cpp Tue Jan 29 12:32:32 2019 +0000
+++ b/7366_lib.cpp Wed Jan 30 18:47:25 2019 +0000
@@ -27,13 +27,23 @@
this->write(txBuffer, txLength, rxBuffer, rxLength);
this->select = 1;
this->unlock();
+
+ IR = CLR|CNTR;
+ txBuffer[0] = IR;
+ txLength = 1;
+ this->lock();
+ this->select = 0;
+ this->write(txBuffer, txLength, rxBuffer, rxLength);
+ this->select = 1;
+ this->unlock();
+
return;
}
int32_t SPI_7366::read_value(){
- char rxBuffer[5] = {0,0,0,0,0};
- char rxLength = 5;
+ char rxBuffer[6] = {0,0,0,0,0,0};
+ char rxLength = 0;
char IR = LOAD|OTR;
char txBuffer[1] = {IR};
int txLength = 1;
@@ -46,11 +56,12 @@
IR = RD|OTR;
txBuffer[0] = IR;
txLength = 1;
+ rxLength = 5;
this->lock();
this->select = 0;
this->write(txBuffer, txLength, rxBuffer, rxLength);
this->select = 1;
this->unlock();
-
- return (int32_t) (rxBuffer[1])|(rxBuffer[2]<<4)|(rxBuffer[3]<<8)|(rxBuffer[4]<<12);
+ int32_t resultat = (rxBuffer[1]<<24) + (rxBuffer[2]<<16) + (rxBuffer[3]<<8) + (rxBuffer[4]<<0);
+ return resultat;
}
\ No newline at end of file