USNA WRC EW306 / mbedWSEsbc2

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

Fork of mbedWSEsbc by Joseph Bradshaw

mbedWSEsbc.h@7:740d112d934d, 2014-10-22 (annotated)

Committer:
jebradshaw
Date:
Wed Oct 22 19:09:00 2014 +0000
Revision:
7:740d112d934d
Parent:
4:1aa4a75f6885
Child:
9:56c77746e6a8
PID control Quanser active suspension demo

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 7:740d112d934d 6 20141021 J Bradshaw - Added comments for ADC function
jebradshaw 4:1aa4a75f6885 7 */
jebradshaw 0:dbd8b5c35d0f 8
jebradshaw 4:1aa4a75f6885 9
jebradshaw 4:1aa4a75f6885 10 // LS7366 ENCODER IC DEFINITIONS
jebradshaw 0:dbd8b5c35d0f 11 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 12 // Four commands for the Instruction Register (B7,B6) - LS7366
jebradshaw 0:dbd8b5c35d0f 13 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 14 #define CLR 0x00 //Clear Instruction
jebradshaw 0:dbd8b5c35d0f 15 #define RD 0x01 //Read Instruction
jebradshaw 0:dbd8b5c35d0f 16 #define WR 0x02 //Write Instruction
jebradshaw 0:dbd8b5c35d0f 17 #define LOAD 0x03 //Load Instruction
jebradshaw 0:dbd8b5c35d0f 18
jebradshaw 0:dbd8b5c35d0f 19 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 20 // Register to Select from the Instruction Register (B5,B4,B3) - LS7366
jebradshaw 0:dbd8b5c35d0f 21 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 22 #define NONE 0x00 //No Register Selected
jebradshaw 0:dbd8b5c35d0f 23 #define MDR0 0x01 //Mode Register 0
jebradshaw 0:dbd8b5c35d0f 24 #define MDR1 0x02 //Mode Register 1
jebradshaw 0:dbd8b5c35d0f 25 #define DTR 0x03 //Data Transfer Register
jebradshaw 0:dbd8b5c35d0f 26 #define CNTR 0x04 //Software Configurable Counter Register
jebradshaw 0:dbd8b5c35d0f 27 #define OTR 0x05 //Output Transfer Register
jebradshaw 0:dbd8b5c35d0f 28 #define STR 0x06 //Status Register
jebradshaw 0:dbd8b5c35d0f 29 #define NONE_REG 0x07 //No Register Selected
jebradshaw 0:dbd8b5c35d0f 30
jebradshaw 0:dbd8b5c35d0f 31 // Set-up hardwired IO
jebradshaw 0:dbd8b5c35d0f 32 SPI spi_max1270(p5, p6, p7);
jebradshaw 0:dbd8b5c35d0f 33 SPI spi(p5, p6, p7);
jebradshaw 4:1aa4a75f6885 34 DigitalOut max1270_cs(p8); //CS for MAX1270 ADC (U3)
jebradshaw 4:1aa4a75f6885 35 DigitalOut max522_cs(p11); //CS for MAX522 DAC (U5)
jebradshaw 0:dbd8b5c35d0f 36
jebradshaw 4:1aa4a75f6885 37 DigitalOut ls7166_cs1(p19); //CS for LS7366-1 (U8)
jebradshaw 4:1aa4a75f6885 38 DigitalOut ls7166_cs2(p20); //CS for LS7366-2 (U9)
jebradshaw 0:dbd8b5c35d0f 39
jebradshaw 4:1aa4a75f6885 40 DigitalOut mot1_ph1(p21);
jebradshaw 0:dbd8b5c35d0f 41 DigitalOut mot1_ph2(p22);
jebradshaw 0:dbd8b5c35d0f 42 PwmOut mot_en1(p23);
jebradshaw 0:dbd8b5c35d0f 43
jebradshaw 0:dbd8b5c35d0f 44 DigitalOut mot2_ph1(p24);
jebradshaw 0:dbd8b5c35d0f 45 DigitalOut mot2_ph2(p25);
jebradshaw 0:dbd8b5c35d0f 46 PwmOut mot_en2(p26);
jebradshaw 0:dbd8b5c35d0f 47
jebradshaw 0:dbd8b5c35d0f 48 DigitalOut led1(LED1);
jebradshaw 0:dbd8b5c35d0f 49 DigitalOut led2(LED2);
jebradshaw 0:dbd8b5c35d0f 50 DigitalOut led3(LED3);
jebradshaw 0:dbd8b5c35d0f 51 DigitalOut led4(LED4);
jebradshaw 0:dbd8b5c35d0f 52
jebradshaw 0:dbd8b5c35d0f 53 Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc
jebradshaw 0:dbd8b5c35d0f 54 Serial xbee(p13, p14); // tx, rx for Xbee
jebradshaw 0:dbd8b5c35d0f 55 Timer t; // create timer instance
jebradshaw 0:dbd8b5c35d0f 56
