SPI_EEP_ENC.cpp

00001 #include "mbed.h"
00002 #include "setting.h"
00003 #include "SPI_EEP_ENC.h"
00004 
00005 // EEPROM
00006 void spi_eeprom_ready(void){
00007     int temp1, temp2;
00008     do{
00009         eeprom_cs=0;
00010         eeprom.write(0x06);  //write enable
00011         eeprom_cs=1;
00012         
00013         eeprom_cs=0;
00014         temp1 = eeprom.write(0x05);     
00015         temp2 = eeprom.write(0x00);
00016         eeprom_cs=1;
00017         temp2=(temp2&(0x03))!= 0x02;
00018     } while(temp2); // before writing or reading 
00019  }
00020  
00021  void spi_eeprom_write(unsigned short add, unsigned int data){
00022         spi_eeprom_ready();
00023         add=add*4;
00024         eeprom_cs=0;
00025         eeprom.write(0x02);
00026         eeprom.write(0xff&(add>>8));
00027         eeprom.write(0xff&add);
00028         eeprom.write(0xff&data);
00029         eeprom.write(0xff&(data>>8));
00030         eeprom.write(0xff&(data>>16));
00031         eeprom.write(0xff&(data>>24));
00032         eeprom_cs=1;
00033 }
00034  
00035 unsigned int spi_eeprom_read(unsigned short add){
00036         add=add*4;
00037         eeprom_cs=0;
00038         eeprom.write(0x03);
00039         eeprom.write(0xff&(add>>8));
00040         eeprom.write(0xff&add);
00041         
00042         int a1 = eeprom.write(0x00);
00043         int a2 = eeprom.write(0x00);
00044         int a3 = eeprom.write(0x00);
00045         int a4 = eeprom.write(0x00);
00046         eeprom_cs=1;
00047         //unsigned int final = (a4<<24)+(a3<<16) + (a2<<8) + a1;
00048         unsigned int final = (int32_t) (a1 | a2 << 8 | a3 << 16 | a4 << 24);
00049         return final;
00050  } 
00051  
00052  
00053  // ENCODER
00054 void spi_enc_set_clear(void){
00055     unsigned int temp;
00056     enc_cs = 0;
00057     temp = enc.write(0b00100000);
00058     enc_cs = 1;
00059 }
00060 
00061 void spi_enc_set_init(void){
00062     unsigned int temp, i, temp1, temp2;
00063 
00064     // write MDR0 -> 0b11 -> x4 quadrature count mode
00065     enc_cs = 0;
00066     temp = enc.write(0b10001000);     // WR + MDR0
00067     temp = enc.write(0b00000011);     // quadratue mode
00068     enc_cs = 1;
00069 
00070     // write MDR1 -> 0b10 -> 2-byte counter mode
00071     for(i=0;i<10000;i++);
00072     enc_cs = 0;
00073     temp = enc.write(0b10010000);     // WR + MDR1
00074     //temp = enc.write(0b00000010);     // 2 byte mode
00075     temp = enc.write(0b00000000);     // 4 byte mode
00076     enc_cs = 1;
00077     
00078     // clear
00079     spi_enc_set_clear();
00080 }
00081 
00082 
00083 int spi_enc_read(void){   
00084     //for(t_i=0;t_i<100;t_i++);
00085     unsigned int t_dummy, t_b1, t_b2, t_b3, t_b4, t_i;
00086     enc_cs = 0;
00087     t_dummy = enc.write(0b01100000); // Read Commend 
00088     t_b1 = enc.write(0x00);         // Dummy data for clock
00089     t_b2 = enc.write(0x00);         // Dummy data for clock
00090     t_b3 = enc.write(0x00);         // Dummy data for clock
00091     t_b4 = enc.write(0x00);         // Dummy data for clock
00092     enc_cs = 1;
00093 
00094     return((t_b1<<24) + (t_b2<<16) + (t_b3<<8) + t_b4);
00095 }