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@10:99ac73080abd, 2014-11-03 (annotated)

Committer:
jebradshaw
Date:
Mon Nov 03 20:08:48 2014 +0000
Revision:
10:99ac73080abd
Parent:
9:56c77746e6a8 
Commented out PWM period declaration and updated comments

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 9:56c77746e6a8 3
jebradshaw 9:56c77746e6a8 4 20141103 J Bradshaw - Removed PWM period decleration
jebradshaw 9:56c77746e6a8 5
jebradshaw 9:56c77746e6a8 6 20141021 J Bradshaw - Added comments for ADC function
jebradshaw 9:56c77746e6a8 7
jebradshaw 4:1aa4a75f6885 8 20140918 J Bradshaw - Found CS mistake in Encoder routines
jebradshaw 4:1aa4a75f6885 9 Added comments in Init function, encoder functions
jebradshaw 9:56c77746e6a8 10
jebradshaw 9:56c77746e6a8 11 20140912 J Bradshaw - First version of library (C-Functions and definitions)
jebradshaw 4:1aa4a75f6885 12 */
jebradshaw 0:dbd8b5c35d0f 13
jebradshaw 4:1aa4a75f6885 14
jebradshaw 4:1aa4a75f6885 15 // LS7366 ENCODER IC DEFINITIONS
jebradshaw 0:dbd8b5c35d0f 16 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 17 // Four commands for the Instruction Register (B7,B6) - LS7366
jebradshaw 0:dbd8b5c35d0f 18 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 19 #define CLR 0x00 //Clear Instruction
jebradshaw 0:dbd8b5c35d0f 20 #define RD 0x01 //Read Instruction
jebradshaw 0:dbd8b5c35d0f 21 #define WR 0x02 //Write Instruction
jebradshaw 0:dbd8b5c35d0f 22 #define LOAD 0x03 //Load Instruction
jebradshaw 0:dbd8b5c35d0f 23
jebradshaw 0:dbd8b5c35d0f 24 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 25 // Register to Select from the Instruction Register (B5,B4,B3) - LS7366
jebradshaw 0:dbd8b5c35d0f 26 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 27 #define NONE 0x00 //No Register Selected
jebradshaw 0:dbd8b5c35d0f 28 #define MDR0 0x01 //Mode Register 0
jebradshaw 0:dbd8b5c35d0f 29 #define MDR1 0x02 //Mode Register 1
jebradshaw 0:dbd8b5c35d0f 30 #define DTR 0x03 //Data Transfer Register
jebradshaw 0:dbd8b5c35d0f 31 #define CNTR 0x04 //Software Configurable Counter Register
jebradshaw 0:dbd8b5c35d0f 32 #define OTR 0x05 //Output Transfer Register
jebradshaw 0:dbd8b5c35d0f 33 #define STR 0x06 //Status Register
jebradshaw 0:dbd8b5c35d0f 34 #define NONE_REG 0x07 //No Register Selected
jebradshaw 0:dbd8b5c35d0f 35
jebradshaw 0:dbd8b5c35d0f 36 // Set-up hardwired IO
jebradshaw 0:dbd8b5c35d0f 37 SPI spi_max1270(p5, p6, p7);
jebradshaw 0:dbd8b5c35d0f 38 SPI spi(p5, p6, p7);
jebradshaw 4:1aa4a75f6885 39 DigitalOut max1270_cs(p8); //CS for MAX1270 ADC (U3)
jebradshaw 4:1aa4a75f6885 40 DigitalOut max522_cs(p11); //CS for MAX522 DAC (U5)
jebradshaw 0:dbd8b5c35d0f 41
jebradshaw 4:1aa4a75f6885 42 DigitalOut ls7166_cs1(p19); //CS for LS7366-1 (U8)
jebradshaw 4:1aa4a75f6885 43 DigitalOut ls7166_cs2(p20); //CS for LS7366-2 (U9)
jebradshaw 0:dbd8b5c35d0f 44
jebradshaw 4:1aa4a75f6885 45 DigitalOut mot1_ph1(p21);
jebradshaw 0:dbd8b5c35d0f 46 DigitalOut mot1_ph2(p22);
jebradshaw 0:dbd8b5c35d0f 47 PwmOut mot_en1(p23);
jebradshaw 0:dbd8b5c35d0f 48
jebradshaw 0:dbd8b5c35d0f 49 DigitalOut mot2_ph1(p24);
jebradshaw 0:dbd8b5c35d0f 50 DigitalOut mot2_ph2(p25);
jebradshaw 0:dbd8b5c35d0f 51 PwmOut mot_en2(p26);
jebradshaw 0:dbd8b5c35d0f 52
jebradshaw 0:dbd8b5c35d0f 53 DigitalOut led1(LED1);
jebradshaw 0:dbd8b5c35d0f 54 DigitalOut led2(LED2);
jebradshaw 0:dbd8b5c35d0f 55 DigitalOut led3(LED3);
