USNA WRC EW306 / mbedWSEsbc2

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

Fork of mbedWSEsbc by Joseph Bradshaw

mbedWSEsbc.h@12:9041603c430e, 2015-02-10 (annotated)

Committer:
jebradshaw
Date:
Tue Feb 10 16:14:18 2015 +0000
Revision:
12:9041603c430e
Parent:
11:acf3fcc0d085
Child:
13:f8a424d70882
Child:
14:321d6fdc40e6
pre-defined DigitalOut logic levels

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 0:dbd8b5c35d0f 73 spi_max1270.frequency(10000000);
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 0:dbd8b5c35d0f 84 spi_max1270.format(12, 3);
jebradshaw 0:dbd8b5c35d0f 85
jebradshaw 0:dbd8b5c35d0f 86 int result = spi_max1270.write(0);
jebradshaw 0:dbd8b5c35d0f 87
jebradshaw 0:dbd8b5c35d0f 88 max1270_cs = 1;
jebradshaw 0:dbd8b5c35d0f 89 spi_max1270.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 90 return result;
jebradshaw 0:dbd8b5c35d0f 91 }
jebradshaw 0:dbd8b5c35d0f 92
jebradshaw 0:dbd8b5c35d0f 93 float read_max1270_volts(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 94 float rangevolts=0.0;
jebradshaw 0:dbd8b5c35d0f 95 float volts=0.0;
jebradshaw 0:dbd8b5c35d0f 96 int adc_res;
jebradshaw 0:dbd8b5c35d0f 97
jebradshaw 0:dbd8b5c35d0f 98 //read the ADC converter
jebradshaw 0:dbd8b5c35d0f 99 adc_res = read_max1270(chan, range, bipol) & 0xFFF;
jebradshaw 0:dbd8b5c35d0f 100
jebradshaw 0:dbd8b5c35d0f 101 //Determine the voltage range
jebradshaw 0:dbd8b5c35d0f 102 if(range) //RNG bit
jebradshaw 0:dbd8b5c35d0f 103 rangevolts=10.0;
jebradshaw 0:dbd8b5c35d0f 104 else
jebradshaw 0:dbd8b5c35d0f 105 rangevolts=5.0;
jebradshaw 0:dbd8b5c35d0f 106
jebradshaw 0:dbd8b5c35d0f 107 //bi-polar input range
jebradshaw 0:dbd8b5c35d0f 108 if(bipol){ //BIP is set, input is +/-
jebradshaw 0:dbd8b5c35d0f 109 if(adc_res < 0x800){ //if result was positive
jebradshaw 0:dbd8b5c35d0f 110 volts = ((float)adc_res/0x7FF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 111 }
jebradshaw 0:dbd8b5c35d0f 112 else{ //result was negative
jebradshaw 0:dbd8b5c35d0f 113 volts = -(-((float)adc_res/0x7FF) * rangevolts) - (rangevolts * 2.0);
jebradshaw 0:dbd8b5c35d0f 114 }
jebradshaw 0:dbd8b5c35d0f 115 }
jebradshaw 0:dbd8b5c35d0f 116 else{ //input is positive polarity only
jebradshaw 0:dbd8b5c35d0f 117 volts = ((float)adc_res/0xFFF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 118 }
jebradshaw 0:dbd8b5c35d0f 119
jebradshaw 0:dbd8b5c35d0f 120 return volts;
jebradshaw 0:dbd8b5c35d0f 121 }
jebradshaw 0:dbd8b5c35d0f 122
jebradshaw 0:dbd8b5c35d0f 123 //Motor control routine for PWM on 5 pin motor driver header
jebradshaw 0:dbd8b5c35d0f 124 // drv_num is 1 or 2 (defaults to 1, anything but 2)
jebradshaw 0:dbd8b5c35d0f 125 // dc is signed duty cycle (+/-1.0)
jebradshaw 0:dbd8b5c35d0f 126
jebradshaw 0:dbd8b5c35d0f 127 void mot_control(int drv_num, float dc){
jebradshaw 0:dbd8b5c35d0f 128 if(dc>1.0)
jebradshaw 0:dbd8b5c35d0f 129 dc=1.0;
jebradshaw 0:dbd8b5c35d0f 130 if(dc<-1.0)
jebradshaw 0:dbd8b5c35d0f 131 dc=-1.0;
jebradshaw 0:dbd8b5c35d0f 132
jebradshaw 0:dbd8b5c35d0f 133 if(drv_num != 2){
jebradshaw 0:dbd8b5c35d0f 134 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 135 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 136 mot1_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 137 mot_en1 = dc;
jebradshaw 0:dbd8b5c35d0f 138 }
jebradshaw 0:dbd8b5c35d0f 139 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 140 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 141 mot1_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 142 mot_en1 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 143 }
jebradshaw 0:dbd8b5c35d0f 144 else{
jebradshaw 0:dbd8b5c35d0f 145 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 146 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 147 mot_en1 = 0.0;
jebradshaw 0:dbd8b5c35d0f 148 }
jebradshaw 0:dbd8b5c35d0f 149 }
jebradshaw 0:dbd8b5c35d0f 150 else{
