USNA WRC EW306 / mbedWSEsbc2

C Library for mbedWSE project based single board computer for hardware peripherals

Fork of mbedWSEsbc by Joseph Bradshaw

mbedWSEsbc.h@15:2564f54c89df, 2016-10-11 (annotated)

Committer:
jebradshaw
Date:
Tue Oct 11 17:13:09 2016 +0000
Revision:
15:2564f54c89df
Parent:
14:321d6fdc40e6 
updated comments

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jebradshaw 4:1aa4a75f6885 1 /* C Library for the WSE-PROJ-SBC
jebradshaw 4:1aa4a75f6885 2 J Bradshaw
jebradshaw 4:1aa4a75f6885 3 20140912
jebradshaw 4:1aa4a75f6885 4 20140918 J Bradshaw - Found CS mistake in Encoder routines
jebradshaw 4:1aa4a75f6885 5 Added comments in Init function, encoder functions
jebradshaw 12:9041603c430e 6 20150210 J Bradshaw - Initialized DigitalOuts with pre-defined logic
jebradshaw 12:9041603c430e 7 levels (CS's high, etc)
jebradshaw 15:2564f54c89df 8 20161011 J Bradshaw - Changed MAX1270 ADC SCLK to 5MHz and format(12, 0)
jebradshaw 15:2564f54c89df 9 for conversion mode to match datasheet (200ns SCLK max PW high and low)
jebradshaw 4:1aa4a75f6885 10 */
jebradshaw 0:dbd8b5c35d0f 11
jebradshaw 4:1aa4a75f6885 12
jebradshaw 4:1aa4a75f6885 13 // LS7366 ENCODER IC DEFINITIONS
jebradshaw 0:dbd8b5c35d0f 14 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 15 // Four commands for the Instruction Register (B7,B6) - LS7366
jebradshaw 0:dbd8b5c35d0f 16 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 17 #define CLR 0x00 //Clear Instruction
jebradshaw 0:dbd8b5c35d0f 18 #define RD 0x01 //Read Instruction
jebradshaw 0:dbd8b5c35d0f 19 #define WR 0x02 //Write Instruction
jebradshaw 0:dbd8b5c35d0f 20 #define LOAD 0x03 //Load Instruction
jebradshaw 0:dbd8b5c35d0f 21
jebradshaw 0:dbd8b5c35d0f 22 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 23 // Register to Select from the Instruction Register (B5,B4,B3) - LS7366
jebradshaw 0:dbd8b5c35d0f 24 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 25 #define NONE 0x00 //No Register Selected
jebradshaw 0:dbd8b5c35d0f 26 #define MDR0 0x01 //Mode Register 0
jebradshaw 0:dbd8b5c35d0f 27 #define MDR1 0x02 //Mode Register 1
jebradshaw 0:dbd8b5c35d0f 28 #define DTR 0x03 //Data Transfer Register
jebradshaw 0:dbd8b5c35d0f 29 #define CNTR 0x04 //Software Configurable Counter Register
jebradshaw 0:dbd8b5c35d0f 30 #define OTR 0x05 //Output Transfer Register
jebradshaw 0:dbd8b5c35d0f 31 #define STR 0x06 //Status Register
jebradshaw 0:dbd8b5c35d0f 32 #define NONE_REG 0x07 //No Register Selected
jebradshaw 0:dbd8b5c35d0f 33
jebradshaw 0:dbd8b5c35d0f 34 // Set-up hardwired IO
jebradshaw 0:dbd8b5c35d0f 35 SPI spi_max1270(p5, p6, p7);
jebradshaw 0:dbd8b5c35d0f 36 SPI spi(p5, p6, p7);
jebradshaw 11:acf3fcc0d085 37 DigitalOut max1270_cs(p8, 1); //CS for MAX1270 ADC (U3)
jebradshaw 11:acf3fcc0d085 38 DigitalOut max522_cs(p11, 1); //CS for MAX522 DAC (U5)
jebradshaw 0:dbd8b5c35d0f 39
jebradshaw 11:acf3fcc0d085 40 DigitalOut ls7166_cs1(p19, 1); //CS for LS7366-1 (U8)
jebradshaw 11:acf3fcc0d085 41 DigitalOut ls7166_cs2(p20, 1); //CS for LS7366-2 (U9)
jebradshaw 0:dbd8b5c35d0f 42
jebradshaw 11:acf3fcc0d085 43 DigitalOut mot1_ph1(p21, 0);
jebradshaw 11:acf3fcc0d085 44 DigitalOut mot1_ph2(p22, 0);
jebradshaw 0:dbd8b5c35d0f 45 PwmOut mot_en1(p23);
jebradshaw 0:dbd8b5c35d0f 46
jebradshaw 11:acf3fcc0d085 47 DigitalOut mot2_ph1(p24, 0);
jebradshaw 11:acf3fcc0d085 48 DigitalOut mot2_ph2(p25, 0);
jebradshaw 0:dbd8b5c35d0f 49 PwmOut mot_en2(p26);