jebradshaw 0:dbd8b5c35d0f 57 // ------ Prototypes -----------
jebradshaw 0:dbd8b5c35d0f 58 int read_max1270(int chan, int range, int bipol);
jebradshaw 0:dbd8b5c35d0f 59 float read_max1270_volts(int chan, int range, int bipol);
jebradshaw 0:dbd8b5c35d0f 60 void mot_control(int drv_num, float dc);
jebradshaw 0:dbd8b5c35d0f 61 void LS7366_cmd(int inst, int reg);
jebradshaw 0:dbd8b5c35d0f 62 long LS7366_read_counter(int chan_num);
jebradshaw 0:dbd8b5c35d0f 63 void LS7366_quad_mode_x4(int chan_num);
jebradshaw 0:dbd8b5c35d0f 64 void LS7366_reset_counter(int chan_num);
jebradshaw 0:dbd8b5c35d0f 65 void LS7366_write_DTR(int chan_num,long enc_value);
jebradshaw 0:dbd8b5c35d0f 66 void write_max522(int chan, float volts);
jebradshaw 0:dbd8b5c35d0f 67
jebradshaw 0:dbd8b5c35d0f 68 //---- Function Listing -------------------------------
jebradshaw 7:740d112d934d 69 // return integer - 12 bit ADC result
jebradshaw 7:740d112d934d 70 // chan - integer from 0 - 7
jebradshaw 7:740d112d934d 71 // range - 0: 0 - 5 volts, 1: 0 - 10V
jebradshaw 7:740d112d934d 72 // bipol - 0: 0 - 5 volts, 0 - 10V, 1 for +/- 5 volts, +/- 10 volts
jebradshaw 0:dbd8b5c35d0f 73 int read_max1270(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 74 int cword=0x80; //set the start bit
jebradshaw 0:dbd8b5c35d0f 75
jebradshaw 0:dbd8b5c35d0f 76 spi_max1270.frequency(10000000);
jebradshaw 0:dbd8b5c35d0f 77 spi_max1270.format(8, 0); // 8 data bits, CPOL0, and CPHA0 (datasheet Digital Interface)
jebradshaw 0:dbd8b5c35d0f 78
jebradshaw 0:dbd8b5c35d0f 79 cword |= (chan << 4); //shift channel
jebradshaw 0:dbd8b5c35d0f 80 cword |= (range << 3);
jebradshaw 0:dbd8b5c35d0f 81 cword |= (bipol << 2);
jebradshaw 0:dbd8b5c35d0f 82
jebradshaw 0:dbd8b5c35d0f 83 max1270_cs = 0;
jebradshaw 0:dbd8b5c35d0f 84
jebradshaw 0:dbd8b5c35d0f 85 spi_max1270.write(cword);
jebradshaw 0:dbd8b5c35d0f 86 wait_us(15); //15us
jebradshaw 0:dbd8b5c35d0f 87 spi_max1270.format(12, 3);
jebradshaw 0:dbd8b5c35d0f 88
jebradshaw 0:dbd8b5c35d0f 89 int result = spi_max1270.write(0);
jebradshaw 0:dbd8b5c35d0f 90
jebradshaw 0:dbd8b5c35d0f 91 max1270_cs = 1;
jebradshaw 0:dbd8b5c35d0f 92 spi_max1270.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 93 return result;
jebradshaw 0:dbd8b5c35d0f 94 }
jebradshaw 0:dbd8b5c35d0f 95
jebradshaw 0:dbd8b5c35d0f 96 float read_max1270_volts(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 97 float rangevolts=0.0;
jebradshaw 0:dbd8b5c35d0f 98 float volts=0.0;
jebradshaw 0:dbd8b5c35d0f 99 int adc_res;
jebradshaw 0:dbd8b5c35d0f 100
jebradshaw 0:dbd8b5c35d0f 101 //read the ADC converter
jebradshaw 0:dbd8b5c35d0f 102 adc_res = read_max1270(chan, range, bipol) & 0xFFF;
jebradshaw 0:dbd8b5c35d0f 103
jebradshaw 0:dbd8b5c35d0f 104 //Determine the voltage range
jebradshaw 0:dbd8b5c35d0f 105 if(range) //RNG bit
jebradshaw 0:dbd8b5c35d0f 106 rangevolts=10.0;
jebradshaw 0:dbd8b5c35d0f 107 else
jebradshaw 0:dbd8b5c35d0f 108 rangevolts=5.0;
jebradshaw 0:dbd8b5c35d0f 109
jebradshaw 0:dbd8b5c35d0f 110 //bi-polar input range
jebradshaw 0:dbd8b5c35d0f 111 if(bipol){ //BIP is set, input is +/-
jebradshaw 0:dbd8b5c35d0f 112 if(adc_res < 0x800){ //if result was positive
jebradshaw 0:dbd8b5c35d0f 113 volts = ((float)adc_res/0x7FF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 114 }
jebradshaw 0:dbd8b5c35d0f 115 else{ //result was negative
