zhang boie / Mbed 2 deprecated Hobbyking_Cheetah_Compact_DRV8323

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Dependencies:   mbed FastPWM3

Diff: PositionSensor/PositionSensor.cpp

Revision:
36:d88fd41f60a6
Parent:
35:69b24894c11d
Child:
37:c0f352d6e8e3
--- a/PositionSensor/PositionSensor.cpp	Sat Nov 18 18:41:42 2017 +0000
+++ b/PositionSensor/PositionSensor.cpp	Fri Mar 02 15:24:00 2018 +0000
@@ -11,7 +11,7 @@
     ElecOffset = offset;
     rotations = 0;
     spi = new SPI(PC_12, PC_11, PC_10);
-    spi->format(8, 1);                                                          // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words
+    spi->format(16, 1);                                                          // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words
     spi->frequency(25000000);
     cs = new DigitalOut(PA_15);
     cs->write(1);
@@ -25,10 +25,7 @@
     
 void PositionSensorAM5147::Sample(){
     cs->write(0);
-    int raw1 = spi->write(0xFF);
-    int raw2 = spi->write(0xFF);
-    raw = (raw1<<8)|raw2;
-    //raw = spi->write(readAngleCmd);
+    raw = spi->write(readAngleCmd);
     raw &= 0x3FFF;                                                              //Extract last 14 bits
     cs->write(1);
     int off_1 = offset_lut[raw>>7];