jebradshaw 0:dbd8b5c35d0f 151 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 152 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 153 mot2_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 154 mot_en2 = dc;
jebradshaw 0:dbd8b5c35d0f 155 }
jebradshaw 0:dbd8b5c35d0f 156 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 157 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 158 mot2_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 159 mot_en2 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 160 }
jebradshaw 0:dbd8b5c35d0f 161 else{
jebradshaw 0:dbd8b5c35d0f 162 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 163 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 164 mot_en2 = 0.0;
jebradshaw 0:dbd8b5c35d0f 165 }
jebradshaw 0:dbd8b5c35d0f 166 }
jebradshaw 0:dbd8b5c35d0f 167 }
jebradshaw 0:dbd8b5c35d0f 168
jebradshaw 0:dbd8b5c35d0f 169 //----- LS7366 Encoder/Counter Routines --------------------
jebradshaw 0:dbd8b5c35d0f 170 void LS7366_cmd(int inst, int reg){
jebradshaw 0:dbd8b5c35d0f 171 char cmd;
jebradshaw 0:dbd8b5c35d0f 172
jebradshaw 0:dbd8b5c35d0f 173 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 174 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 175 cmd = (inst << 6) | (reg << 3);
jebradshaw 0:dbd8b5c35d0f 176 // printf("\r\ncmd=0X%2X", cmd);
jebradshaw 0:dbd8b5c35d0f 177 spi.write(cmd);
jebradshaw 0:dbd8b5c35d0f 178 }
jebradshaw 0:dbd8b5c35d0f 179
jebradshaw 0:dbd8b5c35d0f 180 long LS7366_read_counter(int chan_num){
jebradshaw 0:dbd8b5c35d0f 181 union bytes{
jebradshaw 0:dbd8b5c35d0f 182 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 183 long long_enc;
jebradshaw 0:dbd8b5c35d0f 184 }counter;
jebradshaw 0:dbd8b5c35d0f 185
jebradshaw 0:dbd8b5c35d0f 186 counter.long_enc = 0;
jebradshaw 0:dbd8b5c35d0f 187
jebradshaw 0:dbd8b5c35d0f 188 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 189 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 190
jebradshaw 0:dbd8b5c35d0f 191 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 192 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 193 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 194 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 195 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 196 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 197 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 198 }
jebradshaw 0:dbd8b5c35d0f 199 else{
jebradshaw 0:dbd8b5c35d0f 200 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 201 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 202 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 203 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 204 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 205
jebradshaw 0:dbd8b5c35d0f 206 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 207 }
jebradshaw 0:dbd8b5c35d0f 208 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 209 LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR
jebradshaw 0:dbd8b5c35d0f 210 counter.byte_enc[3] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 211 counter.byte_enc[2] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 212 counter.byte_enc[1] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 213 counter.byte_enc[0] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 214
jebradshaw 0:dbd8b5c35d0f 215 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 216 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 217 }
jebradshaw 0:dbd8b5c35d0f 218 else{
jebradshaw 0:dbd8b5c35d0f 219 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 220 }
jebradshaw 0:dbd8b5c35d0f 221
jebradshaw 0:dbd8b5c35d0f 222 return counter.long_enc; //return count
jebradshaw 0:dbd8b5c35d0f 223 }
jebradshaw 0:dbd8b5c35d0f 224
jebradshaw 0:dbd8b5c35d0f 225 void LS7366_quad_mode_x4(int chan_num){
jebradshaw 0:dbd8b5c35d0f 226
