Joseph Bradshaw / mbedWSEsbc

C Library for mbedWSE project based single board computer for hardware peripherals

Dependents:   Lab7_wse Lab7_wse_student mbed_WSEPRJSBC_EncoderTest mbed_WSEPRJSBC_ADC_test ... more

Weapons and Systems Engineering mbed based single board computer

/media/uploads/jebradshaw/mbedwseprojectsbc_final_small.jpg

Contains C library function listing for hardware peripheral support. Includes functions for +/-10V 12-bit 8-Channel analog-to-digital converter (ADC), 10-bit 2-Channel digital-to-analog converter (DAC), motor control/servo ports, and quadrature encoder ports. Board includes physical Ethernet, USB Host, and CAN bus interfaces. Also includes xbee socket and external I/O pins straight to processor for on-board I2C, SPI, ADC, and DAC.

Schematic

/media/uploads/jebradshaw/mbed_wseprojsbc_schematic_20150211.jpg

Description

This single board computer was designed for the Weapons and Systems Engineering department at the US Naval Academy. The board encompasses a multitude of functional capability for interfacing to a variety of sensors and actuators used in embedded control systems. The board can be powered from a 7-36V DC / AC power supply using a 2.1mm standard barrel connector. The on board bridge rectifier composed of individual diodes allows either polarity on the connector power supply. The four primary external integrated circuits on the board all use the SPI bus for communication. The four primary components are the analog to digital converter, the digital to analog converter, and the two dedicated encoder/counter IC's. The encoder/counter IC's off-load the micro-processor from the burden of external interrupts during high frequency edge detection. The IC's offer 32-bit resolution counting/quadrature decoding, rollover and status information, and index detection for absolute position encoder interfacing. The MAX1270 analog to digital converter (ADC) was chosen for its internal reference and bi-polar voltage input range and scaling program-ability (0-5V, 0-10V, +/-5V, +/-10V). The ADC provides 12-bit resolution at these voltage ranges and are individually channel select-able. Note that careful attention must be used when driving the ADC inputs when in Bipolar operation. An Op-Amp with insufficient current drive capability (milli-amps) will be unable to overcome the internal voltage reference on the input pin due to impedance mismatch/ output current drive capability. This should be checked with an oscilloscope on the input pin if discrepancies between measured voltage values and ADC results exist.

The MAX522 DAC provides 0-5V 10-bit voltage resolution. The range is dependent on the selected 5V board voltage reference source (external 5V switching regulator vs. USB power supply). The board power supply 5V reference can be read by connecting the supply to an external ADC channel and reading the voltage on the 0-10V range.

/media/uploads/jebradshaw/mbed_wseprojsbc_schematic_20140922.pdf - Schematic in PDF

Test Program

/media/uploads/jebradshaw/main_mbedwsesbctest.cpp - Program for testing the library, control the SBC with serial commands

http://developer.mbed.org/users/jebradshaw/code/mbed_WSEPRJSBC_EncoderTest/ - Program for testing the Quadrature Encoder Channels

http://developer.mbed.org/users/jebradshaw/code/mbed_WSEPRJSBC_ADC_test/ - Program to read two channels from the MAX1270 ADC in +/- 10V operation.

http://mbed.org/handbook/Windows-serial-configuration - Link to Serial Driver Installation instructions

Datasheets

/media/uploads/jebradshaw/oki-78sr.pdf - 5V switching regulator

/media/uploads/jebradshaw/ls7366r_w_program.pdf - Encoder IC's

/media/uploads/jebradshaw/max1270.pdf - ADC 8-Channel 12-bit 5V to 10V single/bi-polar input

/media/uploads/jebradshaw/max522.pdf - DAC 2-Channel 0-5V 10-bit

/media/uploads/jebradshaw/mcp2551_can_transceiver.pdf - CAN Transceiver

/media/uploads/jebradshaw/0821-1x1t-36-f.pdf - Ethernet Jack

/media/uploads/jebradshaw/190-009-263r001.pdf - CAN connector

Printed Circuit Board (ExpressPCB)

/media/uploads/jebradshaw/mbedprjv10_20140916.pcb

Partslist (partial)

