Birdy YAP / Encoder_dspic33f

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Dependents:   Tutorial04_dspic33fI2cCom Tutorial06_motorPositionControl

Encoder_dspic33f.cpp@5:3eaf636e9a0f, 2014-02-25 (annotated)

Committer:
bediyap
Date:
Tue Feb 25 09:17:09 2014 +0000
Revision:
5:3eaf636e9a0f
Parent:
4:bb36786e93b7 
change to use union for binary data conversion

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bediyap 0:fd0a80fd3738 1 #include "Encoder_dspic33f.h"
bediyap 0:fd0a80fd3738 2
bediyap 5:3eaf636e9a0f 3 Encoder_dspic33f::Encoder_dspic33f(PinName sda, PinName scl,int16_t resolution, int address, int freq, bool invert) :
bediyap 0:fd0a80fd3738 4 i2c_(sda,scl),
bediyap 0:fd0a80fd3738 5 address_ (address),
bediyap 0:fd0a80fd3738 6 resolution_ (resolution){
bediyap 0:fd0a80fd3738 7 //400KHz, as specified by the datasheet.
bediyap 5:3eaf636e9a0f 8 i2c_.frequency(freq);
bediyap 0:fd0a80fd3738 9 //set_resolution(_resolution);
bediyap 0:fd0a80fd3738 10 if (invert) {
bediyap 0:fd0a80fd3738 11 invert_ = -1;
bediyap 0:fd0a80fd3738 12 } else {
bediyap 0:fd0a80fd3738 13 invert_ = 1;
bediyap 0:fd0a80fd3738 14 }
bediyap 0:fd0a80fd3738 15 wait_us(500);
bediyap 0:fd0a80fd3738 16 }
bediyap 0:fd0a80fd3738 17
bediyap 0:fd0a80fd3738 18 void Encoder_dspic33f::reset(void){
bediyap 0:fd0a80fd3738 19 char rst = 'r';
bediyap 0:fd0a80fd3738 20 i2c_.write( (address_<< 1) & 0xFE, &rst, 1);
bediyap 0:fd0a80fd3738 21 }
bediyap 0:fd0a80fd3738 22
bediyap 3:ad07e5b97132 23
bediyap 3:ad07e5b97132 24 void Encoder_dspic33f::set_resolution(int16_t resolution){
bediyap 3:ad07e5b97132 25 char cmd = 'e';
bediyap 3:ad07e5b97132 26 char dat[3];
bediyap 5:3eaf636e9a0f 27 bytes16Int b;
bediyap 5:3eaf636e9a0f 28 b.i = resolution;
bediyap 3:ad07e5b97132 29 dat[0] = cmd;
bediyap 5:3eaf636e9a0f 30 dat[1] = b.c[0];
bediyap 5:3eaf636e9a0f 31 dat[2] = b.c[1];
bediyap 3:ad07e5b97132 32 i2c_.write( (address_<< 1) & 0xFE, dat, 3);
bediyap 3:ad07e5b97132 33 }
bediyap 3:ad07e5b97132 34
bediyap 1:a9290cf59d1f 35 void Encoder_dspic33f::read(double * inarr){
bediyap 0:fd0a80fd3738 36 char rx[8];
bediyap 1:a9290cf59d1f 37 float data[2] = {0.0, 0.0};
bediyap 5:3eaf636e9a0f 38 bytesFloat b1, b2;
bediyap 0:fd0a80fd3738 39
bediyap 0:fd0a80fd3738 40 i2c_.read((address_<< 1) | 0x01, rx, 8);
bediyap 5:3eaf636e9a0f 41
bediyap 5:3eaf636e9a0f 42 for (int i = 0; i<4; ++i)
bediyap 5:3eaf636e9a0f 43 b1.c[i] = rx[i];
bediyap 0:fd0a80fd3738 44
bediyap 5:3eaf636e9a0f 45 for (int i = 4; i<8; ++i)
bediyap 5:3eaf636e9a0f 46 b2.c[i-4] = rx[i];
bediyap 5:3eaf636e9a0f 47
bediyap 5:3eaf636e9a0f 48 inarr[0] = (double)b1.f;
bediyap 5:3eaf636e9a0f 49 inarr[1] = (double)b2.f;
bediyap 0:fd0a80fd3738 50 }