USNA WRC EW306 / mbedWSEsbc_forked

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Fork of mbedWSEsbc by Joseph Bradshaw

mbedWSEsbc.h@8:b74ce788d87e, 2014-11-03 (annotated)

Committer:
jebradshaw
Date:
Mon Nov 03 20:02:00 2014 +0000
Revision:
8:b74ce788d87e
Parent:
1:85cd6d500385 
Removed PWM period decleration from SBC Init() function.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jebradshaw 8:b74ce788d87e 1 /* C Library for the WSE-PROJ-SBC
jebradshaw 8:b74ce788d87e 2 J Bradshaw
jebradshaw 8:b74ce788d87e 3 20140912
jebradshaw 8:b74ce788d87e 4 20140918 J Bradshaw - Found CS mistake in Encoder routines
jebradshaw 8:b74ce788d87e 5 Added comments in Init function, encoder functions
jebradshaw 8:b74ce788d87e 6 */
jebradshaw 0:dbd8b5c35d0f 7
jebradshaw 8:b74ce788d87e 8
jebradshaw 8:b74ce788d87e 9 // LS7366 ENCODER IC DEFINITIONS
jebradshaw 0:dbd8b5c35d0f 10 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 11 // Four commands for the Instruction Register (B7,B6) - LS7366
jebradshaw 0:dbd8b5c35d0f 12 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 13 #define CLR 0x00 //Clear Instruction
jebradshaw 0:dbd8b5c35d0f 14 #define RD 0x01 //Read Instruction
jebradshaw 0:dbd8b5c35d0f 15 #define WR 0x02 //Write Instruction
jebradshaw 0:dbd8b5c35d0f 16 #define LOAD 0x03 //Load Instruction
jebradshaw 0:dbd8b5c35d0f 17
jebradshaw 0:dbd8b5c35d0f 18 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 19 // Register to Select from the Instruction Register (B5,B4,B3) - LS7366
jebradshaw 0:dbd8b5c35d0f 20 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 21 #define NONE 0x00 //No Register Selected
jebradshaw 0:dbd8b5c35d0f 22 #define MDR0 0x01 //Mode Register 0
jebradshaw 0:dbd8b5c35d0f 23 #define MDR1 0x02 //Mode Register 1
jebradshaw 0:dbd8b5c35d0f 24 #define DTR 0x03 //Data Transfer Register
jebradshaw 0:dbd8b5c35d0f 25 #define CNTR 0x04 //Software Configurable Counter Register
jebradshaw 0:dbd8b5c35d0f 26 #define OTR 0x05 //Output Transfer Register
jebradshaw 0:dbd8b5c35d0f 27 #define STR 0x06 //Status Register
jebradshaw 0:dbd8b5c35d0f 28 #define NONE_REG 0x07 //No Register Selected
jebradshaw 0:dbd8b5c35d0f 29
jebradshaw 0:dbd8b5c35d0f 30 // Set-up hardwired IO
jebradshaw 0:dbd8b5c35d0f 31 SPI spi_max1270(p5, p6, p7);
jebradshaw 0:dbd8b5c35d0f 32 SPI spi(p5, p6, p7);
jebradshaw 8:b74ce788d87e 33 DigitalOut max1270_cs(p8); //CS for MAX1270 ADC (U3)
jebradshaw 8:b74ce788d87e 34 DigitalOut max522_cs(p11); //CS for MAX522 DAC (U5)
jebradshaw 0:dbd8b5c35d0f 35
jebradshaw 8:b74ce788d87e 36 DigitalOut ls7166_cs1(p19); //CS for LS7366-1 (U8)
jebradshaw 8:b74ce788d87e 37 DigitalOut ls7166_cs2(p20); //CS for LS7366-2 (U9)
jebradshaw 0:dbd8b5c35d0f 38
jebradshaw 8:b74ce788d87e 39 DigitalOut mot1_ph1(p21);
jebradshaw 0:dbd8b5c35d0f 40 DigitalOut mot1_ph2(p22);
jebradshaw 0:dbd8b5c35d0f 41 PwmOut mot_en1(p23);
jebradshaw 0:dbd8b5c35d0f 42
jebradshaw 0:dbd8b5c35d0f 43 DigitalOut mot2_ph1(p24);
jebradshaw 0:dbd8b5c35d0f 44 DigitalOut mot2_ph2(p25);
jebradshaw 0:dbd8b5c35d0f 45 PwmOut mot_en2(p26);
jebradshaw 0:dbd8b5c35d0f 46
jebradshaw 0:dbd8b5c35d0f 47 DigitalOut led1(LED1);
jebradshaw 0:dbd8b5c35d0f 48 DigitalOut led2(LED2);
jebradshaw 0:dbd8b5c35d0f 49 DigitalOut led3(LED3);
jebradshaw 0:dbd8b5c35d0f 50 DigitalOut led4(LED4);
jebradshaw 0:dbd8b5c35d0f 51