/media/uploads/jebradshaw/mbedprjv10_partslist.pdf

mbedWSEsbc.h@12:9041603c430e, 2015-02-10 (annotated)

Committer:
jebradshaw
Date:
Tue Feb 10 16:14:18 2015 +0000
Revision:
12:9041603c430e
Parent:
11:acf3fcc0d085
Child:
13:321d6fdc40e6
pre-defined DigitalOut logic levels

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jebradshaw 4:1aa4a75f6885 1 /* C Library for the WSE-PROJ-SBC
jebradshaw 4:1aa4a75f6885 2 J Bradshaw
jebradshaw 4:1aa4a75f6885 3 20140912
jebradshaw 4:1aa4a75f6885 4 20140918 J Bradshaw - Found CS mistake in Encoder routines
jebradshaw 4:1aa4a75f6885 5 Added comments in Init function, encoder functions
jebradshaw 12:9041603c430e 6 20150210 J Bradshaw - Initialized DigitalOuts with pre-defined logic
jebradshaw 12:9041603c430e 7 levels (CS's high, etc)
jebradshaw 4:1aa4a75f6885 8 */
jebradshaw 0:dbd8b5c35d0f 9
jebradshaw 4:1aa4a75f6885 10
jebradshaw 4:1aa4a75f6885 11 // LS7366 ENCODER IC DEFINITIONS
jebradshaw 0:dbd8b5c35d0f 12 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 13 // Four commands for the Instruction Register (B7,B6) - LS7366
jebradshaw 0:dbd8b5c35d0f 14 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 15 #define CLR 0x00 //Clear Instruction
jebradshaw 0:dbd8b5c35d0f 16 #define RD 0x01 //Read Instruction
jebradshaw 0:dbd8b5c35d0f 17 #define WR 0x02 //Write Instruction
jebradshaw 0:dbd8b5c35d0f 18 #define LOAD 0x03 //Load Instruction
jebradshaw 0:dbd8b5c35d0f 19
jebradshaw 0:dbd8b5c35d0f 20 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 21 // Register to Select from the Instruction Register (B5,B4,B3) - LS7366
jebradshaw 0:dbd8b5c35d0f 22 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 23 #define NONE 0x00 //No Register Selected
jebradshaw 0:dbd8b5c35d0f 24 #define MDR0 0x01 //Mode Register 0
jebradshaw 0:dbd8b5c35d0f 25 #define MDR1 0x02 //Mode Register 1
jebradshaw 0:dbd8b5c35d0f 26 #define DTR 0x03 //Data Transfer Register
jebradshaw 0:dbd8b5c35d0f 27 #define CNTR 0x04 //Software Configurable Counter Register
jebradshaw 0:dbd8b5c35d0f 28 #define OTR 0x05 //Output Transfer Register
jebradshaw 0:dbd8b5c35d0f 29 #define STR 0x06 //Status Register
jebradshaw 0:dbd8b5c35d0f 30 #define NONE_REG 0x07 //No Register Selected
jebradshaw 0:dbd8b5c35d0f 31
jebradshaw 0:dbd8b5c35d0f 32 // Set-up hardwired IO
jebradshaw 0:dbd8b5c35d0f 33 SPI spi_max1270(p5, p6, p7);
jebradshaw 0:dbd8b5c35d0f 34 SPI spi(p5, p6, p7);
jebradshaw 11:acf3fcc0d085 35 DigitalOut max1270_cs(p8, 1); //CS for MAX1270 ADC (U3)
jebradshaw 11:acf3fcc0d085 36 DigitalOut max522_cs(p11, 1); //CS for MAX522 DAC (U5)
jebradshaw 0:dbd8b5c35d0f 37
jebradshaw 11:acf3fcc0d085 38 DigitalOut ls7166_cs1(p19, 1); //CS for LS7366-1 (U8)
jebradshaw 11:acf3fcc0d085 39 DigitalOut ls7166_cs2(p20, 1); //CS for LS7366-2 (U9)
jebradshaw 0:dbd8b5c35d0f 40
jebradshaw 11:acf3fcc0d085 41 DigitalOut mot1_ph1(p21, 0);
jebradshaw 11:acf3fcc0d085 42 DigitalOut mot1_ph2(p22, 0);
jebradshaw 0:dbd8b5c35d0f 43 PwmOut mot_en1(p23);
jebradshaw 0:dbd8b5c35d0f 44
jebradshaw 11:acf3fcc0d085 45 DigitalOut mot2_ph1(p24, 0);
jebradshaw 11:acf3fcc0d085 46 DigitalOut mot2_ph2(p25, 0);
jebradshaw 0:dbd8b5c35d0f 47 PwmOut mot_en2(p26);
jebradshaw 0:dbd8b5c35d0f 48
jebradshaw 11:acf3fcc0d085 49 DigitalOut led1(LED1, 0);
jebradshaw 11:acf3fcc0d085 50 DigitalOut led2(LED2, 0);
jebradshaw 11:acf3fcc0d085 51 DigitalOut led3(LED3, 0);