jebradshaw 0:dbd8b5c35d0f 116 volts = -(-((float)adc_res/0x7FF) * rangevolts) - (rangevolts * 2.0);
jebradshaw 0:dbd8b5c35d0f 117 }
jebradshaw 0:dbd8b5c35d0f 118 }
jebradshaw 0:dbd8b5c35d0f 119 else{ //input is positive polarity only
jebradshaw 0:dbd8b5c35d0f 120 volts = ((float)adc_res/0xFFF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 121 }
jebradshaw 0:dbd8b5c35d0f 122
jebradshaw 0:dbd8b5c35d0f 123 return volts;
jebradshaw 0:dbd8b5c35d0f 124 }
jebradshaw 0:dbd8b5c35d0f 125
jebradshaw 0:dbd8b5c35d0f 126 //Motor control routine for PWM on 5 pin motor driver header
jebradshaw 0:dbd8b5c35d0f 127 // drv_num is 1 or 2 (defaults to 1, anything but 2)
jebradshaw 0:dbd8b5c35d0f 128 // dc is signed duty cycle (+/-1.0)
jebradshaw 0:dbd8b5c35d0f 129
jebradshaw 0:dbd8b5c35d0f 130 void mot_control(int drv_num, float dc){
jebradshaw 0:dbd8b5c35d0f 131 if(dc>1.0)
jebradshaw 0:dbd8b5c35d0f 132 dc=1.0;
jebradshaw 0:dbd8b5c35d0f 133 if(dc<-1.0)
jebradshaw 0:dbd8b5c35d0f 134 dc=-1.0;
jebradshaw 0:dbd8b5c35d0f 135
jebradshaw 0:dbd8b5c35d0f 136 if(drv_num != 2){
jebradshaw 0:dbd8b5c35d0f 137 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 138 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 139 mot1_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 140 mot_en1 = dc;
jebradshaw 0:dbd8b5c35d0f 141 }
jebradshaw 0:dbd8b5c35d0f 142 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 143 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 144 mot1_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 145 mot_en1 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 146 }
jebradshaw 0:dbd8b5c35d0f 147 else{
jebradshaw 0:dbd8b5c35d0f 148 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 149 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 150 mot_en1 = 0.0;
jebradshaw 0:dbd8b5c35d0f 151 }
jebradshaw 0:dbd8b5c35d0f 152 }
jebradshaw 0:dbd8b5c35d0f 153 else{
jebradshaw 0:dbd8b5c35d0f 154 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 155 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 156 mot2_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 157 mot_en2 = dc;
jebradshaw 0:dbd8b5c35d0f 158 }
jebradshaw 0:dbd8b5c35d0f 159 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 160 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 161 mot2_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 162 mot_en2 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 163 }
jebradshaw 0:dbd8b5c35d0f 164 else{
jebradshaw 0:dbd8b5c35d0f 165 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 166 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 167 mot_en2 = 0.0;
jebradshaw 0:dbd8b5c35d0f 168 }
jebradshaw 0:dbd8b5c35d0f 169 }
jebradshaw 0:dbd8b5c35d0f 170 }
jebradshaw 0:dbd8b5c35d0f 171
jebradshaw 0:dbd8b5c35d0f 172 //----- LS7366 Encoder/Counter Routines --------------------
jebradshaw 0:dbd8b5c35d0f 173 void LS7366_cmd(int inst, int reg){
jebradshaw 0:dbd8b5c35d0f 174 char cmd;
jebradshaw 0:dbd8b5c35d0f 175
jebradshaw 0:dbd8b5c35d0f 176 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 177 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 178 cmd = (inst << 6) | (reg << 3);
jebradshaw 0:dbd8b5c35d0f 179 // printf("\r\ncmd=0X%2X", cmd);
jebradshaw 0:dbd8b5c35d0f 180 spi.write(cmd);
jebradshaw 0:dbd8b5c35d0f 181 }
jebradshaw 0:dbd8b5c35d0f 182
jebradshaw 0:dbd8b5c35d0f 183 long LS7366_read_counter(int chan_num){