jebradshaw 0:dbd8b5c35d0f 52 Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc
jebradshaw 0:dbd8b5c35d0f 53 Serial xbee(p13, p14); // tx, rx for Xbee
jebradshaw 0:dbd8b5c35d0f 54 Timer t; // create timer instance
jebradshaw 0:dbd8b5c35d0f 55
jebradshaw 0:dbd8b5c35d0f 56 // ------ Prototypes -----------
jebradshaw 0:dbd8b5c35d0f 57 int read_max1270(int chan, int range, int bipol);
jebradshaw 0:dbd8b5c35d0f 58 float read_max1270_volts(int chan, int range, int bipol);
jebradshaw 0:dbd8b5c35d0f 59 void mot_control(int drv_num, float dc);
jebradshaw 0:dbd8b5c35d0f 60 void LS7366_cmd(int inst, int reg);
jebradshaw 0:dbd8b5c35d0f 61 long LS7366_read_counter(int chan_num);
jebradshaw 0:dbd8b5c35d0f 62 void LS7366_quad_mode_x4(int chan_num);
jebradshaw 0:dbd8b5c35d0f 63 void LS7366_reset_counter(int chan_num);
jebradshaw 0:dbd8b5c35d0f 64 void LS7366_write_DTR(int chan_num,long enc_value);
jebradshaw 0:dbd8b5c35d0f 65 void write_max522(int chan, float volts);
jebradshaw 0:dbd8b5c35d0f 66
jebradshaw 0:dbd8b5c35d0f 67 //---- Function Listing -------------------------------
jebradshaw 0:dbd8b5c35d0f 68 int read_max1270(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 69 int cword=0x80; //set the start bit
jebradshaw 0:dbd8b5c35d0f 70
jebradshaw 0:dbd8b5c35d0f 71 spi_max1270.frequency(10000000);
jebradshaw 0:dbd8b5c35d0f 72 spi_max1270.format(8, 0); // 8 data bits, CPOL0, and CPHA0 (datasheet Digital Interface)
jebradshaw 0:dbd8b5c35d0f 73
jebradshaw 0:dbd8b5c35d0f 74 cword |= (chan << 4); //shift channel
jebradshaw 0:dbd8b5c35d0f 75 cword |= (range << 3);
jebradshaw 0:dbd8b5c35d0f 76 cword |= (bipol << 2);
jebradshaw 0:dbd8b5c35d0f 77
jebradshaw 0:dbd8b5c35d0f 78 max1270_cs = 0;
jebradshaw 0:dbd8b5c35d0f 79
jebradshaw 0:dbd8b5c35d0f 80 spi_max1270.write(cword);
jebradshaw 0:dbd8b5c35d0f 81 wait_us(15); //15us
jebradshaw 0:dbd8b5c35d0f 82 spi_max1270.format(12, 3);
jebradshaw 0:dbd8b5c35d0f 83
jebradshaw 0:dbd8b5c35d0f 84 int result = spi_max1270.write(0);
jebradshaw 0:dbd8b5c35d0f 85
jebradshaw 0:dbd8b5c35d0f 86 max1270_cs = 1;
jebradshaw 0:dbd8b5c35d0f 87 spi_max1270.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 88 return result;
jebradshaw 0:dbd8b5c35d0f 89 }
jebradshaw 0:dbd8b5c35d0f 90
jebradshaw 0:dbd8b5c35d0f 91 float read_max1270_volts(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 92 float rangevolts=0.0;
jebradshaw 0:dbd8b5c35d0f 93 float volts=0.0;
jebradshaw 0:dbd8b5c35d0f 94 int adc_res;
jebradshaw 0:dbd8b5c35d0f 95
jebradshaw 0:dbd8b5c35d0f 96 //read the ADC converter
jebradshaw 0:dbd8b5c35d0f 97 adc_res = read_max1270(chan, range, bipol) & 0xFFF;
jebradshaw 0:dbd8b5c35d0f 98
jebradshaw 0:dbd8b5c35d0f 99 //Determine the voltage range
jebradshaw 0:dbd8b5c35d0f 100 if(range) //RNG bit
jebradshaw 0:dbd8b5c35d0f 101 rangevolts=10.0;
jebradshaw 0:dbd8b5c35d0f 102 else
jebradshaw 0:dbd8b5c35d0f 103 rangevolts=5.0;
jebradshaw 0:dbd8b5c35d0f 104
jebradshaw 0:dbd8b5c35d0f 105 //bi-polar input range
jebradshaw 0:dbd8b5c35d0f 106 if(bipol){ //BIP is set, input is +/-
jebradshaw 0:dbd8b5c35d0f 107 if(adc_res < 0x800){ //if result was positive
jebradshaw 0:dbd8b5c35d0f 108 volts = ((float)adc_res/0x7FF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 109 }
jebradshaw 0:dbd8b5c35d0f 110 else{ //result was negative
jebradshaw 0:dbd8b5c35d0f 111 volts = -(-((float)adc_res/0x7FF) * rangevolts) - (rangevolts * 2.0);