jebradshaw 0:dbd8b5c35d0f 56 DigitalOut led4(LED4);
jebradshaw 0:dbd8b5c35d0f 57
jebradshaw 0:dbd8b5c35d0f 58 Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc
jebradshaw 0:dbd8b5c35d0f 59 Serial xbee(p13, p14); // tx, rx for Xbee
jebradshaw 0:dbd8b5c35d0f 60 Timer t; // create timer instance
jebradshaw 0:dbd8b5c35d0f 61
jebradshaw 0:dbd8b5c35d0f 62 // ------ Prototypes -----------
jebradshaw 0:dbd8b5c35d0f 63 int read_max1270(int chan, int range, int bipol);
jebradshaw 0:dbd8b5c35d0f 64 float read_max1270_volts(int chan, int range, int bipol);
jebradshaw 0:dbd8b5c35d0f 65 void mot_control(int drv_num, float dc);
jebradshaw 0:dbd8b5c35d0f 66 void LS7366_cmd(int inst, int reg);
jebradshaw 0:dbd8b5c35d0f 67 long LS7366_read_counter(int chan_num);
jebradshaw 0:dbd8b5c35d0f 68 void LS7366_quad_mode_x4(int chan_num);
jebradshaw 0:dbd8b5c35d0f 69 void LS7366_reset_counter(int chan_num);
jebradshaw 0:dbd8b5c35d0f 70 void LS7366_write_DTR(int chan_num,long enc_value);
jebradshaw 0:dbd8b5c35d0f 71 void write_max522(int chan, float volts);
jebradshaw 0:dbd8b5c35d0f 72
jebradshaw 0:dbd8b5c35d0f 73 //---- Function Listing -------------------------------
jebradshaw 7:740d112d934d 74 // return integer - 12 bit ADC result
jebradshaw 7:740d112d934d 75 // chan - integer from 0 - 7
jebradshaw 7:740d112d934d 76 // range - 0: 0 - 5 volts, 1: 0 - 10V
jebradshaw 7:740d112d934d 77 // bipol - 0: 0 - 5 volts, 0 - 10V, 1 for +/- 5 volts, +/- 10 volts
jebradshaw 0:dbd8b5c35d0f 78 int read_max1270(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 79 int cword=0x80; //set the start bit
jebradshaw 0:dbd8b5c35d0f 80
jebradshaw 0:dbd8b5c35d0f 81 spi_max1270.frequency(10000000);
jebradshaw 0:dbd8b5c35d0f 82 spi_max1270.format(8, 0); // 8 data bits, CPOL0, and CPHA0 (datasheet Digital Interface)
jebradshaw 0:dbd8b5c35d0f 83
jebradshaw 0:dbd8b5c35d0f 84 cword |= (chan << 4); //shift channel
jebradshaw 0:dbd8b5c35d0f 85 cword |= (range << 3);
jebradshaw 0:dbd8b5c35d0f 86 cword |= (bipol << 2);
jebradshaw 0:dbd8b5c35d0f 87
jebradshaw 0:dbd8b5c35d0f 88 max1270_cs = 0;
jebradshaw 0:dbd8b5c35d0f 89
jebradshaw 0:dbd8b5c35d0f 90 spi_max1270.write(cword);
jebradshaw 0:dbd8b5c35d0f 91 wait_us(15); //15us
jebradshaw 0:dbd8b5c35d0f 92 spi_max1270.format(12, 3);
jebradshaw 0:dbd8b5c35d0f 93
jebradshaw 0:dbd8b5c35d0f 94 int result = spi_max1270.write(0);
jebradshaw 0:dbd8b5c35d0f 95
jebradshaw 0:dbd8b5c35d0f 96 max1270_cs = 1;
jebradshaw 0:dbd8b5c35d0f 97 spi_max1270.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 98 return result;
jebradshaw 0:dbd8b5c35d0f 99 }
jebradshaw 0:dbd8b5c35d0f 100
jebradshaw 0:dbd8b5c35d0f 101 float read_max1270_volts(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 102 float rangevolts=0.0;
jebradshaw 0:dbd8b5c35d0f 103 float volts=0.0;
jebradshaw 0:dbd8b5c35d0f 104 int adc_res;
jebradshaw 0:dbd8b5c35d0f 105
jebradshaw 0:dbd8b5c35d0f 106 //read the ADC converter
jebradshaw 0:dbd8b5c35d0f 107 adc_res = read_max1270(chan, range, bipol) & 0xFFF;
jebradshaw 0:dbd8b5c35d0f 108
jebradshaw 0:dbd8b5c35d0f 109 //Determine the voltage range
jebradshaw 0:dbd8b5c35d0f 110 if(range) //RNG bit
jebradshaw 0:dbd8b5c35d0f 111 rangevolts=10.0;
jebradshaw 0:dbd8b5c35d0f 112 else
jebradshaw 0:dbd8b5c35d0f 113 rangevolts=5.0;
jebradshaw 0:dbd8b5c35d0f 114
jebradshaw 0:dbd8b5c35d0f 115 //bi-polar input range
jebradshaw 0:dbd8b5c35d0f 116 if(bipol){ //BIP is set, input is +/-
