HCB with MPC
Dependencies: mbed Eigen FastPWM
SPI_EEP_ENC/SPI_EEP_ENC.cpp
- Committer:
- jsoh91
- Date:
- 2019-10-14
- Revision:
- 25:f83396e3d25c
- Parent:
- 16:903b5a4433b4
File content as of revision 25:f83396e3d25c:
#include "mbed.h" #include "setting.h" #include "SPI_EEP_ENC.h" // EEPROM //void spi_eeprom_ready(void){ // int temp1, temp2; // do{ // eeprom_cs=0; // eeprom.write(0x06); //write enable // eeprom_cs=1; // // eeprom_cs=0; // temp1 = eeprom.write(0x05); // temp2 = eeprom.write(0x00); // eeprom_cs=1; // temp2=(temp2&(0x03))!= 0x02; // } while(temp2); // before writing or reading // } // // void spi_eeprom_write(unsigned short add, unsigned int data){ // eeprom_cs=0; // eeprom.write(0x02); // eeprom.write(0xff&(add>>8)); // eeprom.write(0xff&add); // eeprom.write(0xff&data); // eeprom.write(0xff&(data>>8)); // eeprom.write(0xff&(data>>16)); // eeprom.write(0xff&(data>>24)); // eeprom_cs=1; //} // //unsigned int spi_eeprom_read(unsigned short add){ // eeprom_cs=0; // eeprom.write(0x03); // eeprom.write(0xff&(add>>8)); // eeprom.write(0xff&add); // // int a1 = eeprom.write(0x00); // int a2 = eeprom.write(0x00); // int a3 = eeprom.write(0x00); // int a4 = eeprom.write(0x00); // eeprom_cs=1; // //unsigned int final = (a4<<24)+(a3<<16) + (a2<<8) + a1; // unsigned int final = (int32_t) (a1 | a2 << 8 | a3 << 16 | a4 << 24); // return final; // } // ENCODER void spi_enc_set_clear(void){ unsigned int temp; enc_cs = 0; temp = enc.write(0b00100000); enc_cs = 1; } void spi_enc_set_init(void){ unsigned int temp, i, temp1, temp2; // write MDR0 -> 0b11 -> x4 quadrature count mode enc_cs = 0; temp = enc.write(0b10001000); // WR + MDR0 temp = enc.write(0b00000011); // quadratue mode enc_cs = 1; // write MDR1 -> 0b10 -> 2-byte counter mode for(i=0;i<100;i++); enc_cs = 0; temp = enc.write(0b10010000); // WR + MDR1 //temp = enc.write(0b00000010); // 2 byte mode temp = enc.write(0b00000000); // 4 byte mode enc_cs = 1; // clear spi_enc_set_clear(); } int spi_enc_read(void){ //for(t_i=0;t_i<100;t_i++); unsigned int t_dummy, t_b1, t_b2, t_b3, t_b4, t_i; enc_cs = 0; t_dummy = enc.write(0b01100000); // Read Commend t_b1 = enc.write(0x00); // Dummy data for clock t_b2 = enc.write(0x00); // Dummy data for clock t_b3 = enc.write(0x00); // Dummy data for clock t_b4 = enc.write(0x00); // Dummy data for clock enc_cs = 1; return((t_b1<<24) + (t_b2<<16) + (t_b3<<8) + t_b4); }