jebradshaw 11:acf3fcc0d085 52 DigitalOut led4(LED4, 0);
jebradshaw 0:dbd8b5c35d0f 53
jebradshaw 0:dbd8b5c35d0f 54 Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc
jebradshaw 0:dbd8b5c35d0f 55 Serial xbee(p13, p14); // tx, rx for Xbee
jebradshaw 0:dbd8b5c35d0f 56 Timer t; // create timer instance
jebradshaw 0:dbd8b5c35d0f 57
jebradshaw 0:dbd8b5c35d0f 58 // ------ Prototypes -----------
jebradshaw 0:dbd8b5c35d0f 59 int read_max1270(int chan, int range, int bipol);
jebradshaw 0:dbd8b5c35d0f 60 float read_max1270_volts(int chan, int range, int bipol);
jebradshaw 0:dbd8b5c35d0f 61 void mot_control(int drv_num, float dc);
jebradshaw 0:dbd8b5c35d0f 62 void LS7366_cmd(int inst, int reg);
jebradshaw 0:dbd8b5c35d0f 63 long LS7366_read_counter(int chan_num);
jebradshaw 0:dbd8b5c35d0f 64 void LS7366_quad_mode_x4(int chan_num);
jebradshaw 0:dbd8b5c35d0f 65 void LS7366_reset_counter(int chan_num);
jebradshaw 0:dbd8b5c35d0f 66 void LS7366_write_DTR(int chan_num,long enc_value);
jebradshaw 0:dbd8b5c35d0f 67 void write_max522(int chan, float volts);
jebradshaw 0:dbd8b5c35d0f 68
jebradshaw 0:dbd8b5c35d0f 69 //---- Function Listing -------------------------------
jebradshaw 0:dbd8b5c35d0f 70 int read_max1270(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 71 int cword=0x80; //set the start bit
jebradshaw 0:dbd8b5c35d0f 72
jebradshaw 0:dbd8b5c35d0f 73 spi_max1270.frequency(10000000);
jebradshaw 0:dbd8b5c35d0f 74 spi_max1270.format(8, 0); // 8 data bits, CPOL0, and CPHA0 (datasheet Digital Interface)
jebradshaw 0:dbd8b5c35d0f 75
jebradshaw 0:dbd8b5c35d0f 76 cword |= (chan << 4); //shift channel
jebradshaw 0:dbd8b5c35d0f 77 cword |= (range << 3);
jebradshaw 0:dbd8b5c35d0f 78 cword |= (bipol << 2);
jebradshaw 0:dbd8b5c35d0f 79
jebradshaw 0:dbd8b5c35d0f 80 max1270_cs = 0;
jebradshaw 0:dbd8b5c35d0f 81
jebradshaw 0:dbd8b5c35d0f 82 spi_max1270.write(cword);
jebradshaw 0:dbd8b5c35d0f 83 wait_us(15); //15us
jebradshaw 0:dbd8b5c35d0f 84 spi_max1270.format(12, 3);
jebradshaw 0:dbd8b5c35d0f 85
jebradshaw 0:dbd8b5c35d0f 86 int result = spi_max1270.write(0);
jebradshaw 0:dbd8b5c35d0f 87
jebradshaw 0:dbd8b5c35d0f 88 max1270_cs = 1;
jebradshaw 0:dbd8b5c35d0f 89 spi_max1270.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 90 return result;
jebradshaw 0:dbd8b5c35d0f 91 }
jebradshaw 0:dbd8b5c35d0f 92
jebradshaw 0:dbd8b5c35d0f 93 float read_max1270_volts(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 94 float rangevolts=0.0;
jebradshaw 0:dbd8b5c35d0f 95 float volts=0.0;
jebradshaw 0:dbd8b5c35d0f 96 int adc_res;
jebradshaw 0:dbd8b5c35d0f 97
jebradshaw 0:dbd8b5c35d0f 98 //read the ADC converter
jebradshaw 0:dbd8b5c35d0f 99 adc_res = read_max1270(chan, range, bipol) & 0xFFF;
jebradshaw 0:dbd8b5c35d0f 100
jebradshaw 0:dbd8b5c35d0f 101 //Determine the voltage range
jebradshaw 0:dbd8b5c35d0f 102 if(range) //RNG bit
jebradshaw 0:dbd8b5c35d0f 103 rangevolts=10.0;
jebradshaw 0:dbd8b5c35d0f 104 else
jebradshaw 0:dbd8b5c35d0f 105 rangevolts=5.0;
jebradshaw 0:dbd8b5c35d0f 106
jebradshaw 0:dbd8b5c35d0f 107 //bi-polar input range
jebradshaw 0:dbd8b5c35d0f 108 if(bipol){ //BIP is set, input is +/-
jebradshaw 0:dbd8b5c35d0f 109 if(adc_res < 0x800){ //if result was positive
jebradshaw 0:dbd8b5c35d0f 110 volts = ((float)adc_res/0x7FF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 111 }
jebradshaw 0:dbd8b5c35d0f 112 else{ //result was negative