jebradshaw 0:dbd8b5c35d0f 50
jebradshaw 11:acf3fcc0d085 51 DigitalOut led1(LED1, 0);
jebradshaw 11:acf3fcc0d085 52 DigitalOut led2(LED2, 0);
jebradshaw 11:acf3fcc0d085 53 DigitalOut led3(LED3, 0);
jebradshaw 11:acf3fcc0d085 54 DigitalOut led4(LED4, 0);
jebradshaw 0:dbd8b5c35d0f 55
jebradshaw 0:dbd8b5c35d0f 56 Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc
jebradshaw 0:dbd8b5c35d0f 57 Serial xbee(p13, p14); // tx, rx for Xbee
jebradshaw 0:dbd8b5c35d0f 58 Timer t; // create timer instance
jebradshaw 0:dbd8b5c35d0f 59
jebradshaw 0:dbd8b5c35d0f 60 // ------ Prototypes -----------
jebradshaw 0:dbd8b5c35d0f 61 int read_max1270(int chan, int range, int bipol);
jebradshaw 0:dbd8b5c35d0f 62 float read_max1270_volts(int chan, int range, int bipol);
jebradshaw 0:dbd8b5c35d0f 63 void mot_control(int drv_num, float dc);
jebradshaw 0:dbd8b5c35d0f 64 void LS7366_cmd(int inst, int reg);
jebradshaw 0:dbd8b5c35d0f 65 long LS7366_read_counter(int chan_num);
jebradshaw 0:dbd8b5c35d0f 66 void LS7366_quad_mode_x4(int chan_num);
jebradshaw 0:dbd8b5c35d0f 67 void LS7366_reset_counter(int chan_num);
jebradshaw 0:dbd8b5c35d0f 68 void LS7366_write_DTR(int chan_num,long enc_value);
jebradshaw 0:dbd8b5c35d0f 69 void write_max522(int chan, float volts);
jebradshaw 0:dbd8b5c35d0f 70
jebradshaw 0:dbd8b5c35d0f 71 //---- Function Listing -------------------------------
jebradshaw 0:dbd8b5c35d0f 72 int read_max1270(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 73 int cword=0x80; //set the start bit
jebradshaw 0:dbd8b5c35d0f 74
jebradshaw 15:2564f54c89df 75 spi_max1270.frequency(5000000); //5MHz Max
jebradshaw 0:dbd8b5c35d0f 76 spi_max1270.format(8, 0); // 8 data bits, CPOL0, and CPHA0 (datasheet Digital Interface)
jebradshaw 0:dbd8b5c35d0f 77
jebradshaw 0:dbd8b5c35d0f 78 cword |= (chan << 4); //shift channel
jebradshaw 0:dbd8b5c35d0f 79 cword |= (range << 3);
jebradshaw 0:dbd8b5c35d0f 80 cword |= (bipol << 2);
jebradshaw 0:dbd8b5c35d0f 81
jebradshaw 0:dbd8b5c35d0f 82 max1270_cs = 0;
jebradshaw 0:dbd8b5c35d0f 83
jebradshaw 0:dbd8b5c35d0f 84 spi_max1270.write(cword);
jebradshaw 15:2564f54c89df 85 wait_us(15); //15us
jebradshaw 14:321d6fdc40e6 86 spi_max1270.format(12, 0);
jebradshaw 0:dbd8b5c35d0f 87
jebradshaw 0:dbd8b5c35d0f 88 int result = spi_max1270.write(0);
jebradshaw 0:dbd8b5c35d0f 89
jebradshaw 0:dbd8b5c35d0f 90 max1270_cs = 1;
jebradshaw 0:dbd8b5c35d0f 91 spi_max1270.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 92 return result;
jebradshaw 0:dbd8b5c35d0f 93 }
jebradshaw 0:dbd8b5c35d0f 94
jebradshaw 0:dbd8b5c35d0f 95 float read_max1270_volts(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 96 float rangevolts=0.0;
jebradshaw 0:dbd8b5c35d0f 97 float volts=0.0;
jebradshaw 0:dbd8b5c35d0f 98 int adc_res;
jebradshaw 0:dbd8b5c35d0f 99
jebradshaw 0:dbd8b5c35d0f 100 //read the ADC converter
jebradshaw 0:dbd8b5c35d0f 101 adc_res = read_max1270(chan, range, bipol) & 0xFFF;
jebradshaw 0:dbd8b5c35d0f 102
jebradshaw 0:dbd8b5c35d0f 103 //Determine the voltage range
jebradshaw 0:dbd8b5c35d0f 104 if(range) //RNG bit
jebradshaw 0:dbd8b5c35d0f 105 rangevolts=10.0;
jebradshaw 0:dbd8b5c35d0f 106 else
jebradshaw 0:dbd8b5c35d0f 107 rangevolts=5.0;
jebradshaw 0:dbd8b5c35d0f 108
jebradshaw 0:dbd8b5c35d0f 109 //bi-polar input range
jebradshaw 0:dbd8b5c35d0f 110 if(bipol){ //BIP is set, input is +/-
jebradshaw 0:dbd8b5c35d0f 111 if(adc_res < 0x800){ //if result was positive