jebradshaw 0:dbd8b5c35d0f 227 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 228 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 229
jebradshaw 0:dbd8b5c35d0f 230 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 231 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 232 }
jebradshaw 0:dbd8b5c35d0f 233 else{
jebradshaw 0:dbd8b5c35d0f 234 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 235 }
jebradshaw 0:dbd8b5c35d0f 236 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 237 LS7366_cmd(WR,MDR0);// Write to the MDR0 register
jebradshaw 4:1aa4a75f6885 238 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 239 spi.write(0x03); // X4 quadrature count mode
jebradshaw 0:dbd8b5c35d0f 240 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 241 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 242 }
jebradshaw 0:dbd8b5c35d0f 243 else{
jebradshaw 0:dbd8b5c35d0f 244 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 245 }
jebradshaw 0:dbd8b5c35d0f 246 }
jebradshaw 0:dbd8b5c35d0f 247
jebradshaw 4:1aa4a75f6885 248 void LS7366_reset_counter(int chan_num){
jebradshaw 4:1aa4a75f6885 249 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 4:1aa4a75f6885 250 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 251
jebradshaw 4:1aa4a75f6885 252 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 253 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 254 }
jebradshaw 0:dbd8b5c35d0f 255 else{
jebradshaw 0:dbd8b5c35d0f 256 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 257 }
jebradshaw 4:1aa4a75f6885 258 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 259 LS7366_cmd(CLR,CNTR); // Clear the counter register
jebradshaw 4:1aa4a75f6885 260 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 261 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 262 }
jebradshaw 0:dbd8b5c35d0f 263 else{
jebradshaw 4:1aa4a75f6885 264 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 265 }
jebradshaw 4:1aa4a75f6885 266 wait_us(1); // short delay
jebradshaw 0:dbd8b5c35d0f 267
jebradshaw 4:1aa4a75f6885 268 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 269 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 270 }
jebradshaw 0:dbd8b5c35d0f 271 else{
jebradshaw 0:dbd8b5c35d0f 272 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 273 }
jebradshaw 4:1aa4a75f6885 274 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 275 LS7366_cmd(LOAD,CNTR); // load counter reg
jebradshaw 4:1aa4a75f6885 276 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 277 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 278 }
jebradshaw 0:dbd8b5c35d0f 279 else{
jebradshaw 4:1aa4a75f6885 280 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 281 }
jebradshaw 0:dbd8b5c35d0f 282 }
jebradshaw 0:dbd8b5c35d0f 283
jebradshaw 4:1aa4a75f6885 284 void LS7366_write_DTR(int chan_num, long enc_value){
jebradshaw 4:1aa4a75f6885 285 union bytes // Union to speed up byte writes
jebradshaw 0:dbd8b5c35d0f 286 {
jebradshaw 0:dbd8b5c35d0f 287 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 288 long long_enc;
jebradshaw 0:dbd8b5c35d0f 289 }counter;
jebradshaw 0:dbd8b5c35d0f 290
jebradshaw 4:1aa4a75f6885 291 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 4:1aa4a75f6885 292 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 293
jebradshaw 4:1aa4a75f6885 294 counter.long_enc = enc_value; // pass enc_value to Union
jebradshaw 0:dbd8b5c35d0f 295
jebradshaw 4:1aa4a75f6885 296 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 297 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 298 }
jebradshaw 0:dbd8b5c35d0f 299 else{
jebradshaw 0:dbd8b5c35d0f 300 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 301 }
jebradshaw 4:1aa4a75f6885 302 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 303 LS7366_cmd(WR,DTR); // Write to the Data Transfer Register
jebradshaw 4:1aa4a75f6885 304 spi.write(counter.byte_enc[3]); // Write the 32-bit encoder value