jebradshaw 0:dbd8b5c35d0f 113 volts = -(-((float)adc_res/0x7FF) * rangevolts) - (rangevolts * 2.0);
jebradshaw 0:dbd8b5c35d0f 114 }
jebradshaw 0:dbd8b5c35d0f 115 }
jebradshaw 0:dbd8b5c35d0f 116 else{ //input is positive polarity only
jebradshaw 0:dbd8b5c35d0f 117 volts = ((float)adc_res/0xFFF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 118 }
jebradshaw 0:dbd8b5c35d0f 119
jebradshaw 0:dbd8b5c35d0f 120 return volts;
jebradshaw 0:dbd8b5c35d0f 121 }
jebradshaw 0:dbd8b5c35d0f 122
jebradshaw 0:dbd8b5c35d0f 123 //Motor control routine for PWM on 5 pin motor driver header
jebradshaw 0:dbd8b5c35d0f 124 // drv_num is 1 or 2 (defaults to 1, anything but 2)
jebradshaw 0:dbd8b5c35d0f 125 // dc is signed duty cycle (+/-1.0)
jebradshaw 0:dbd8b5c35d0f 126
jebradshaw 0:dbd8b5c35d0f 127 void mot_control(int drv_num, float dc){
jebradshaw 0:dbd8b5c35d0f 128 if(dc>1.0)
jebradshaw 0:dbd8b5c35d0f 129 dc=1.0;
jebradshaw 0:dbd8b5c35d0f 130 if(dc<-1.0)
jebradshaw 0:dbd8b5c35d0f 131 dc=-1.0;
jebradshaw 0:dbd8b5c35d0f 132
jebradshaw 0:dbd8b5c35d0f 133 if(drv_num != 2){
jebradshaw 0:dbd8b5c35d0f 134 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 135 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 136 mot1_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 137 mot_en1 = dc;
jebradshaw 0:dbd8b5c35d0f 138 }
jebradshaw 0:dbd8b5c35d0f 139 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 140 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 141 mot1_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 142 mot_en1 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 143 }
jebradshaw 0:dbd8b5c35d0f 144 else{
jebradshaw 0:dbd8b5c35d0f 145 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 146 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 147 mot_en1 = 0.0;
jebradshaw 0:dbd8b5c35d0f 148 }
jebradshaw 0:dbd8b5c35d0f 149 }
jebradshaw 0:dbd8b5c35d0f 150 else{
jebradshaw 0:dbd8b5c35d0f 151 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 152 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 153 mot2_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 154 mot_en2 = dc;
jebradshaw 0:dbd8b5c35d0f 155 }
jebradshaw 0:dbd8b5c35d0f 156 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 157 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 158 mot2_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 159 mot_en2 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 160 }
jebradshaw 0:dbd8b5c35d0f 161 else{
jebradshaw 0:dbd8b5c35d0f 162 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 163 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 164 mot_en2 = 0.0;
jebradshaw 0:dbd8b5c35d0f 165 }
jebradshaw 0:dbd8b5c35d0f 166 }
jebradshaw 0:dbd8b5c35d0f 167 }
jebradshaw 0:dbd8b5c35d0f 168
jebradshaw 0:dbd8b5c35d0f 169 //----- LS7366 Encoder/Counter Routines --------------------
jebradshaw 0:dbd8b5c35d0f 170 void LS7366_cmd(int inst, int reg){
jebradshaw 0:dbd8b5c35d0f 171 char cmd;
jebradshaw 0:dbd8b5c35d0f 172
jebradshaw 0:dbd8b5c35d0f 173 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 174 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 175 cmd = (inst << 6) | (reg << 3);
jebradshaw 0:dbd8b5c35d0f 176 // printf("\r\ncmd=0X%2X", cmd);
jebradshaw 0:dbd8b5c35d0f 177 spi.write(cmd);
jebradshaw 0:dbd8b5c35d0f 178 }
jebradshaw 0:dbd8b5c35d0f 179
jebradshaw 0:dbd8b5c35d0f 180 long LS7366_read_counter(int chan_num){
