Revision 2:02ea2289edb2, committed 2016-09-16

Comitter:

Generic

Date:

Fri Sep 16 03:43:22 2016 +0000

Parent:

1:2b21453e2c03

Commit message:

Initial working version

Changed in this revision

diff -r 2b21453e2c03 -r 02ea2289edb2 AS5045Controller.cpp
--- a/AS5045Controller.cpp	Fri Sep 16 04:56:51 2016 +0200
+++ b/AS5045Controller.cpp	Fri Sep 16 03:43:22 2016 +0000
@@ -1,34 +1,29 @@
 #include "AS5045Controller.hpp"
 
-AS5045Controller::AS5045Controller(PinName CS, int f, PinName D0, PinName CLK) :
-  _spi(NC,DO,CLK),
-  _cs(CS);
+AS5045Controller::AS5045Controller(PinName CS) :
+  _spi(NC,D12, D13),
+  _cs(CS)
 {
   _spi.format(9,2);
-  _spi.frequency(f);
+  _spi.frequency(500000);
   _cs = 1;
-  _valid = false;
 }
 
-int AS5045Controller::Read()
+int AS5045Controller::GetInt()
 {
   _cs = 0;
   int upper = _spi.write(0x00);
   int lower = _spi.write(0x00);
   _cs = 1;
 
-  _magDEC = (lower >> 1) & 1;
-  _magINC = (lower >> 2) & 1;
-  _lin = (lower >> 3) & 1;
-  _cof = (lower >> 4) & 1;
-  _ocf = (lower >> 5) & 1;
-  _valid = (_ocf & !_cof & !_lin & (_magINC | _magDEC) );
-  _value = ((upper << 3)+(lower >> 6));
 
-  return _value;
+  return ((upper << 3)+(lower >> 6));
 }
 
-bool AS5045Controller::IsValid()
+float AS5045Controller::GetFloat()
 {
-  return _valid;
+  float value = (float)GetInt();
+
+  return value*0.08789;
+
 }

diff -r 2b21453e2c03 -r 02ea2289edb2 AS5045Controller.hpp
--- a/AS5045Controller.hpp	Fri Sep 16 04:56:51 2016 +0200
+++ b/AS5045Controller.hpp	Fri Sep 16 03:43:22 2016 +0000
@@ -1,75 +1,21 @@
 #ifndef AS5045CONTROLLER_H
 #define AS5045CONTROLLER_H
 
-//Includes
 #include "mbed.h"
 
-/**
- * Reads data from a AS5045 Magnetic Rotary Encoder using the SPI interface.
- *
- * AS5045 Datasheet : http://ams.com/eng/content/download/1288/7223
- * @author CA Bezuidenhout
- * @section USAGE EXAMPLE
- * @code
- * #include "mbed.h"
- * #include "AS5045Controller.hpp"
- *
- * AS5045Controller mySensor(D2);
- * Serial pc(USBTX,USBRX);
- *
- * int main()
- * {
- *  while(1)
- *  {
- *    int sensorValue = mySensor.Read();
- *
- *    if( mySensor.IsValid() )
- *      pc.printf("Sensor Value = %d\n\r",sensorValue );
- *    else
- *      pc.printf("Invalid data read");
- *
- *    Thread::wait(500);
- *  }
- * @endcode
- */
 class AS5045Controller
 {
 public:
-  /**
-   * @param cs : Chip select pin
-   * @param f : SPI frequency (default 500kHz)
-   * @param DO : DO pin of AS5045 (default D12)
-   * @param CLK : CLK pin of AS5045 (default D13)
-   */
-  AS5045Controller(PinName CS, int f = 5000000, PinName DO = D12, PinName CLK = D13);
+  AS5045Controller(PinName cs);
 
-  /**
-  * Read data from the device
-  *
-  * @return int value read
-  */
-  int Read();
-
-  /**
-  * Check if read data is valid
-  *
-  * @return true if data is valid
-  */
-  int IsValid();
+  int GetInt();
+  float GetFloat();
 
 private:
   SPI _spi;
   DigitalOut _cs;
-  bool _magDEC;
-  bool _magINC;
-  bool _lin;
-  bool _cof;
-  bool _ocf;
-  bool _valid;
-  int _value;
-  static const float MAX_VALUE = 4095.0f;
+
+  static const float MAX_VALUE = 4095;
 
 };
-
-
 #endif