jebradshaw 0:dbd8b5c35d0f 117 if(adc_res < 0x800){ //if result was positive
jebradshaw 0:dbd8b5c35d0f 118 volts = ((float)adc_res/0x7FF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 119 }
jebradshaw 0:dbd8b5c35d0f 120 else{ //result was negative
jebradshaw 0:dbd8b5c35d0f 121 volts = -(-((float)adc_res/0x7FF) * rangevolts) - (rangevolts * 2.0);
jebradshaw 0:dbd8b5c35d0f 122 }
jebradshaw 0:dbd8b5c35d0f 123 }
jebradshaw 0:dbd8b5c35d0f 124 else{ //input is positive polarity only
jebradshaw 0:dbd8b5c35d0f 125 volts = ((float)adc_res/0xFFF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 126 }
jebradshaw 0:dbd8b5c35d0f 127
jebradshaw 0:dbd8b5c35d0f 128 return volts;
jebradshaw 0:dbd8b5c35d0f 129 }
jebradshaw 0:dbd8b5c35d0f 130
jebradshaw 0:dbd8b5c35d0f 131 //Motor control routine for PWM on 5 pin motor driver header
jebradshaw 0:dbd8b5c35d0f 132 // drv_num is 1 or 2 (defaults to 1, anything but 2)
jebradshaw 0:dbd8b5c35d0f 133 // dc is signed duty cycle (+/-1.0)
jebradshaw 0:dbd8b5c35d0f 134
jebradshaw 0:dbd8b5c35d0f 135 void mot_control(int drv_num, float dc){
jebradshaw 0:dbd8b5c35d0f 136 if(dc>1.0)
jebradshaw 0:dbd8b5c35d0f 137 dc=1.0;
jebradshaw 0:dbd8b5c35d0f 138 if(dc<-1.0)
jebradshaw 0:dbd8b5c35d0f 139 dc=-1.0;
jebradshaw 0:dbd8b5c35d0f 140
jebradshaw 0:dbd8b5c35d0f 141 if(drv_num != 2){
jebradshaw 0:dbd8b5c35d0f 142 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 143 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 144 mot1_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 145 mot_en1 = dc;
jebradshaw 0:dbd8b5c35d0f 146 }
jebradshaw 0:dbd8b5c35d0f 147 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 148 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 149 mot1_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 150 mot_en1 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 151 }
jebradshaw 0:dbd8b5c35d0f 152 else{
jebradshaw 0:dbd8b5c35d0f 153 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 154 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 155 mot_en1 = 0.0;
jebradshaw 0:dbd8b5c35d0f 156 }
jebradshaw 0:dbd8b5c35d0f 157 }
jebradshaw 0:dbd8b5c35d0f 158 else{
jebradshaw 0:dbd8b5c35d0f 159 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 160 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 161 mot2_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 162 mot_en2 = dc;
jebradshaw 0:dbd8b5c35d0f 163 }
jebradshaw 0:dbd8b5c35d0f 164 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 165 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 166 mot2_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 167 mot_en2 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 168 }
jebradshaw 0:dbd8b5c35d0f 169 else{
jebradshaw 0:dbd8b5c35d0f 170 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 171 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 172 mot_en2 = 0.0;
jebradshaw 0:dbd8b5c35d0f 173 }
jebradshaw 0:dbd8b5c35d0f 174 }
jebradshaw 0:dbd8b5c35d0f 175 }
jebradshaw 0:dbd8b5c35d0f 176
jebradshaw 0:dbd8b5c35d0f 177 //----- LS7366 Encoder/Counter Routines --------------------
jebradshaw 0:dbd8b5c35d0f 178 void LS7366_cmd(int inst, int reg){
jebradshaw 0:dbd8b5c35d0f 179 char cmd;
jebradshaw 0:dbd8b5c35d0f 180
jebradshaw 0:dbd8b5c35d0f 181 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 182 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 183 cmd = (inst << 6) | (reg << 3);