jebradshaw 0:dbd8b5c35d0f 184 union bytes{
jebradshaw 0:dbd8b5c35d0f 185 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 186 long long_enc;
jebradshaw 0:dbd8b5c35d0f 187 }counter;
jebradshaw 0:dbd8b5c35d0f 188
jebradshaw 0:dbd8b5c35d0f 189 counter.long_enc = 0;
jebradshaw 0:dbd8b5c35d0f 190
jebradshaw 0:dbd8b5c35d0f 191 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 192 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 193
jebradshaw 0:dbd8b5c35d0f 194 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 195 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 196 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 197 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 198 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 199 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 200 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 201 }
jebradshaw 0:dbd8b5c35d0f 202 else{
jebradshaw 0:dbd8b5c35d0f 203 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 204 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 205 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 206 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 207 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 208
jebradshaw 0:dbd8b5c35d0f 209 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 210 }
jebradshaw 0:dbd8b5c35d0f 211 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 212 LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR
jebradshaw 0:dbd8b5c35d0f 213 counter.byte_enc[3] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 214 counter.byte_enc[2] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 215 counter.byte_enc[1] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 216 counter.byte_enc[0] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 217
jebradshaw 0:dbd8b5c35d0f 218 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 219 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 220 }
jebradshaw 0:dbd8b5c35d0f 221 else{
jebradshaw 0:dbd8b5c35d0f 222 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 223 }
jebradshaw 0:dbd8b5c35d0f 224
jebradshaw 0:dbd8b5c35d0f 225 return counter.long_enc; //return count
jebradshaw 0:dbd8b5c35d0f 226 }
jebradshaw 0:dbd8b5c35d0f 227
jebradshaw 0:dbd8b5c35d0f 228 void LS7366_quad_mode_x4(int chan_num){
jebradshaw 0:dbd8b5c35d0f 229
jebradshaw 0:dbd8b5c35d0f 230 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 231 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 232
jebradshaw 0:dbd8b5c35d0f 233 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 234 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 235 }
jebradshaw 0:dbd8b5c35d0f 236 else{
jebradshaw 0:dbd8b5c35d0f 237 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 238 }
jebradshaw 0:dbd8b5c35d0f 239 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 240 LS7366_cmd(WR,MDR0);// Write to the MDR0 register
jebradshaw 4:1aa4a75f6885 241 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 242 spi.write(0x03); // X4 quadrature count mode
jebradshaw 0:dbd8b5c35d0f 243 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 244 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 245 }
jebradshaw 0:dbd8b5c35d0f 246 else{
jebradshaw 0:dbd8b5c35d0f 247 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 248 }
jebradshaw 0:dbd8b5c35d0f 249 }
jebradshaw 0:dbd8b5c35d0f 250