jebradshaw 0:dbd8b5c35d0f 112 }
jebradshaw 0:dbd8b5c35d0f 113 }
jebradshaw 0:dbd8b5c35d0f 114 else{ //input is positive polarity only
jebradshaw 0:dbd8b5c35d0f 115 volts = ((float)adc_res/0xFFF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 116 }
jebradshaw 0:dbd8b5c35d0f 117
jebradshaw 0:dbd8b5c35d0f 118 return volts;
jebradshaw 0:dbd8b5c35d0f 119 }
jebradshaw 0:dbd8b5c35d0f 120
jebradshaw 0:dbd8b5c35d0f 121 //Motor control routine for PWM on 5 pin motor driver header
jebradshaw 0:dbd8b5c35d0f 122 // drv_num is 1 or 2 (defaults to 1, anything but 2)
jebradshaw 0:dbd8b5c35d0f 123 // dc is signed duty cycle (+/-1.0)
jebradshaw 0:dbd8b5c35d0f 124
jebradshaw 0:dbd8b5c35d0f 125 void mot_control(int drv_num, float dc){
jebradshaw 0:dbd8b5c35d0f 126 if(dc>1.0)
jebradshaw 0:dbd8b5c35d0f 127 dc=1.0;
jebradshaw 0:dbd8b5c35d0f 128 if(dc<-1.0)
jebradshaw 0:dbd8b5c35d0f 129 dc=-1.0;
jebradshaw 0:dbd8b5c35d0f 130
jebradshaw 0:dbd8b5c35d0f 131 if(drv_num != 2){
jebradshaw 0:dbd8b5c35d0f 132 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 133 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 134 mot1_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 135 mot_en1 = dc;
jebradshaw 0:dbd8b5c35d0f 136 }
jebradshaw 0:dbd8b5c35d0f 137 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 138 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 139 mot1_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 140 mot_en1 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 141 }
jebradshaw 0:dbd8b5c35d0f 142 else{
jebradshaw 0:dbd8b5c35d0f 143 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 144 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 145 mot_en1 = 0.0;
jebradshaw 0:dbd8b5c35d0f 146 }
jebradshaw 0:dbd8b5c35d0f 147 }
jebradshaw 0:dbd8b5c35d0f 148 else{
jebradshaw 0:dbd8b5c35d0f 149 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 150 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 151 mot2_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 152 mot_en2 = dc;
jebradshaw 0:dbd8b5c35d0f 153 }
jebradshaw 0:dbd8b5c35d0f 154 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 155 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 156 mot2_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 157 mot_en2 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 158 }
jebradshaw 0:dbd8b5c35d0f 159 else{
jebradshaw 0:dbd8b5c35d0f 160 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 161 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 162 mot_en2 = 0.0;
jebradshaw 0:dbd8b5c35d0f 163 }
jebradshaw 0:dbd8b5c35d0f 164 }
jebradshaw 0:dbd8b5c35d0f 165 }
jebradshaw 0:dbd8b5c35d0f 166
jebradshaw 0:dbd8b5c35d0f 167 //----- LS7366 Encoder/Counter Routines --------------------
jebradshaw 0:dbd8b5c35d0f 168 void LS7366_cmd(int inst, int reg){
jebradshaw 0:dbd8b5c35d0f 169 char cmd;
jebradshaw 0:dbd8b5c35d0f 170
jebradshaw 0:dbd8b5c35d0f 171 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 172 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 173 cmd = (inst << 6) | (reg << 3);
jebradshaw 0:dbd8b5c35d0f 174 // printf("\r\ncmd=0X%2X", cmd);
jebradshaw 0:dbd8b5c35d0f 175 spi.write(cmd);
jebradshaw 0:dbd8b5c35d0f 176 }
jebradshaw 0:dbd8b5c35d0f 177
jebradshaw 0:dbd8b5c35d0f 178 long LS7366_read_counter(int chan_num){
jebradshaw 0:dbd8b5c35d0f 179 union bytes{