jebradshaw 0:dbd8b5c35d0f 184 // printf("\r\ncmd=0X%2X", cmd);
jebradshaw 0:dbd8b5c35d0f 185 spi.write(cmd);
jebradshaw 0:dbd8b5c35d0f 186 }
jebradshaw 0:dbd8b5c35d0f 187
jebradshaw 0:dbd8b5c35d0f 188 long LS7366_read_counter(int chan_num){
jebradshaw 0:dbd8b5c35d0f 189 union bytes{
jebradshaw 0:dbd8b5c35d0f 190 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 191 long long_enc;
jebradshaw 0:dbd8b5c35d0f 192 }counter;
jebradshaw 0:dbd8b5c35d0f 193
jebradshaw 0:dbd8b5c35d0f 194 counter.long_enc = 0;
jebradshaw 0:dbd8b5c35d0f 195
jebradshaw 0:dbd8b5c35d0f 196 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 197 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 198
jebradshaw 0:dbd8b5c35d0f 199 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 200 ls7166_cs1 = 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_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 204 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 205 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 206 }
jebradshaw 0:dbd8b5c35d0f 207 else{
jebradshaw 0:dbd8b5c35d0f 208 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 209 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 210 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 211 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 212 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 213
jebradshaw 0:dbd8b5c35d0f 214 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 215 }
jebradshaw 0:dbd8b5c35d0f 216 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 217 LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR
jebradshaw 0:dbd8b5c35d0f 218 counter.byte_enc[3] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 219 counter.byte_enc[2] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 220 counter.byte_enc[1] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 221 counter.byte_enc[0] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 222
jebradshaw 0:dbd8b5c35d0f 223 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 224 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 225 }
jebradshaw 0:dbd8b5c35d0f 226 else{
jebradshaw 0:dbd8b5c35d0f 227 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 228 }
jebradshaw 0:dbd8b5c35d0f 229
jebradshaw 0:dbd8b5c35d0f 230 return counter.long_enc; //return count
jebradshaw 0:dbd8b5c35d0f 231 }
jebradshaw 0:dbd8b5c35d0f 232
jebradshaw 0:dbd8b5c35d0f 233 void LS7366_quad_mode_x4(int chan_num){
jebradshaw 0:dbd8b5c35d0f 234
jebradshaw 0:dbd8b5c35d0f 235 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 236 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 237
jebradshaw 0:dbd8b5c35d0f 238 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 239 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 240 }
jebradshaw 0:dbd8b5c35d0f 241 else{
jebradshaw 0:dbd8b5c35d0f 242 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 243 }
jebradshaw 0:dbd8b5c35d0f 244 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 245 LS7366_cmd(WR,MDR0);// Write to the MDR0 register
jebradshaw 4:1aa4a75f6885 246 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 247 spi.write(0x03); // X4 quadrature count mode
jebradshaw 0:dbd8b5c35d0f 248 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 249 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 250 }
jebradshaw 0:dbd8b5c35d0f 251 else{
jebradshaw 0:dbd8b5c35d0f 252 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 253 }