jebradshaw 4:1aa4a75f6885 251 void LS7366_reset_counter(int chan_num){
jebradshaw 4:1aa4a75f6885 252 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 4:1aa4a75f6885 253 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 254
jebradshaw 4:1aa4a75f6885 255 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 256 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 257 }
jebradshaw 0:dbd8b5c35d0f 258 else{
jebradshaw 0:dbd8b5c35d0f 259 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 260 }
jebradshaw 4:1aa4a75f6885 261 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 262 LS7366_cmd(CLR,CNTR); // Clear the counter register
jebradshaw 4:1aa4a75f6885 263 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 264 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 265 }
jebradshaw 0:dbd8b5c35d0f 266 else{
jebradshaw 4:1aa4a75f6885 267 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 268 }
jebradshaw 4:1aa4a75f6885 269 wait_us(1); // short delay
jebradshaw 0:dbd8b5c35d0f 270
jebradshaw 4:1aa4a75f6885 271 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 272 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 273 }
jebradshaw 0:dbd8b5c35d0f 274 else{
jebradshaw 0:dbd8b5c35d0f 275 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 276 }
jebradshaw 4:1aa4a75f6885 277 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 278 LS7366_cmd(LOAD,CNTR); // load counter reg
jebradshaw 4:1aa4a75f6885 279 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 280 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 281 }
jebradshaw 0:dbd8b5c35d0f 282 else{
jebradshaw 4:1aa4a75f6885 283 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 284 }
jebradshaw 0:dbd8b5c35d0f 285 }
jebradshaw 0:dbd8b5c35d0f 286
jebradshaw 4:1aa4a75f6885 287 void LS7366_write_DTR(int chan_num, long enc_value){
jebradshaw 4:1aa4a75f6885 288 union bytes // Union to speed up byte writes
jebradshaw 0:dbd8b5c35d0f 289 {
jebradshaw 0:dbd8b5c35d0f 290 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 291 long long_enc;
jebradshaw 0:dbd8b5c35d0f 292 }counter;
jebradshaw 0:dbd8b5c35d0f 293
jebradshaw 4:1aa4a75f6885 294 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 4:1aa4a75f6885 295 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 296
jebradshaw 4:1aa4a75f6885 297 counter.long_enc = enc_value; // pass enc_value to Union
jebradshaw 0:dbd8b5c35d0f 298
jebradshaw 4:1aa4a75f6885 299 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 300 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 301 }
jebradshaw 0:dbd8b5c35d0f 302 else{
jebradshaw 0:dbd8b5c35d0f 303 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 304 }
jebradshaw 4:1aa4a75f6885 305 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 306 LS7366_cmd(WR,DTR); // Write to the Data Transfer Register
jebradshaw 4:1aa4a75f6885 307 spi.write(counter.byte_enc[3]); // Write the 32-bit encoder value
jebradshaw 0:dbd8b5c35d0f 308 spi.write(counter.byte_enc[2]);
jebradshaw 0:dbd8b5c35d0f 309 spi.write(counter.byte_enc[1]);
jebradshaw 0:dbd8b5c35d0f 310 spi.write(counter.byte_enc[0]);
jebradshaw 4:1aa4a75f6885 311 if(chan_num!=2){ // de-activate the chip select
jebradshaw 0:dbd8b5c35d0f 312 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 313 }
jebradshaw 0:dbd8b5c35d0f 314 else{
jebradshaw 0:dbd8b5c35d0f 315 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 316 }