jebradshaw 0:dbd8b5c35d0f 180 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 181 long long_enc;
jebradshaw 0:dbd8b5c35d0f 182 }counter;
jebradshaw 0:dbd8b5c35d0f 183
jebradshaw 0:dbd8b5c35d0f 184 counter.long_enc = 0;
jebradshaw 0:dbd8b5c35d0f 185
jebradshaw 0:dbd8b5c35d0f 186 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 187 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 188
jebradshaw 0:dbd8b5c35d0f 189 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 190 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 191 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 192 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 193 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 194 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 195 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 196 }
jebradshaw 0:dbd8b5c35d0f 197 else{
jebradshaw 0:dbd8b5c35d0f 198 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 199 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 200 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 201 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 202 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 203
jebradshaw 0:dbd8b5c35d0f 204 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 205 }
jebradshaw 0:dbd8b5c35d0f 206 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 207 LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR
jebradshaw 0:dbd8b5c35d0f 208 counter.byte_enc[3] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 209 counter.byte_enc[2] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 210 counter.byte_enc[1] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 211 counter.byte_enc[0] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 212
jebradshaw 0:dbd8b5c35d0f 213 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 214 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 215 }
jebradshaw 0:dbd8b5c35d0f 216 else{
jebradshaw 0:dbd8b5c35d0f 217 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 218 }
jebradshaw 0:dbd8b5c35d0f 219
jebradshaw 0:dbd8b5c35d0f 220 return counter.long_enc; //return count
jebradshaw 0:dbd8b5c35d0f 221 }
jebradshaw 0:dbd8b5c35d0f 222
jebradshaw 0:dbd8b5c35d0f 223 void LS7366_quad_mode_x4(int chan_num){
jebradshaw 0:dbd8b5c35d0f 224
jebradshaw 0:dbd8b5c35d0f 225 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 226 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 227
jebradshaw 0:dbd8b5c35d0f 228 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 229 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 230 }
jebradshaw 0:dbd8b5c35d0f 231 else{
jebradshaw 0:dbd8b5c35d0f 232 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 233 }
jebradshaw 0:dbd8b5c35d0f 234 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 235 LS7366_cmd(WR,MDR0);// Write to the MDR0 register
jebradshaw 8:b74ce788d87e 236 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 237 spi.write(0x03); // X4 quadrature count mode
jebradshaw 0:dbd8b5c35d0f 238 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 239 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 240 }
jebradshaw 0:dbd8b5c35d0f 241 else{
jebradshaw 0:dbd8b5c35d0f 242 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 243 }
jebradshaw 0:dbd8b5c35d0f 244 }
jebradshaw 0:dbd8b5c35d0f 245
