File content as of revision 12:9f8c7f4da5f6:

#ifndef I2C_MBED_FPGA_H
#define I2C_MBED_FPGA_H

#include "nv_bitfield_map.h"
#include "nv_defines.h"
#include "nv_defaults.h"


#define I2C_SLAVE_ADDR 0x18<<1

//Class delclarations
class i2c_mbed_fpga {

public:    
    /*constructor*/  
    // {p28:sda, p27:scl}
    // {p9: sda, p10:scl}  
    i2c_mbed_fpga(): i2c_master(p28, p27){  
        i2c_master.frequency(70000);
        nv_positin_val = NV_POSITION_DEFAULT;
        nv_start_up_val = NV_START_UP_DEFAULT; 
        nv_wind_brake_val = NV_WIND_BRAKE_DEFAULT;
        ram_open_duty_val = RAM_OPEN_DUTY_DEFAULT;
        nv_spd_control_1_val = NV_SPD_CONTROL_1_DEFAULT;
        nv_spd_control_2_val = NV_SPD_CONTROL_1_DEFAULT;
        nv_gen_ctrl_val = NV_GEN_CTRL_DEFAULT; 
        nv_comm_ctrl_val = NV_COMM_CTRL_DEFAULT;     
    };
    
    int i2c_word_read(char *word);
    int i2c_word_read_by_byte(char *word);
    int i2c_word_write(char *word);
    int i2c_word_write_by_byte(char *word);
    int i2c_word_safe_write(char *word);
    
    int i2c_window_open();
    int i2c_motor_start();
    
    int i2c_set_50k_pwm(unsigned int pwm50k);
    
    int i2c_set_position_pulse_width(unsigned int manstisa_2b, unsigned int exponenet_3b);
    int i2c_set_position_duty(unsigned int duty_2b);
    int i2c_set_position_maj_vote(unsigned int maj_1b);
    int i2c_set_position_anti_cog(unsigned int cog_1b);
    
    int i2c_set_start_up_pulse_width(unsigned int mantisaa_3b, unsigned int exponent_3b);
    int i2c_set_start_up_duty(unsigned int duty_2b);
    int i2c_set_start_up_num_comm(unsigned int comm);
    int i2c_set_soft_start_up(unsigned int enbale, unsigned int mantisaa_3b, unsigned int exponent_3b, unsigned int step_size, unsigned int num_steps);
    int i2c_set_high_torque_start_up(unsigned int enbale, unsigned int mantisaa_3b, unsigned int exponent_3b);
    int i2c_set_single_pulse_start_up(unsigned int enbale, unsigned int mantisaa_3b, unsigned int exponent_3b);
    
    int i2c_set_rough_gain(unsigned int rough_gain);
    int i2c_set_comm_i_thres(unsigned int i_thr_low, unsigned int i_thr_high);
    int i2c_set_comm_di_thres(unsigned int di_1st, unsigned int di_2nd);
    
    
    int i2c_clear_spd_ctrl();
    int i2c_set_loop_mode(unsigned int openloop);
    int i2c_set_curve_type(unsigned int curvetype);
    int i2c_set_dc_ini(unsigned int ini);
    int i2c_set_dc_sr(unsigned int sr);
    int i2c_set_open_loop_duty(unsigned int duty);
    
private:
    I2C i2c_master;
    unsigned int nv_positin_val;
    unsigned int nv_start_up_val;
    unsigned int nv_wind_brake_val;
    unsigned int nv_spd_control_1_val;
    unsigned int nv_spd_control_2_val;
    unsigned int ram_open_duty_val;
    unsigned int nv_gen_ctrl_val;
    unsigned int nv_comm_ctrl_val;
    

    //Position Detection Task/Functions
};


#endif