Revision 2:33062fc279ca, committed 2018-07-31

Comitter:

JJting

Date:

Tue Jul 31 14:19:56 2018 +0000

Parent:

1:2f2a74337b77

Commit message:

20180731ver3(encoder read with header file)

Changed in this revision

diff -r 2f2a74337b77 -r 33062fc279ca encoder.cpp
--- a/encoder.cpp	Tue Jul 31 13:24:56 2018 +0000
+++ b/encoder.cpp	Tue Jul 31 14:19:56 2018 +0000
@@ -4,22 +4,13 @@
 DigitalOut encoder_cs(D9);
 SPI spi_encoder(D11, D12, D13); // mosi, miso, sclk
 
-unsigned short encoder_value = 0;
+unsigned short encoder_value;
 unsigned short angle = 0;
 unsigned short angle_old;
 int angle_dif;
 int a_dif;
-int Angle;
+int Angle = 0;
 unsigned short k = 0;
-unsigned short angle_init;
-
-void init_encoder()
-{   
-    encoder_cs = 0; // Select the device by seting chip select low
-    encoder_value = spi_encoder.write(0x00);
-    angle_init = encoder_value >> 3;
-    encoder_cs = 1; // Deselect the device    
-}
 
 void init_SPI_encoder()
 {
@@ -27,6 +18,11 @@
     spi_encoder.frequency(1000000); // 1MHz clock rate
 }
 
+void init_encoder()
+{   
+    encoder_cs = 1;  // high：disable the device
+}
+
 void angle_measure()
 {    
     encoder_cs = 0; // Select the device by seting chip select low
@@ -36,10 +32,9 @@
     
     if (k == 0)
     {
-        angle_dif = angle_count(angle, angle_init);
-        Angle = angle_init + angle_dif;
+        Angle = 0;
         angle_old = angle;
-        k++;
+        k++;       
     }
     else
     {
@@ -47,6 +42,7 @@
         Angle = Angle + angle_dif;
         angle_old = angle;
     }
+
 }
 
 int angle_count(unsigned short now,unsigned short old)

diff -r 2f2a74337b77 -r 33062fc279ca encoder.h
--- a/encoder.h	Tue Jul 31 13:24:56 2018 +0000
+++ b/encoder.h	Tue Jul 31 14:19:56 2018 +0000
@@ -3,8 +3,8 @@
 
 #include "mbed.h"
 
+extern void init_SPI_encoder();
 extern void init_encoder();
-extern void init_SPI_encoder();
 extern void angle_measure();
 extern int angle_count(unsigned short,unsigned short);
 
@@ -17,7 +17,6 @@
 extern int angle_dif;
 extern int a_dif;
 extern int Angle;
-extern unsigned short angle_init;
 extern unsigned short k;
 
 

diff -r 2f2a74337b77 -r 33062fc279ca main.cpp
--- a/main.cpp	Tue Jul 31 13:24:56 2018 +0000
+++ b/main.cpp	Tue Jul 31 14:19:56 2018 +0000
@@ -7,20 +7,7 @@
 
 // timer
 Ticker timer1;
-float ITR_time1 = 10000.0;  // unit：ms
-
-
-// encoder
-//DigitalOut encoder_cs(D9);
-//SPI spi_encoder(D11, D12, D13); // mosi, miso, sclk
-//unsigned short encoder_value = 0;
-//unsigned short angle = 0;
-//unsigned short angle_old;
-//unsigned short angle_init;
-//int angle_dif;
-//int a_dif;
-//int Angle;
-//unsigned short k = 0;
+float ITR_time1 = 10000.0;  // unit：us
 
 // uart_tx
 union splitter {
@@ -32,13 +19,9 @@
 int i = 0;
 
 // function
-//void init_encoder();
-//void init_SPI_encoder();
 void init_UART();
 void init_TIMER();
 void timer1_ITR();
-//void angle_measure();
-//int angle_count(unsigned short,unsigned short);
 void uart_tx();
 
 
@@ -47,8 +30,9 @@
     LED = 1;
     wait_ms(500);
     // initial sensor
+    init_SPI_encoder();
     init_encoder();
-    init_SPI_encoder();
+    
     // initial uart
     init_UART();
     
@@ -61,25 +45,7 @@
     }
     
 }
-/*
-void init_encoder()
-{
-//    encoder_cs = 1;  // disable encoder
-    
-    encoder_cs = 0; // Select the device by seting chip select low
-    encoder_value = spi_encoder.write(0x00);
-    angle_init = encoder_value >> 3;
-    encoder_cs = 1; // Deselect the device
-    
-}
-*/
-/*
-void init_SPI_encoder()
-{
-    spi_encoder.format(16,3);
-    spi_encoder.frequency(1000000); // 1MHz clock rate
-}
-*/
+
 void init_UART()
 {
     uart.baud(115200);
@@ -93,46 +59,9 @@
 void timer1_ITR()
 {
     angle_measure();
-//    angle_count();
     uart_tx();
 }
-/*
-void angle_measure()
-{    
-    encoder_cs = 0; // Select the device by seting chip select low
-    encoder_value = spi_encoder.write(0x00);
-    angle = encoder_value >> 3;
-    encoder_cs = 1; // Deselect the device
-    
-    if (k == 0)
-    {
-        angle_dif = angle_count(angle, angle_init);
-        Angle = angle_init + angle_dif;
-        angle_old = angle;
-        k++;
-    }
-    else
-    {
-        angle_dif = angle_count(angle, angle_old);
-        Angle = Angle + angle_dif;
-        angle_old = angle;
-    }
-}    
-*/
-/*
-int angle_count(unsigned short now,unsigned short old)
-{
-    a_dif = now - old;
-    if (a_dif > 4096/2)
-        a_dif = -(4096 - a_dif);
-    else if (a_dif < -4096/2)
-        a_dif = 4096 + a_dif;
-    else
-        a_dif = a_dif;
-    
-    return a_dif;
-}
-*/
+
 void uart_tx()
 {
     splitter s1;