jebradshaw 8:b74ce788d87e 246 void LS7366_reset_counter(int chan_num){
jebradshaw 8:b74ce788d87e 247 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 8:b74ce788d87e 248 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 249
jebradshaw 8:b74ce788d87e 250 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 251 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 252 }
jebradshaw 0:dbd8b5c35d0f 253 else{
jebradshaw 0:dbd8b5c35d0f 254 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 255 }
jebradshaw 8:b74ce788d87e 256 wait_us(1); // short delay
jebradshaw 8:b74ce788d87e 257 LS7366_cmd(CLR,CNTR); // Clear the counter register
jebradshaw 8:b74ce788d87e 258 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 259 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 260 }
jebradshaw 0:dbd8b5c35d0f 261 else{
jebradshaw 8:b74ce788d87e 262 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 263 }
jebradshaw 8:b74ce788d87e 264 wait_us(1); // short delay
jebradshaw 0:dbd8b5c35d0f 265
jebradshaw 8:b74ce788d87e 266 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 267 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 268 }
jebradshaw 0:dbd8b5c35d0f 269 else{
jebradshaw 0:dbd8b5c35d0f 270 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 271 }
jebradshaw 8:b74ce788d87e 272 wait_us(1); // short delay
jebradshaw 8:b74ce788d87e 273 LS7366_cmd(LOAD,CNTR); // load counter reg
jebradshaw 8:b74ce788d87e 274 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 275 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 276 }
jebradshaw 0:dbd8b5c35d0f 277 else{
jebradshaw 8:b74ce788d87e 278 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 279 }
jebradshaw 0:dbd8b5c35d0f 280 }
jebradshaw 0:dbd8b5c35d0f 281
jebradshaw 8:b74ce788d87e 282 void LS7366_write_DTR(int chan_num, long enc_value){
jebradshaw 8:b74ce788d87e 283 union bytes // Union to speed up byte writes
jebradshaw 0:dbd8b5c35d0f 284 {
jebradshaw 0:dbd8b5c35d0f 285 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 286 long long_enc;
jebradshaw 0:dbd8b5c35d0f 287 }counter;
jebradshaw 0:dbd8b5c35d0f 288
jebradshaw 8:b74ce788d87e 289 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 8:b74ce788d87e 290 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 291
jebradshaw 8:b74ce788d87e 292 counter.long_enc = enc_value; // pass enc_value to Union
jebradshaw 0:dbd8b5c35d0f 293
jebradshaw 8:b74ce788d87e 294 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 295 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 296 }
jebradshaw 0:dbd8b5c35d0f 297 else{
jebradshaw 0:dbd8b5c35d0f 298 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 299 }
jebradshaw 8:b74ce788d87e 300 wait_us(1); // short delay
jebradshaw 8:b74ce788d87e 301 LS7366_cmd(WR,DTR); // Write to the Data Transfer Register
jebradshaw 8:b74ce788d87e 302 spi.write(counter.byte_enc[3]); // Write the 32-bit encoder value
jebradshaw 0:dbd8b5c35d0f 303 spi.write(counter.byte_enc[2]);
jebradshaw 0:dbd8b5c35d0f 304 spi.write(counter.byte_enc[1]);
jebradshaw 0:dbd8b5c35d0f 305 spi.write(counter.byte_enc[0]);
jebradshaw 8:b74ce788d87e 306 if(chan_num!=2){ // de-activate the chip select
jebradshaw 0:dbd8b5c35d0f 307 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 308 }
jebradshaw 0:dbd8b5c35d0f 309 else{
jebradshaw 0:dbd8b5c35d0f 310 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 311 }
