C Library for mbedWSE project based single board computer for hardware peripherals
Dependents: cts_matlab_interface
Diff: mbedWSEsbc.h
- Revision:
- 8:b74ce788d87e
- Parent:
- 1:85cd6d500385
--- a/mbedWSEsbc.h Fri Sep 12 16:25:12 2014 +0000 +++ b/mbedWSEsbc.h Mon Nov 03 20:02:00 2014 +0000 @@ -1,7 +1,12 @@ -// C Library for the WSE-PROJ-SBC -// J Bradshaw -// 20140912 +/* C Library for the WSE-PROJ-SBC + J Bradshaw + 20140912 + 20140918 J Bradshaw - Found CS mistake in Encoder routines + Added comments in Init function, encoder functions +*/ + +// LS7366 ENCODER IC DEFINITIONS //============================================================================= // Four commands for the Instruction Register (B7,B6) - LS7366 //============================================================================= @@ -25,13 +30,13 @@ // Set-up hardwired IO SPI spi_max1270(p5, p6, p7); SPI spi(p5, p6, p7); -DigitalOut max1270_cs(p8); //MAX1270 ADC CS -DigitalOut max522_cs(p11); //MAX522 DAC CS +DigitalOut max1270_cs(p8); //CS for MAX1270 ADC (U3) +DigitalOut max522_cs(p11); //CS for MAX522 DAC (U5) -DigitalOut ls7166_cs1(p19); //CS for LS7366 -DigitalOut ls7166_cs2(p20); //CS for LS7366 +DigitalOut ls7166_cs1(p19); //CS for LS7366-1 (U8) +DigitalOut ls7166_cs2(p20); //CS for LS7366-2 (U9) -DigitalOut mot1_ph1(p21); +DigitalOut mot1_ph1(p21); DigitalOut mot1_ph2(p22); PwmOut mot_en1(p23); @@ -228,6 +233,7 @@ } wait_us(1); LS7366_cmd(WR,MDR0);// Write to the MDR0 register + wait_us(1); spi.write(0x03); // X4 quadrature count mode if(chan_num!=2){ ls7166_cs1 = 1; @@ -237,84 +243,83 @@ } } -void LS7366_reset_counter(int chan_num){ +void LS7366_reset_counter(int chan_num){ + spi.format(8, 0); // set up SPI for 8 data bits, mode 0 + spi.frequency(2000000); // 2MHz SPI clock - spi.format(8, 0); - spi.frequency(2000000); - - if(chan_num!=2){ + if(chan_num!=2){ // activate chip select ls7166_cs1 = 0; } else{ ls7166_cs2 = 0; } - wait_us(1); - LS7366_cmd(CLR,CNTR);//Clear the counter register - if(chan_num!=2){ + wait_us(1); // short delay + LS7366_cmd(CLR,CNTR); // Clear the counter register + if(chan_num!=2){ // de-activate chip select ls7166_cs1 = 1; } else{ - ls7166_cs2 = 1; + ls7166_cs2 = 1; } - wait_us(1); + wait_us(1); // short delay - if(chan_num!=2){ + if(chan_num!=2){ // activate chip select ls7166_cs1 = 0; } else{ ls7166_cs2 = 0; } - wait_us(1); - LS7366_cmd(LOAD,CNTR);// - if(chan_num!=2){ + wait_us(1); // short delay + LS7366_cmd(LOAD,CNTR); // load counter reg + if(chan_num!=2){ // de-activate chip select ls7166_cs1 = 1; } else{ - ls7166_cs1 = 1; + ls7166_cs2 = 1; } } -void LS7366_write_DTR(int chan_num,long enc_value){ - union bytes +void LS7366_write_DTR(int chan_num, long enc_value){ + union bytes // Union to speed up byte writes { char byte_enc[4]; long long_enc; }counter; - spi.format(8, 0); - spi.frequency(2000000); + spi.format(8, 0); // set up SPI for 8 data bits, mode 0 + spi.frequency(2000000); // 2MHz SPI clock - counter.long_enc = enc_value; + counter.long_enc = enc_value; // pass enc_value to Union - if(chan_num!=2){ + if(chan_num!=2){ // activate chip select ls7166_cs1 = 0; } else{ ls7166_cs2 = 0; } - wait_us(1); - LS7366_cmd(WR,DTR);// - spi.write(counter.byte_enc[3]); + wait_us(1); // short delay + LS7366_cmd(WR,DTR); // Write to the Data Transfer Register + spi.write(counter.byte_enc[3]); // Write the 32-bit encoder value spi.write(counter.byte_enc[2]); spi.write(counter.byte_enc[1]); spi.write(counter.byte_enc[0]); - if(chan_num!=2){ + if(chan_num!=2){ // de-activate the chip select ls7166_cs1 = 1; } else{ ls7166_cs2 = 1; } - wait_us(1); - if(chan_num!=2){ + wait_us(1); // short delay + if(chan_num!=2){ // activate chip select ls7166_cs1 = 0; } else{ ls7166_cs2 = 0; } - wait_us(1); - LS7366_cmd(LOAD,CNTR);// - if(chan_num!=2){ + wait_us(1); // short delay + LS7366_cmd(LOAD,CNTR); // load command to the counter register from DTR + if(chan_num!=2){ // de-activate chip select ls7166_cs1 = 1; } else{ @@ -342,20 +347,22 @@ } void mbedWSEsbcInit(unsigned long pcbaud){ - led4 = 0; - max1270_cs = 1; + led1 = 0; //Initialize all LEDs as off + led2 = 0; + led3 = 0; + led4 = 0; + max1270_cs = 1; //Initialize all chip selects as off max522_cs = 1; ls7166_cs1 = 1; ls7166_cs2 = 1; wait(.2); //delay at beginning for voltage settle purposes - mot_en1.period_us(50); - //pc.baud(921600); //Set up serial port baud rate +// mot_en1.period_us(50); //20KHz for DC motor control PWM pc.baud(pcbaud); //Set up serial port baud rate + pc.printf("\r\n"); xbee.baud(9600); - spi.frequency(5000000); LS7366_reset_counter(1); LS7366_quad_mode_x4(1); LS7366_write_DTR(1,0);