USNA WRC EW306 / mbedWSEsbc2

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

Fork of mbedWSEsbc by Joseph Bradshaw

mbedWSEsbc.h@14:321d6fdc40e6, 2016-10-11 (annotated)

Committer:
jebradshaw
Date:
Tue Oct 11 17:11:12 2016 +0000
Revision:
14:321d6fdc40e6
Parent:
12:9041603c430e
Child:
15:2564f54c89df
Changed MAX1270 SCLK to 5MHz (datasheet pulse width high 200ns, pulse width low 200ns)  Changed SPI mode to format(12, 0) during conversion

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