jebradshaw 0:dbd8b5c35d0f 312
jebradshaw 8:b74ce788d87e 313 wait_us(1); // short delay
jebradshaw 8:b74ce788d87e 314 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 315 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 316 }
jebradshaw 0:dbd8b5c35d0f 317 else{
jebradshaw 0:dbd8b5c35d0f 318 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 319 }
jebradshaw 8:b74ce788d87e 320 wait_us(1); // short delay
jebradshaw 8:b74ce788d87e 321 LS7366_cmd(LOAD,CNTR); // load command to the counter register from DTR
jebradshaw 8:b74ce788d87e 322 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 323 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 324 }
jebradshaw 0:dbd8b5c35d0f 325 else{
jebradshaw 0:dbd8b5c35d0f 326 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 327 }
jebradshaw 0:dbd8b5c35d0f 328 }
jebradshaw 0:dbd8b5c35d0f 329
jebradshaw 0:dbd8b5c35d0f 330 //------- MAX522 routines ---------------------------------
jebradshaw 0:dbd8b5c35d0f 331 void write_max522(int chan, float volts){
jebradshaw 0:dbd8b5c35d0f 332 int cmd=0x20; //set UB3
jebradshaw 0:dbd8b5c35d0f 333 int data_word = (int)((volts/5.0) * 256.0);
jebradshaw 0:dbd8b5c35d0f 334 if(chan != 2)
jebradshaw 0:dbd8b5c35d0f 335 cmd |= 0x01; //set DAC A out
jebradshaw 0:dbd8b5c35d0f 336 else
jebradshaw 0:dbd8b5c35d0f 337 cmd |= 0x02; //set DACB out
jebradshaw 0:dbd8b5c35d0f 338
jebradshaw 0:dbd8b5c35d0f 339 // pc.printf("cmd=0x%4X data_word=0x%4X \r\n", cmd, data_word);
jebradshaw 0:dbd8b5c35d0f 340
jebradshaw 0:dbd8b5c35d0f 341 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 342 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 343 max522_cs = 0;
jebradshaw 0:dbd8b5c35d0f 344 spi.write(cmd & 0xFF);
jebradshaw 0:dbd8b5c35d0f 345 spi.write(data_word & 0xFF);
jebradshaw 0:dbd8b5c35d0f 346 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 347 }
jebradshaw 0:dbd8b5c35d0f 348
jebradshaw 1:85cd6d500385 349 void mbedWSEsbcInit(unsigned long pcbaud){
jebradshaw 8:b74ce788d87e 350 led1 = 0; //Initialize all LEDs as off
jebradshaw 8:b74ce788d87e 351 led2 = 0;
jebradshaw 8:b74ce788d87e 352 led3 = 0;
jebradshaw 8:b74ce788d87e 353 led4 = 0;
jebradshaw 8:b74ce788d87e 354 max1270_cs = 1; //Initialize all chip selects as off
jebradshaw 0:dbd8b5c35d0f 355 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 356 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 357 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 358
jebradshaw 0:dbd8b5c35d0f 359 wait(.2); //delay at beginning for voltage settle purposes
jebradshaw 0:dbd8b5c35d0f 360
jebradshaw 8:b74ce788d87e 361 // mot_en1.period_us(50); //20KHz for DC motor control PWM
jebradshaw 1:85cd6d500385 362 pc.baud(pcbaud); //Set up serial port baud rate
jebradshaw 8:b74ce788d87e 363 pc.printf("\r\n");
jebradshaw 0:dbd8b5c35d0f 364 xbee.baud(9600);
jebradshaw 0:dbd8b5c35d0f 365
jebradshaw 0:dbd8b5c35d0f 366 LS7366_reset_counter(1);
jebradshaw 0:dbd8b5c35d0f 367 LS7366_quad_mode_x4(1);
jebradshaw 0:dbd8b5c35d0f 368 LS7366_write_DTR(1,0);
jebradshaw 0:dbd8b5c35d0f 369
jebradshaw 0:dbd8b5c35d0f 370 LS7366_reset_counter(2);
jebradshaw 0:dbd8b5c35d0f 371 LS7366_quad_mode_x4(2);
jebradshaw 0:dbd8b5c35d0f 372 LS7366_write_DTR(2,0);
jebradshaw 0:dbd8b5c35d0f 373
jebradshaw 0:dbd8b5c35d0f 374 t.start(); // Set up timer
jebradshaw 0:dbd8b5c35d0f 375 }//mbedWSEsbc_init()