ichinoseki_Bteam_2019 / SPI_Encoder

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Dependents:   ArmNode

SPI_Encoder.cpp@0:21ae825df645, 2019-07-22 (annotated)

Committer:
Kirua
Date:
Mon Jul 22 17:45:28 2019 +0000
Revision:
0:21ae825df645
Child:
1:7826ec4d9405
new

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Kirua 0:21ae825df645 1 #include "mbed.h"
Kirua 0:21ae825df645 2 #include "SPI_Encoder.h"
Kirua 0:21ae825df645 3
Kirua 0:21ae825df645 4
Kirua 0:21ae825df645 5 SPI_Encoder::SPI_Encoder(PinName mosi, PinName miso, PinName sclk, PinName _cs0, PinName _cs1, PinName _cs2, PinName _cs3) : encoder(mosi, miso, sclk), cs0(_cs0), cs1(_cs1), cs2(_cs2), cs3(_cs3)
Kirua 0:21ae825df645 6 {
Kirua 0:21ae825df645 7 encoder.format(8,0);
Kirua 0:21ae825df645 8 encoder.frequency(8000000);
Kirua 0:21ae825df645 9 };
Kirua 0:21ae825df645 10
Kirua 0:21ae825df645 11 void SPI_Encoder::getPosition(int num)
Kirua 0:21ae825df645 12 {
Kirua 0:21ae825df645 13 if (EncoderByteData[num] != Encoderposition_last[num]) { //if nothing has changed dont wast time sending position
Kirua 0:21ae825df645 14 Encoderposition_last[num] = EncoderByteData[num] ; //set last position to current position
Kirua 0:21ae825df645 15 } else {
Kirua 0:21ae825df645 16 uint8_t recieved = 0xA5;//just a temp vairable
Kirua 0:21ae825df645 17 EncoderByteData[num] = 0;//reset position vairable
Kirua 0:21ae825df645 18 switching(num, 0);
Kirua 0:21ae825df645 19 _SPI_T(num, 0x10);//issue read command
Kirua 0:21ae825df645 20 wait_ms(50);//give time to read. Timmig is critical
Kirua 0:21ae825df645 21
Kirua 0:21ae825df645 22 while (recieved != 0x10) { //loop while encoder is not ready to send
Kirua 0:21ae825df645 23 recieved = _SPI_T(num, 0x00); //cleck again if encoder is still working
Kirua 0:21ae825df645 24 wait_ms(1); //again,give time to read. Timmig is critical
Kirua 0:21ae825df645 25 }
Kirua 0:21ae825df645 26
Kirua 0:21ae825df645 27 temp[0][num] = _SPI_T(num, 0x00); //Recieve MSB
Kirua 0:21ae825df645 28 temp[1][num] = _SPI_T(num, 0x00); // recieve LSB
Kirua 0:21ae825df645 29 switching(num, 1);
Kirua 0:21ae825df645 30
Kirua 0:21ae825df645 31 temp[0][num] &=~ 0xF0;//mask out the first 4 bits
Kirua 0:21ae825df645 32 EncoderByteData[num] = temp[0][num] << 8; //shift MSB to correct EncoderByteData in EncoderByteData message
Kirua 0:21ae825df645 33 EncoderByteData[num] += temp[1][num]; // add LSB to EncoderByteData message to complete message
Kirua 0:21ae825df645 34 wait_ms(1);//again,give time to read. Timmig is critical
Kirua 0:21ae825df645 35 }
Kirua 0:21ae825df645 36 Steps[num] = EncoderByteData[num]/16;
Kirua 0:21ae825df645 37 }
Kirua 0:21ae825df645 38
Kirua 0:21ae825df645 39 uint8_t SPI_Encoder::_SPI_T (int num, uint8_t SPITransmit)//Repetive SPI transmit sequence
Kirua 0:21ae825df645 40 {
Kirua 0:21ae825df645 41 uint8_t SPI_temp = 0; //vairable to hold recieved data
Kirua 0:21ae825df645 42 switching(num, 0); //select spi device
Kirua 0:21ae825df645 43 SPI_temp = encoder.write(SPITransmit);//send and recieve
Kirua 0:21ae825df645 44 switching(num, 1);//deselect spi device
Kirua 0:21ae825df645 45 return(SPI_temp); //return recieved byte
Kirua 0:21ae825df645 46 }
Kirua 0:21ae825df645 47
Kirua 0:21ae825df645 48 void SPI_Encoder::_switching(int num, int value)
Kirua 0:21ae825df645 49 {
Kirua 0:21ae825df645 50 switch(num)
Kirua 0:21ae825df645 51 {
Kirua 0:21ae825df645 52 case 0:
Kirua 0:21ae825df645 53 cs0 = value;
Kirua 0:21ae825df645 54 break;
Kirua 0:21ae825df645 55 case 1:
Kirua 0:21ae825df645 56 cs1 = value;
Kirua 0:21ae825df645 57 break;
Kirua 0:21ae825df645 58 case 2:
Kirua 0:21ae825df645 59 cs2 = value;
Kirua 0:21ae825df645 60 break;
Kirua 0:21ae825df645 61 case 3:
Kirua 0:21ae825df645 62 cs3 = value;
Kirua 0:21ae825df645 63 break;
Kirua 0:21ae825df645 64 default:
Kirua 0:21ae825df645 65 break;
Kirua 0:21ae825df645 66 }
Kirua 0:21ae825df645 67 }