jebradshaw 0:dbd8b5c35d0f 317
jebradshaw 4:1aa4a75f6885 318 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 319 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 320 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 321 }
jebradshaw 0:dbd8b5c35d0f 322 else{
jebradshaw 0:dbd8b5c35d0f 323 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 324 }
jebradshaw 4:1aa4a75f6885 325 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 326 LS7366_cmd(LOAD,CNTR); // load command to the counter register from DTR
jebradshaw 4:1aa4a75f6885 327 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 328 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 329 }
jebradshaw 0:dbd8b5c35d0f 330 else{
jebradshaw 0:dbd8b5c35d0f 331 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 332 }
jebradshaw 0:dbd8b5c35d0f 333 }
jebradshaw 0:dbd8b5c35d0f 334
jebradshaw 0:dbd8b5c35d0f 335 //------- MAX522 routines ---------------------------------
jebradshaw 0:dbd8b5c35d0f 336 void write_max522(int chan, float volts){
jebradshaw 0:dbd8b5c35d0f 337 int cmd=0x20; //set UB3
jebradshaw 0:dbd8b5c35d0f 338 int data_word = (int)((volts/5.0) * 256.0);
jebradshaw 0:dbd8b5c35d0f 339 if(chan != 2)
jebradshaw 0:dbd8b5c35d0f 340 cmd |= 0x01; //set DAC A out
jebradshaw 0:dbd8b5c35d0f 341 else
jebradshaw 0:dbd8b5c35d0f 342 cmd |= 0x02; //set DACB out
jebradshaw 0:dbd8b5c35d0f 343
jebradshaw 0:dbd8b5c35d0f 344 // pc.printf("cmd=0x%4X data_word=0x%4X \r\n", cmd, data_word);
jebradshaw 0:dbd8b5c35d0f 345
jebradshaw 0:dbd8b5c35d0f 346 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 347 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 348 max522_cs = 0;
jebradshaw 0:dbd8b5c35d0f 349 spi.write(cmd & 0xFF);
jebradshaw 0:dbd8b5c35d0f 350 spi.write(data_word & 0xFF);
jebradshaw 0:dbd8b5c35d0f 351 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 352 }
jebradshaw 0:dbd8b5c35d0f 353
jebradshaw 1:85cd6d500385 354 void mbedWSEsbcInit(unsigned long pcbaud){
jebradshaw 4:1aa4a75f6885 355 led1 = 0; //Initialize all LEDs as off
jebradshaw 4:1aa4a75f6885 356 led2 = 0;
jebradshaw 4:1aa4a75f6885 357 led3 = 0;
jebradshaw 4:1aa4a75f6885 358 led4 = 0;
jebradshaw 4:1aa4a75f6885 359 max1270_cs = 1; //Initialize all chip selects as off
jebradshaw 0:dbd8b5c35d0f 360 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 361 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 362 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 363
jebradshaw 0:dbd8b5c35d0f 364 wait(.2); //delay at beginning for voltage settle purposes
jebradshaw 0:dbd8b5c35d0f 365
jebradshaw 4:1aa4a75f6885 366 mot_en1.period_us(50); //20KHz for DC motor control PWM
jebradshaw 1:85cd6d500385 367 pc.baud(pcbaud); //Set up serial port baud rate
jebradshaw 4:1aa4a75f6885 368 pc.printf("\r\n");
jebradshaw 0:dbd8b5c35d0f 369 xbee.baud(9600);
jebradshaw 0:dbd8b5c35d0f 370
jebradshaw 0:dbd8b5c35d0f 371 LS7366_reset_counter(1);
jebradshaw 0:dbd8b5c35d0f 372 LS7366_quad_mode_x4(1);
jebradshaw 0:dbd8b5c35d0f 373 LS7366_write_DTR(1,0);
jebradshaw 0:dbd8b5c35d0f 374
jebradshaw 0:dbd8b5c35d0f 375 LS7366_reset_counter(2);
jebradshaw 0:dbd8b5c35d0f 376 LS7366_quad_mode_x4(2);
jebradshaw 0:dbd8b5c35d0f 377 LS7366_write_DTR(2,0);
jebradshaw 0:dbd8b5c35d0f 378
jebradshaw 0:dbd8b5c35d0f 379 t.start(); // Set up timer
jebradshaw 0:dbd8b5c35d0f 380 }//mbedWSEsbc_init()