Birdy YAP / Encoder_dspic33f

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Dependents:   Tutorial04_dspic33fI2cCom Tutorial06_motorPositionControl

Encoder_dspic33f.cpp

Committer:
bediyap
Date:
2013-10-29
Revision:
2:57634dc24946
Parent:
1:a9290cf59d1f
Child:
3:ad07e5b97132

File content as of revision 2:57634dc24946:

#include "Encoder_dspic33f.h"

Encoder_dspic33f::Encoder_dspic33f(PinName sda, PinName scl,int16_t resolution, int address, bool invert) : 
    i2c_(sda,scl),    
    address_ (address),
    resolution_ (resolution){
    //400KHz, as specified by the datasheet.
    i2c_.frequency(400000);
    //set_resolution(_resolution);
    if (invert) {
       invert_ = -1;
    } else {
       invert_ = 1;
    }
    wait_us(500);
}

void Encoder_dspic33f::reset(void){
    char rst = 'r';
    i2c_.write( (address_<< 1)  & 0xFE, &rst, 1);
}
  
void Encoder_dspic33f::set_resolution1(int16_t resolution){
    char cmd = 'e';
    char dat[4];
    dat[0] = cmd;
    dat[1] = '1';
    dat[2] = GetByte(resolution,0);
    dat[3] = GetByte(resolution,1);
    i2c_.write( (address_<< 1)  & 0xFE, dat, 4);
}

void Encoder_dspic33f::set_resolution2(int16_t resolution){
    char cmd = 'e';
    char dat[4];
    dat[0] = cmd;
    dat[1] = '2';
    dat[2] = GetByte(resolution,0);
    dat[3] = GetByte(resolution,1);
    i2c_.write( (address_<< 1)  & 0xFE, dat, 4);
}
void Encoder_dspic33f::read(double * inarr){
    char rx[8];   
    float data[2] = {0.0, 0.0};
       
    i2c_.read((address_<< 1) | 0x01, rx, 8);
    MakeDWord(data[0],rx[3],rx[2],rx[1],rx[0]);
    MakeDWord(data[1],rx[7],rx[6],rx[5],rx[4]);
    
    inarr[0] = (double)data[0];
    inarr[1] = (double)data[1];
}