Diff: enc.cpp

Revision:

1:d68c51a0a706

Parent:

0:00c56a9c6dee

--- a/enc.cpp	Sat Mar 05 00:09:45 2016 +0000
+++ b/enc.cpp	Wed Sep 28 16:59:46 2016 +0000
@@ -1,27 +1,17 @@
 #include "enc.h"
 
 enc::enc(PinName mosi, PinName miso, PinName sck, PinName cs) : m_spi(mosi, miso, sck), csl(cs){
-    ushort zpos = 2228; // est. 8/6/2015 1773
-    ushort zhold;
-    m_spi.format(16, 1);
-    m_spi.frequency(50000);
+    set_offset(2134); // est. 9/13/2016 
     csl=1;
+    m_spi.format(8, 1);
+    m_spi.frequency(1000000);
     wait(0.05);
 
-
     write_spi(0x0019, 0); //SETTINGS2
     write_spi(0x001D, 0);
     write_spi(0x0018, 0); //SETTINGS1
     write_spi(0x0018, 0);
-    
-    zhold = zpos >> 6; //8MSB of zero position
-    write_spi(0x0016, 0);
-    write_spi(zhold, 0);
-    
-    zhold = zpos & 0x003F; //6 LSB of zero position
-    write_spi(0x0017, 0);
-    write_spi(zhold, 0);   
-    
+      
     enc_pos.pos = 0;
     enc_pos.oticks = 0;
     enc_pos.offset = 0;
@@ -36,18 +26,30 @@
     return enc_pos.pos;
 }
 
-void enc::set_offset(){
-    enc_pos.offset = ams_read();
+void enc::set_offset(ushort zpos){
+    ushort zhold;
+    zhold = zpos >> 6; //8MSB of zero position
+    write_spi(0x0016, 0);
+    write_spi(zhold, 0);
+   
+    zhold = zpos & 0x003F; //6 LSB of zero position
+    write_spi(0x0017, 0);
+    write_spi(zhold, 0);   
 }
 
 ushort enc::write_spi(ushort reg, u8 rw){
     ushort data;
     reg = reg | rw << 14;
     reg = reg | par(reg);
+    char d1 = reg >> 8;
+    char d2 = reg & 0x00FF;
     csl=0;
-    data = m_spi.write(reg);
+    d1 = m_spi.write(d1);
+    d2 = m_spi.write(d2);
+    
     csl=1;
-    wait(0.00001);
+    wait(0.0001);
+    data = (d1 << 8) | (d2 & 0xFF);
     return data;
     
 }
@@ -102,4 +104,4 @@
     read_spi(0x0001);
         
     return enc_data & 0x3FFF;
-}
\ No newline at end of file
+}