jebradshaw 0:dbd8b5c35d0f 112 volts = ((float)adc_res/0x7FF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 113 }
jebradshaw 0:dbd8b5c35d0f 114 else{ //result was negative
jebradshaw 0:dbd8b5c35d0f 115 volts = -(-((float)adc_res/0x7FF) * rangevolts) - (rangevolts * 2.0);
jebradshaw 0:dbd8b5c35d0f 116 }
jebradshaw 0:dbd8b5c35d0f 117 }
jebradshaw 0:dbd8b5c35d0f 118 else{ //input is positive polarity only
jebradshaw 0:dbd8b5c35d0f 119 volts = ((float)adc_res/0xFFF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 120 }
jebradshaw 0:dbd8b5c35d0f 121
jebradshaw 0:dbd8b5c35d0f 122 return volts;
jebradshaw 0:dbd8b5c35d0f 123 }
jebradshaw 0:dbd8b5c35d0f 124
jebradshaw 0:dbd8b5c35d0f 125 //Motor control routine for PWM on 5 pin motor driver header
jebradshaw 0:dbd8b5c35d0f 126 // drv_num is 1 or 2 (defaults to 1, anything but 2)
jebradshaw 0:dbd8b5c35d0f 127 // dc is signed duty cycle (+/-1.0)
jebradshaw 0:dbd8b5c35d0f 128
jebradshaw 0:dbd8b5c35d0f 129 void mot_control(int drv_num, float dc){
jebradshaw 0:dbd8b5c35d0f 130 if(dc>1.0)
jebradshaw 0:dbd8b5c35d0f 131 dc=1.0;
jebradshaw 0:dbd8b5c35d0f 132 if(dc<-1.0)
jebradshaw 0:dbd8b5c35d0f 133 dc=-1.0;
jebradshaw 0:dbd8b5c35d0f 134
jebradshaw 0:dbd8b5c35d0f 135 if(drv_num != 2){
jebradshaw 0:dbd8b5c35d0f 136 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 137 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 138 mot1_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 139 mot_en1 = dc;
jebradshaw 0:dbd8b5c35d0f 140 }
jebradshaw 0:dbd8b5c35d0f 141 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 142 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 143 mot1_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 144 mot_en1 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 145 }
jebradshaw 0:dbd8b5c35d0f 146 else{
jebradshaw 0:dbd8b5c35d0f 147 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 148 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 149 mot_en1 = 0.0;
jebradshaw 0:dbd8b5c35d0f 150 }
jebradshaw 0:dbd8b5c35d0f 151 }
jebradshaw 0:dbd8b5c35d0f 152 else{
jebradshaw 0:dbd8b5c35d0f 153 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 154 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 155 mot2_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 156 mot_en2 = dc;
jebradshaw 0:dbd8b5c35d0f 157 }
jebradshaw 0:dbd8b5c35d0f 158 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 159 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 160 mot2_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 161 mot_en2 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 162 }
jebradshaw 0:dbd8b5c35d0f 163 else{
jebradshaw 0:dbd8b5c35d0f 164 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 165 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 166 mot_en2 = 0.0;
jebradshaw 0:dbd8b5c35d0f 167 }
jebradshaw 0:dbd8b5c35d0f 168 }
jebradshaw 0:dbd8b5c35d0f 169 }
jebradshaw 0:dbd8b5c35d0f 170
jebradshaw 0:dbd8b5c35d0f 171 //----- LS7366 Encoder/Counter Routines --------------------
jebradshaw 0:dbd8b5c35d0f 172 void LS7366_cmd(int inst, int reg){
jebradshaw 0:dbd8b5c35d0f 173 char cmd;
jebradshaw 0:dbd8b5c35d0f 174
jebradshaw 0:dbd8b5c35d0f 175 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 176 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 177 cmd = (inst << 6) | (reg << 3);
jebradshaw 0:dbd8b5c35d0f 178 // printf("\r\ncmd=0X%2X", cmd);