jebradshaw 0:dbd8b5c35d0f 254 }
jebradshaw 0:dbd8b5c35d0f 255
jebradshaw 4:1aa4a75f6885 256 void LS7366_reset_counter(int chan_num){
jebradshaw 4:1aa4a75f6885 257 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 4:1aa4a75f6885 258 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 259
jebradshaw 4:1aa4a75f6885 260 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 261 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 262 }
jebradshaw 0:dbd8b5c35d0f 263 else{
jebradshaw 0:dbd8b5c35d0f 264 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 265 }
jebradshaw 4:1aa4a75f6885 266 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 267 LS7366_cmd(CLR,CNTR); // Clear the counter register
jebradshaw 4:1aa4a75f6885 268 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 269 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 270 }
jebradshaw 0:dbd8b5c35d0f 271 else{
jebradshaw 4:1aa4a75f6885 272 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 273 }
jebradshaw 4:1aa4a75f6885 274 wait_us(1); // short delay
jebradshaw 0:dbd8b5c35d0f 275
jebradshaw 4:1aa4a75f6885 276 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 277 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 278 }
jebradshaw 0:dbd8b5c35d0f 279 else{
jebradshaw 0:dbd8b5c35d0f 280 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 281 }
jebradshaw 4:1aa4a75f6885 282 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 283 LS7366_cmd(LOAD,CNTR); // load counter reg
jebradshaw 4:1aa4a75f6885 284 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 285 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 286 }
jebradshaw 0:dbd8b5c35d0f 287 else{
jebradshaw 4:1aa4a75f6885 288 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 289 }
jebradshaw 0:dbd8b5c35d0f 290 }
jebradshaw 0:dbd8b5c35d0f 291
jebradshaw 4:1aa4a75f6885 292 void LS7366_write_DTR(int chan_num, long enc_value){
jebradshaw 4:1aa4a75f6885 293 union bytes // Union to speed up byte writes
jebradshaw 0:dbd8b5c35d0f 294 {
jebradshaw 0:dbd8b5c35d0f 295 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 296 long long_enc;
jebradshaw 0:dbd8b5c35d0f 297 }counter;
jebradshaw 0:dbd8b5c35d0f 298
jebradshaw 4:1aa4a75f6885 299 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 4:1aa4a75f6885 300 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 301
jebradshaw 4:1aa4a75f6885 302 counter.long_enc = enc_value; // pass enc_value to Union
jebradshaw 0:dbd8b5c35d0f 303
jebradshaw 4:1aa4a75f6885 304 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 305 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 306 }
jebradshaw 0:dbd8b5c35d0f 307 else{
jebradshaw 0:dbd8b5c35d0f 308 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 309 }
jebradshaw 4:1aa4a75f6885 310 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 311 LS7366_cmd(WR,DTR); // Write to the Data Transfer Register
jebradshaw 4:1aa4a75f6885 312 spi.write(counter.byte_enc[3]); // Write the 32-bit encoder value
jebradshaw 0:dbd8b5c35d0f 313 spi.write(counter.byte_enc[2]);
jebradshaw 0:dbd8b5c35d0f 314 spi.write(counter.byte_enc[1]);
jebradshaw 0:dbd8b5c35d0f 315 spi.write(counter.byte_enc[0]);
jebradshaw 4:1aa4a75f6885 316 if(chan_num!=2){ // de-activate the chip select
jebradshaw 0:dbd8b5c35d0f 317 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 318 }
jebradshaw 0:dbd8b5c35d0f 319 else{
