Preliminary mbed encoder interface IC class
Dependents: mbed_QUAD_ENCLIB_TEST Axis Axis_20181108 Axis_version2
include the mbed library with this snippet
#include "mbed.h" #include "LS7366.h" SPI spi(p5, p6, p7); LS7366 enc1(spi, p19); LS7366 enc2(spi, p20); Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc //------------------- MAIN -------------------------------- int main() { while(1){ pc.printf("enc1 = %ld enc2 = %ld\r\n",enc1.read(), enc2.read()); wait(.02); }//while(1) }//main
Diff: LS7366.cpp
- Revision:
- 0:c2458154721b
- Child:
- 1:c627734cf04c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LS7366.cpp Tue Dec 09 19:08:46 2014 +0000 @@ -0,0 +1,171 @@ +// LS7366.cpp for Encoder Class Library +// J. Bradshaw 20141030 +/* Copyright (c) 2014, jbradshaw (http://mbed.org) + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * +*/ +#include "LS7366.h" + +//----- LS7366 Encoder/Counter Routines -------------------- + +//Constructor +LS7366::LS7366(SPI& spi, PinName cs) : _spi(spi), _cs(cs) { + _cs = 1; // Initialize chip select as off (high) + _init(); +} + +void LS7366::LS7366_cmd(int inst, int reg){ + char cmd; + + _spi.format(8, 0); + _spi.frequency(2000000); + cmd = (inst << 6) | (reg << 3); +// printf("\r\ncmd=0X%2X", cmd); + _spi.write(cmd); +} + +long LS7366::LS7366_read_counter(){ + union bytes{ + char byte_enc[4]; + long long_enc; + }counter; + + _spi.format(8, 0); + _spi.frequency(2000000); + + _cs = 0; + wait_us(1); + LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR + _cs = 1; + wait_us(1); + + _cs = 0; + + wait_us(1); + LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR + counter.byte_enc[3] = _spi.write(0x00); + counter.byte_enc[2] = _spi.write(0x00); + counter.byte_enc[1] = _spi.write(0x00); + counter.byte_enc[0] = _spi.write(0x00); + + _cs = 1; + + count = counter.long_enc; + return counter.long_enc; //return count +} + +void LS7366::LS7366_quad_mode_x4(){ + + _spi.format(8, 0); + _spi.frequency(2000000); + + _cs = 0; + + wait_us(1); + LS7366_cmd(WR,MDR0);// Write to the MDR0 register + _spi.write(0x03); // X4 quadrature count mode + + _cs = 1; +} + +void LS7366::LS7366_reset_counter(){ + + _spi.format(8, 0); + _spi.frequency(2000000); + + _cs = 0; + + wait_us(1); + LS7366_cmd(CLR,CNTR);//Clear the counter register + + _cs = 1; + + wait_us(1); + + _cs = 0; + + wait_us(1); + LS7366_cmd(LOAD,CNTR);// + + _cs = 1; +} + +void LS7366::LS7366_write_DTR(long enc_value) +{ + union bytes + { + char byte_enc[4]; + long long_enc; + }counter; + + _spi.format(8, 0); + _spi.frequency(2000000); + + counter.long_enc = enc_value; + + _cs = 0; + + wait_us(1); + LS7366_cmd(WR,DTR);// + _spi.write(counter.byte_enc[3]); + _spi.write(counter.byte_enc[2]); + _spi.write(counter.byte_enc[1]); + _spi.write(counter.byte_enc[0]); + + _cs = 1; + + wait_us(1); + + _cs = 0; + + wait_us(1); + LS7366_cmd(LOAD,CNTR);// + + _cs = 1; +} + +void LS7366::_init(){ + _spi.frequency(2000000); + LS7366_reset_counter(); + LS7366_quad_mode_x4(); + LS7366_write_DTR(0); +} + +void LS7366::write(long wcount){ + LS7366_write_DTR(wcount); +} + +long LS7366::read(){ + return LS7366_read_counter(); +} + +LS7366& LS7366::operator= (long wcount) { + write(wcount); + return *this; +} + +LS7366& LS7366::operator= (LS7366& rhs) { + write(rhs.read()); + return *this; +} + +LS7366::operator long() { + return read(); +} \ No newline at end of file