jebradshaw 0:dbd8b5c35d0f 181 union bytes{
jebradshaw 0:dbd8b5c35d0f 182 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 183 long long_enc;
jebradshaw 0:dbd8b5c35d0f 184 }counter;
jebradshaw 0:dbd8b5c35d0f 185
jebradshaw 0:dbd8b5c35d0f 186 counter.long_enc = 0;
jebradshaw 0:dbd8b5c35d0f 187
jebradshaw 0:dbd8b5c35d0f 188 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 189 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 190
jebradshaw 0:dbd8b5c35d0f 191 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 192 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 193 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 194 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 195 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 196 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 197 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 198 }
jebradshaw 0:dbd8b5c35d0f 199 else{
jebradshaw 0:dbd8b5c35d0f 200 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 201 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 202 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 203 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 204 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 205
jebradshaw 0:dbd8b5c35d0f 206 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 207 }
jebradshaw 0:dbd8b5c35d0f 208 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 209 LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR
jebradshaw 0:dbd8b5c35d0f 210 counter.byte_enc[3] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 211 counter.byte_enc[2] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 212 counter.byte_enc[1] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 213 counter.byte_enc[0] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 214
jebradshaw 0:dbd8b5c35d0f 215 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 216 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 217 }
jebradshaw 0:dbd8b5c35d0f 218 else{
jebradshaw 0:dbd8b5c35d0f 219 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 220 }
jebradshaw 0:dbd8b5c35d0f 221
jebradshaw 0:dbd8b5c35d0f 222 return counter.long_enc; //return count
jebradshaw 0:dbd8b5c35d0f 223 }
jebradshaw 0:dbd8b5c35d0f 224
jebradshaw 0:dbd8b5c35d0f 225 void LS7366_quad_mode_x4(int chan_num){
jebradshaw 0:dbd8b5c35d0f 226
jebradshaw 0:dbd8b5c35d0f 227 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 228 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 229
jebradshaw 0:dbd8b5c35d0f 230 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 231 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 232 }
jebradshaw 0:dbd8b5c35d0f 233 else{
jebradshaw 0:dbd8b5c35d0f 234 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 235 }
jebradshaw 0:dbd8b5c35d0f 236 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 237 LS7366_cmd(WR,MDR0);// Write to the MDR0 register
jebradshaw 4:1aa4a75f6885 238 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 239 spi.write(0x03); // X4 quadrature count mode
jebradshaw 0:dbd8b5c35d0f 240 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 241 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 242 }
jebradshaw 0:dbd8b5c35d0f 243 else{
jebradshaw 0:dbd8b5c35d0f 244 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 245 }
jebradshaw 0:dbd8b5c35d0f 246 }