jebradshaw 0:dbd8b5c35d0f 179 spi.write(cmd);
jebradshaw 0:dbd8b5c35d0f 180 }
jebradshaw 0:dbd8b5c35d0f 181
jebradshaw 0:dbd8b5c35d0f 182 long LS7366_read_counter(int chan_num){
jebradshaw 0:dbd8b5c35d0f 183 union bytes{
jebradshaw 0:dbd8b5c35d0f 184 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 185 long long_enc;
jebradshaw 0:dbd8b5c35d0f 186 }counter;
jebradshaw 0:dbd8b5c35d0f 187
jebradshaw 0:dbd8b5c35d0f 188 counter.long_enc = 0;
jebradshaw 0:dbd8b5c35d0f 189
jebradshaw 0:dbd8b5c35d0f 190 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 191 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 192
jebradshaw 0:dbd8b5c35d0f 193 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 194 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 195 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 196 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 197 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 198 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 199 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 200 }
jebradshaw 0:dbd8b5c35d0f 201 else{
jebradshaw 0:dbd8b5c35d0f 202 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 203 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 204 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 205 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 206 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 207
jebradshaw 0:dbd8b5c35d0f 208 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 209 }
jebradshaw 0:dbd8b5c35d0f 210 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 211 LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR
jebradshaw 0:dbd8b5c35d0f 212 counter.byte_enc[3] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 213 counter.byte_enc[2] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 214 counter.byte_enc[1] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 215 counter.byte_enc[0] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 216
jebradshaw 0:dbd8b5c35d0f 217 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 218 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 219 }
jebradshaw 0:dbd8b5c35d0f 220 else{
jebradshaw 0:dbd8b5c35d0f 221 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 222 }
jebradshaw 0:dbd8b5c35d0f 223
jebradshaw 0:dbd8b5c35d0f 224 return counter.long_enc; //return count
jebradshaw 0:dbd8b5c35d0f 225 }
jebradshaw 0:dbd8b5c35d0f 226
jebradshaw 0:dbd8b5c35d0f 227 void LS7366_quad_mode_x4(int chan_num){
jebradshaw 0:dbd8b5c35d0f 228
jebradshaw 0:dbd8b5c35d0f 229 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 230 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 231
jebradshaw 0:dbd8b5c35d0f 232 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 233 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 234 }
jebradshaw 0:dbd8b5c35d0f 235 else{
jebradshaw 0:dbd8b5c35d0f 236 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 237 }
jebradshaw 0:dbd8b5c35d0f 238 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 239 LS7366_cmd(WR,MDR0);// Write to the MDR0 register
jebradshaw 4:1aa4a75f6885 240 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 241 spi.write(0x03); // X4 quadrature count mode
jebradshaw 0:dbd8b5c35d0f 242 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 243 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 244 }
jebradshaw 0:dbd8b5c35d0f 245 else{
