Diff: enc.h

Revision:

0:00c56a9c6dee

Child:

1:d68c51a0a706

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/enc.h	Sat Mar 05 00:09:45 2016 +0000
@@ -0,0 +1,39 @@
+#include "mbed.h"
+#define u8 unsigned char
+#define u16 unsigned int
+#define ubyte unsigned char
+#define ushort unsigned short int
+#define bit unsigned char
+typedef struct {
+    unsigned int pos; // raw reading from sensor 14 bits
+    long oticks;  // revolution counter
+    unsigned int calibPos;  // 0 to 2pi, converted to 16 bits
+    unsigned int offset; // initial reading on setup - relative zero position
+} EncObj; 
+
+class enc
+{
+public:
+    //Connect over i2c
+    enc(PinName mosi, PinName miso, PinName sck, PinName cs);
+    //Destroy instance
+    ~enc();
+    unsigned int  ams_read();
+    void update_pos();
+    void set_offset();
+    unsigned int cal_state(); //Calibrated stat
+    static ushort par(ushort value);
+    ushort write_spi(ushort reg, u8 rw);
+    ushort read_spi(ushort reg);
+    EncObj enc_pos;
+    
+private:
+    SPI m_spi;
+    DigitalOut csl;
+
+};
+
+
+
+
+