jebradshaw 0:dbd8b5c35d0f 247
jebradshaw 4:1aa4a75f6885 248 void LS7366_reset_counter(int chan_num){
jebradshaw 4:1aa4a75f6885 249 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 4:1aa4a75f6885 250 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 251
jebradshaw 4:1aa4a75f6885 252 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 253 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 254 }
jebradshaw 0:dbd8b5c35d0f 255 else{
jebradshaw 0:dbd8b5c35d0f 256 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 257 }
jebradshaw 4:1aa4a75f6885 258 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 259 LS7366_cmd(CLR,CNTR); // Clear the counter register
jebradshaw 4:1aa4a75f6885 260 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 261 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 262 }
jebradshaw 0:dbd8b5c35d0f 263 else{
jebradshaw 4:1aa4a75f6885 264 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 265 }
jebradshaw 4:1aa4a75f6885 266 wait_us(1); // short delay
jebradshaw 0:dbd8b5c35d0f 267
jebradshaw 4:1aa4a75f6885 268 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 269 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 270 }
jebradshaw 0:dbd8b5c35d0f 271 else{
jebradshaw 0:dbd8b5c35d0f 272 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 273 }
jebradshaw 4:1aa4a75f6885 274 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 275 LS7366_cmd(LOAD,CNTR); // load counter reg
jebradshaw 4:1aa4a75f6885 276 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 277 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 278 }
jebradshaw 0:dbd8b5c35d0f 279 else{
jebradshaw 4:1aa4a75f6885 280 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 281 }
jebradshaw 0:dbd8b5c35d0f 282 }
jebradshaw 0:dbd8b5c35d0f 283
jebradshaw 4:1aa4a75f6885 284 void LS7366_write_DTR(int chan_num, long enc_value){
jebradshaw 4:1aa4a75f6885 285 union bytes // Union to speed up byte writes
jebradshaw 0:dbd8b5c35d0f 286 {
jebradshaw 0:dbd8b5c35d0f 287 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 288 long long_enc;
jebradshaw 0:dbd8b5c35d0f 289 }counter;
jebradshaw 0:dbd8b5c35d0f 290
jebradshaw 4:1aa4a75f6885 291 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 4:1aa4a75f6885 292 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 293
jebradshaw 4:1aa4a75f6885 294 counter.long_enc = enc_value; // pass enc_value to Union
jebradshaw 0:dbd8b5c35d0f 295
jebradshaw 4:1aa4a75f6885 296 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 297 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 298 }
jebradshaw 0:dbd8b5c35d0f 299 else{
jebradshaw 0:dbd8b5c35d0f 300 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 301 }
jebradshaw 4:1aa4a75f6885 302 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 303 LS7366_cmd(WR,DTR); // Write to the Data Transfer Register
jebradshaw 4:1aa4a75f6885 304 spi.write(counter.byte_enc[3]); // Write the 32-bit encoder value
jebradshaw 0:dbd8b5c35d0f 305 spi.write(counter.byte_enc[2]);
jebradshaw 0:dbd8b5c35d0f 306 spi.write(counter.byte_enc[1]);
jebradshaw 0:dbd8b5c35d0f 307 spi.write(counter.byte_enc[0]);
jebradshaw 4:1aa4a75f6885 308 if(chan_num!=2){ // de-activate the chip select
jebradshaw 0:dbd8b5c35d0f 309 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 310 }
jebradshaw 0:dbd8b5c35d0f 311 else{
jebradshaw 0:dbd8b5c35d0f 312 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 313 }