jebradshaw 0:dbd8b5c35d0f 246 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 247 }
jebradshaw 0:dbd8b5c35d0f 248 }
jebradshaw 0:dbd8b5c35d0f 249
jebradshaw 4:1aa4a75f6885 250 void LS7366_reset_counter(int chan_num){
jebradshaw 4:1aa4a75f6885 251 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 4:1aa4a75f6885 252 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 253
jebradshaw 4:1aa4a75f6885 254 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 255 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 256 }
jebradshaw 0:dbd8b5c35d0f 257 else{
jebradshaw 0:dbd8b5c35d0f 258 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 259 }
jebradshaw 4:1aa4a75f6885 260 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 261 LS7366_cmd(CLR,CNTR); // Clear the counter register
jebradshaw 4:1aa4a75f6885 262 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 263 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 264 }
jebradshaw 0:dbd8b5c35d0f 265 else{
jebradshaw 4:1aa4a75f6885 266 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 267 }
jebradshaw 4:1aa4a75f6885 268 wait_us(1); // short delay
jebradshaw 0:dbd8b5c35d0f 269
jebradshaw 4:1aa4a75f6885 270 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 271 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 272 }
jebradshaw 0:dbd8b5c35d0f 273 else{
jebradshaw 0:dbd8b5c35d0f 274 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 275 }
jebradshaw 4:1aa4a75f6885 276 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 277 LS7366_cmd(LOAD,CNTR); // load counter reg
jebradshaw 4:1aa4a75f6885 278 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 279 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 280 }
jebradshaw 0:dbd8b5c35d0f 281 else{
jebradshaw 4:1aa4a75f6885 282 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 283 }
jebradshaw 0:dbd8b5c35d0f 284 }
jebradshaw 0:dbd8b5c35d0f 285
jebradshaw 4:1aa4a75f6885 286 void LS7366_write_DTR(int chan_num, long enc_value){
jebradshaw 4:1aa4a75f6885 287 union bytes // Union to speed up byte writes
jebradshaw 0:dbd8b5c35d0f 288 {
jebradshaw 0:dbd8b5c35d0f 289 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 290 long long_enc;
jebradshaw 0:dbd8b5c35d0f 291 }counter;
jebradshaw 0:dbd8b5c35d0f 292
jebradshaw 4:1aa4a75f6885 293 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 4:1aa4a75f6885 294 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 295
jebradshaw 4:1aa4a75f6885 296 counter.long_enc = enc_value; // pass enc_value to Union
jebradshaw 0:dbd8b5c35d0f 297
jebradshaw 4:1aa4a75f6885 298 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 299 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 300 }
jebradshaw 0:dbd8b5c35d0f 301 else{
jebradshaw 0:dbd8b5c35d0f 302 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 303 }
jebradshaw 4:1aa4a75f6885 304 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 305 LS7366_cmd(WR,DTR); // Write to the Data Transfer Register
jebradshaw 4:1aa4a75f6885 306 spi.write(counter.byte_enc[3]); // Write the 32-bit encoder value
jebradshaw 0:dbd8b5c35d0f 307 spi.write(counter.byte_enc[2]);
jebradshaw 0:dbd8b5c35d0f 308 spi.write(counter.byte_enc[1]);
jebradshaw 0:dbd8b5c35d0f 309 spi.write(counter.byte_enc[0]);
jebradshaw 4:1aa4a75f6885 310 if(chan_num!=2){ // de-activate the chip select
jebradshaw 0:dbd8b5c35d0f 311 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 312 }
jebradshaw 0:dbd8b5c35d0f 313 else{