jebradshaw 0:dbd8b5c35d0f 320 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 321 }
jebradshaw 0:dbd8b5c35d0f 322
jebradshaw 4:1aa4a75f6885 323 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 324 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 325 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 326 }
jebradshaw 0:dbd8b5c35d0f 327 else{
jebradshaw 0:dbd8b5c35d0f 328 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 329 }
jebradshaw 4:1aa4a75f6885 330 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 331 LS7366_cmd(LOAD,CNTR); // load command to the counter register from DTR
jebradshaw 4:1aa4a75f6885 332 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 333 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 334 }
jebradshaw 0:dbd8b5c35d0f 335 else{
jebradshaw 0:dbd8b5c35d0f 336 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 337 }
jebradshaw 0:dbd8b5c35d0f 338 }
jebradshaw 0:dbd8b5c35d0f 339
jebradshaw 0:dbd8b5c35d0f 340 //------- MAX522 routines ---------------------------------
jebradshaw 0:dbd8b5c35d0f 341 void write_max522(int chan, float volts){
jebradshaw 0:dbd8b5c35d0f 342 int cmd=0x20; //set UB3
jebradshaw 0:dbd8b5c35d0f 343 int data_word = (int)((volts/5.0) * 256.0);
jebradshaw 0:dbd8b5c35d0f 344 if(chan != 2)
jebradshaw 0:dbd8b5c35d0f 345 cmd |= 0x01; //set DAC A out
jebradshaw 0:dbd8b5c35d0f 346 else
jebradshaw 0:dbd8b5c35d0f 347 cmd |= 0x02; //set DACB out
jebradshaw 0:dbd8b5c35d0f 348
jebradshaw 0:dbd8b5c35d0f 349 // pc.printf("cmd=0x%4X data_word=0x%4X \r\n", cmd, data_word);
jebradshaw 0:dbd8b5c35d0f 350
jebradshaw 0:dbd8b5c35d0f 351 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 352 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 353 max522_cs = 0;
jebradshaw 0:dbd8b5c35d0f 354 spi.write(cmd & 0xFF);
jebradshaw 0:dbd8b5c35d0f 355 spi.write(data_word & 0xFF);
jebradshaw 0:dbd8b5c35d0f 356 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 357 }
jebradshaw 0:dbd8b5c35d0f 358
jebradshaw 1:85cd6d500385 359 void mbedWSEsbcInit(unsigned long pcbaud){
jebradshaw 4:1aa4a75f6885 360 led1 = 0; //Initialize all LEDs as off
jebradshaw 4:1aa4a75f6885 361 led2 = 0;
jebradshaw 4:1aa4a75f6885 362 led3 = 0;
jebradshaw 4:1aa4a75f6885 363 led4 = 0;
jebradshaw 4:1aa4a75f6885 364 max1270_cs = 1; //Initialize all chip selects as off
jebradshaw 0:dbd8b5c35d0f 365 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 366 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 367 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 368
jebradshaw 0:dbd8b5c35d0f 369 wait(.2); //delay at beginning for voltage settle purposes
jebradshaw 0:dbd8b5c35d0f 370
jebradshaw 10:99ac73080abd 371 // mot_en1.period_us(50); //20KHz for DC motor control PWM
jebradshaw 1:85cd6d500385 372 pc.baud(pcbaud); //Set up serial port baud rate
jebradshaw 4:1aa4a75f6885 373 pc.printf("\r\n");
jebradshaw 0:dbd8b5c35d0f 374 xbee.baud(9600);
jebradshaw 0:dbd8b5c35d0f 375
jebradshaw 0:dbd8b5c35d0f 376 LS7366_reset_counter(1);
jebradshaw 0:dbd8b5c35d0f 377 LS7366_quad_mode_x4(1);
jebradshaw 0:dbd8b5c35d0f 378 LS7366_write_DTR(1,0);
jebradshaw 0:dbd8b5c35d0f 379
jebradshaw 0:dbd8b5c35d0f 380 LS7366_reset_counter(2);
jebradshaw 0:dbd8b5c35d0f 381 LS7366_quad_mode_x4(2);
jebradshaw 0:dbd8b5c35d0f 382 LS7366_write_DTR(2,0);
jebradshaw 0:dbd8b5c35d0f 383
jebradshaw 0:dbd8b5c35d0f 384 t.start(); // Set up timer
jebradshaw 0:dbd8b5c35d0f 385 }//mbedWSEsbc_init()