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
LS7366.cpp
- Committer:
- jebradshaw
- Date:
- 2015-08-31
- Revision:
- 1:c627734cf04c
- Parent:
- 0:c2458154721b
- Child:
- 2:2193b220248b
File content as of revision 1:c627734cf04c:
// 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::operator long() { return read(); }