jebradshaw 0:dbd8b5c35d0f 314 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 315 }
jebradshaw 0:dbd8b5c35d0f 316
jebradshaw 4:1aa4a75f6885 317 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 318 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 319 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 320 }
jebradshaw 0:dbd8b5c35d0f 321 else{
jebradshaw 0:dbd8b5c35d0f 322 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 323 }
jebradshaw 4:1aa4a75f6885 324 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 325 LS7366_cmd(LOAD,CNTR); // load command to the counter register from DTR
jebradshaw 4:1aa4a75f6885 326 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 327 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 328 }
jebradshaw 0:dbd8b5c35d0f 329 else{
jebradshaw 0:dbd8b5c35d0f 330 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 331 }
jebradshaw 0:dbd8b5c35d0f 332 }
jebradshaw 0:dbd8b5c35d0f 333
jebradshaw 0:dbd8b5c35d0f 334 //------- MAX522 routines ---------------------------------
jebradshaw 0:dbd8b5c35d0f 335 void write_max522(int chan, float volts){
jebradshaw 0:dbd8b5c35d0f 336 int cmd=0x20; //set UB3
jebradshaw 0:dbd8b5c35d0f 337 int data_word = (int)((volts/5.0) * 256.0);
jebradshaw 0:dbd8b5c35d0f 338 if(chan != 2)
jebradshaw 0:dbd8b5c35d0f 339 cmd |= 0x01; //set DAC A out
jebradshaw 0:dbd8b5c35d0f 340 else
jebradshaw 0:dbd8b5c35d0f 341 cmd |= 0x02; //set DACB out
jebradshaw 0:dbd8b5c35d0f 342
jebradshaw 0:dbd8b5c35d0f 343 // pc.printf("cmd=0x%4X data_word=0x%4X \r\n", cmd, data_word);
jebradshaw 0:dbd8b5c35d0f 344
jebradshaw 0:dbd8b5c35d0f 345 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 346 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 347 max522_cs = 0;
jebradshaw 0:dbd8b5c35d0f 348 spi.write(cmd & 0xFF);
jebradshaw 0:dbd8b5c35d0f 349 spi.write(data_word & 0xFF);
jebradshaw 0:dbd8b5c35d0f 350 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 351 }
jebradshaw 0:dbd8b5c35d0f 352
jebradshaw 1:85cd6d500385 353 void mbedWSEsbcInit(unsigned long pcbaud){
jebradshaw 4:1aa4a75f6885 354 led1 = 0; //Initialize all LEDs as off
jebradshaw 4:1aa4a75f6885 355 led2 = 0;
jebradshaw 4:1aa4a75f6885 356 led3 = 0;
jebradshaw 4:1aa4a75f6885 357 led4 = 0;
jebradshaw 4:1aa4a75f6885 358 max1270_cs = 1; //Initialize all chip selects as off
jebradshaw 0:dbd8b5c35d0f 359 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 360 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 361 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 362
jebradshaw 0:dbd8b5c35d0f 363 wait(.2); //delay at beginning for voltage settle purposes
jebradshaw 0:dbd8b5c35d0f 364
jebradshaw 4:1aa4a75f6885 365 mot_en1.period_us(50); //20KHz for DC motor control PWM
jebradshaw 1:85cd6d500385 366 pc.baud(pcbaud); //Set up serial port baud rate
jebradshaw 4:1aa4a75f6885 367 pc.printf("\r\n");
jebradshaw 0:dbd8b5c35d0f 368 xbee.baud(9600);
jebradshaw 0:dbd8b5c35d0f 369
jebradshaw 0:dbd8b5c35d0f 370 LS7366_reset_counter(1);
jebradshaw 0:dbd8b5c35d0f 371 LS7366_quad_mode_x4(1);
jebradshaw 0:dbd8b5c35d0f 372 LS7366_write_DTR(1,0);
jebradshaw 0:dbd8b5c35d0f 373
jebradshaw 0:dbd8b5c35d0f 374 LS7366_reset_counter(2);
jebradshaw 0:dbd8b5c35d0f 375 LS7366_quad_mode_x4(2);
jebradshaw 0:dbd8b5c35d0f 376 LS7366_write_DTR(2,0);
jebradshaw 0:dbd8b5c35d0f 377
jebradshaw 0:dbd8b5c35d0f 378 t.start(); // Set up timer
jebradshaw 0:dbd8b5c35d0f 379 }//mbedWSEsbc_init()