jebradshaw 0:dbd8b5c35d0f 305 spi.write(counter.byte_enc[2]);
jebradshaw 0:dbd8b5c35d0f 306 spi.write(counter.byte_enc[1]);
jebradshaw 0:dbd8b5c35d0f 307 spi.write(counter.byte_enc[0]);
jebradshaw 4:1aa4a75f6885 308 if(chan_num!=2){ // de-activate the chip select
jebradshaw 0:dbd8b5c35d0f 309 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 310 }
jebradshaw 0:dbd8b5c35d0f 311 else{
jebradshaw 0:dbd8b5c35d0f 312 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 313 }
jebradshaw 0:dbd8b5c35d0f 314
jebradshaw 4:1aa4a75f6885 315 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 316 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 317 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 318 }
jebradshaw 0:dbd8b5c35d0f 319 else{
jebradshaw 0:dbd8b5c35d0f 320 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 321 }
jebradshaw 4:1aa4a75f6885 322 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 323 LS7366_cmd(LOAD,CNTR); // load command to the counter register from DTR
jebradshaw 4:1aa4a75f6885 324 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 325 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 326 }
jebradshaw 0:dbd8b5c35d0f 327 else{
jebradshaw 0:dbd8b5c35d0f 328 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 329 }
jebradshaw 0:dbd8b5c35d0f 330 }
jebradshaw 0:dbd8b5c35d0f 331
jebradshaw 0:dbd8b5c35d0f 332 //------- MAX522 routines ---------------------------------
jebradshaw 0:dbd8b5c35d0f 333 void write_max522(int chan, float volts){
jebradshaw 0:dbd8b5c35d0f 334 int cmd=0x20; //set UB3
jebradshaw 0:dbd8b5c35d0f 335 int data_word = (int)((volts/5.0) * 256.0);
jebradshaw 0:dbd8b5c35d0f 336 if(chan != 2)
jebradshaw 0:dbd8b5c35d0f 337 cmd |= 0x01; //set DAC A out
jebradshaw 0:dbd8b5c35d0f 338 else
jebradshaw 0:dbd8b5c35d0f 339 cmd |= 0x02; //set DACB out
jebradshaw 0:dbd8b5c35d0f 340
jebradshaw 0:dbd8b5c35d0f 341 // pc.printf("cmd=0x%4X data_word=0x%4X \r\n", cmd, data_word);
jebradshaw 0:dbd8b5c35d0f 342
jebradshaw 0:dbd8b5c35d0f 343 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 344 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 345 max522_cs = 0;
jebradshaw 0:dbd8b5c35d0f 346 spi.write(cmd & 0xFF);
jebradshaw 0:dbd8b5c35d0f 347 spi.write(data_word & 0xFF);
jebradshaw 0:dbd8b5c35d0f 348 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 349 }
jebradshaw 0:dbd8b5c35d0f 350
jebradshaw 1:85cd6d500385 351 void mbedWSEsbcInit(unsigned long pcbaud){
jebradshaw 4:1aa4a75f6885 352 led1 = 0; //Initialize all LEDs as off
jebradshaw 4:1aa4a75f6885 353 led2 = 0;
jebradshaw 4:1aa4a75f6885 354 led3 = 0;
jebradshaw 4:1aa4a75f6885 355 led4 = 0;
jebradshaw 4:1aa4a75f6885 356 max1270_cs = 1; //Initialize all chip selects as off
jebradshaw 0:dbd8b5c35d0f 357 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 358 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 359 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 360
jebradshaw 0:dbd8b5c35d0f 361 wait(.2); //delay at beginning for voltage settle purposes
jebradshaw 0:dbd8b5c35d0f 362
jebradshaw 4:1aa4a75f6885 363 mot_en1.period_us(50); //20KHz for DC motor control PWM
jebradshaw 1:85cd6d500385 364 pc.baud(pcbaud); //Set up serial port baud rate
jebradshaw 4:1aa4a75f6885 365 pc.printf("\r\n");
jebradshaw 0:dbd8b5c35d0f 366 xbee.baud(9600);
jebradshaw 0:dbd8b5c35d0f 367
jebradshaw 0:dbd8b5c35d0f 368 LS7366_reset_counter(1);
jebradshaw 0:dbd8b5c35d0f 369 LS7366_quad_mode_x4(1);
jebradshaw 0:dbd8b5c35d0f 370 LS7366_write_DTR(1,0);
jebradshaw 0:dbd8b5c35d0f 371
jebradshaw 0:dbd8b5c35d0f 372 LS7366_reset_counter(2);
jebradshaw 0:dbd8b5c35d0f 373 LS7366_quad_mode_x4(2);
jebradshaw 0:dbd8b5c35d0f 374 LS7366_write_DTR(2,0);
jebradshaw 0:dbd8b5c35d0f 375
jebradshaw 0:dbd8b5c35d0f 376 t.start(); // Set up timer
jebradshaw 0:dbd8b5c35d0f 377 }//mbedWSEsbc_init()