jebradshaw 0:dbd8b5c35d0f 314
jebradshaw 4:1aa4a75f6885 315 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 316 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 317 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 318 }
jebradshaw 0:dbd8b5c35d0f 319 else{
jebradshaw 0:dbd8b5c35d0f 320 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 321 }
jebradshaw 4:1aa4a75f6885 322 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 323 LS7366_cmd(LOAD,CNTR); // load command to the counter register from DTR
jebradshaw 4:1aa4a75f6885 324 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 325 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 326 }
jebradshaw 0:dbd8b5c35d0f 327 else{
jebradshaw 0:dbd8b5c35d0f 328 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 329 }
jebradshaw 0:dbd8b5c35d0f 330 }
jebradshaw 0:dbd8b5c35d0f 331
jebradshaw 0:dbd8b5c35d0f 332 //------- MAX522 routines ---------------------------------
jebradshaw 0:dbd8b5c35d0f 333 void write_max522(int chan, float volts){
jebradshaw 0:dbd8b5c35d0f 334 int cmd=0x20; //set UB3
jebradshaw 0:dbd8b5c35d0f 335 int data_word = (int)((volts/5.0) * 256.0);
jebradshaw 0:dbd8b5c35d0f 336 if(chan != 2)
jebradshaw 0:dbd8b5c35d0f 337 cmd |= 0x01; //set DAC A out
jebradshaw 0:dbd8b5c35d0f 338 else
jebradshaw 0:dbd8b5c35d0f 339 cmd |= 0x02; //set DACB out
jebradshaw 0:dbd8b5c35d0f 340
jebradshaw 0:dbd8b5c35d0f 341 // pc.printf("cmd=0x%4X data_word=0x%4X \r\n", cmd, data_word);
jebradshaw 0:dbd8b5c35d0f 342
jebradshaw 0:dbd8b5c35d0f 343 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 344 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 345 max522_cs = 0;
jebradshaw 0:dbd8b5c35d0f 346 spi.write(cmd & 0xFF);
jebradshaw 0:dbd8b5c35d0f 347 spi.write(data_word & 0xFF);
jebradshaw 0:dbd8b5c35d0f 348 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 349 }
jebradshaw 0:dbd8b5c35d0f 350
jebradshaw 1:85cd6d500385 351 void mbedWSEsbcInit(unsigned long pcbaud){
jebradshaw 4:1aa4a75f6885 352 led1 = 0; //Initialize all LEDs as off
jebradshaw 4:1aa4a75f6885 353 led2 = 0;
jebradshaw 4:1aa4a75f6885 354 led3 = 0;
jebradshaw 4:1aa4a75f6885 355 led4 = 0;
jebradshaw 4:1aa4a75f6885 356 max1270_cs = 1; //Initialize all chip selects as off
jebradshaw 0:dbd8b5c35d0f 357 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 358 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 359 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 360
jebradshaw 0:dbd8b5c35d0f 361 wait(.2); //delay at beginning for voltage settle purposes
jebradshaw 0:dbd8b5c35d0f 362
jebradshaw 4:1aa4a75f6885 363 mot_en1.period_us(50); //20KHz for DC motor control PWM
jebradshaw 1:85cd6d500385 364 pc.baud(pcbaud); //Set up serial port baud rate
jebradshaw 4:1aa4a75f6885 365 pc.printf("\r\n");
jebradshaw 0:dbd8b5c35d0f 366 xbee.baud(9600);
jebradshaw 0:dbd8b5c35d0f 367
jebradshaw 0:dbd8b5c35d0f 368 LS7366_reset_counter(1);
jebradshaw 0:dbd8b5c35d0f 369 LS7366_quad_mode_x4(1);
jebradshaw 0:dbd8b5c35d0f 370 LS7366_write_DTR(1,0);
jebradshaw 0:dbd8b5c35d0f 371
jebradshaw 0:dbd8b5c35d0f 372 LS7366_reset_counter(2);
jebradshaw 0:dbd8b5c35d0f 373 LS7366_quad_mode_x4(2);
jebradshaw 0:dbd8b5c35d0f 374 LS7366_write_DTR(2,0);
jebradshaw 0:dbd8b5c35d0f 375
jebradshaw 0:dbd8b5c35d0f 376 t.start(); // Set up timer
jebradshaw 0:dbd8b5c35d0f 377 }//mbedWSEsbc_init()