Revision 5:58b13292286e, committed 2021-08-16

Comitter:

lddevrie

Date:

Mon Aug 16 11:12:19 2021 +0000

Parent:

4:19ee7eb16605

Commit message:

update for digital pot motor control

Changed in this revision

--- a/EW305sbc.cpp	Wed Sep 25 16:05:11 2019 +0000
+++ b/EW305sbc.cpp	Mon Aug 16 11:12:19 2021 +0000
@@ -3,7 +3,7 @@
 
 
 EW305sbc::EW305sbc(int ch, int pulsesPerRev) 
-    : ch_(ch), pulsesPerRev_(pulsesPerRev), spi(p5, p6, p7), ls7166_cs1(p19,1), ls7166_cs2(p20,1)
+    : ch_(ch), pulsesPerRev_(pulsesPerRev), spi(p5, p6, p7), ls7166_cs1(p19,1), ls7166_cs2(p20,1), ad5293_sync(p12,1), ad5293_rdy(p27)
 {
     init();
 }
@@ -210,4 +210,61 @@
     } else {
         ls7166_cs2 = 1;
     }
+}
+
+// Write command and data - cmd[B13:B10], Data[B9:B0]
+void EW305sbc::write_ad5293(int cmd, int data)
+{
+    spi.frequency(10000000); // Datasheet states up to 50MHz operation
+    spi.format(16, 1);       // 16 data bits, CPOL0, and CPHA1 (datasheet page 8)
+    uint16_t dataw = (cmd << 10) | data;  // set data write bits (command and data)
+    ad5293_sync = 0;
+    spi.write(dataw); // SPI transmit of 16 bits
+
+    int timeout = 0;
+    while(!ad5293_rdy) { // takes about 250ns to update
+        timeout++;
+        if(timeout >1000) {
+            //pc.printf("Timeout waiting for RDY wiper update! timout=%d\r\n\r\n", timeout);
+            wait(2);
+        }
+    }
+    ad5293_sync =1;
+    spi.format(8,0);// return to 'normal' SPI format
+}
+
+
+//Motor control routine for digital potentiometer analog driver board
+// inp is analog voltage output (+/-1.0)
+void EW305sbc::analog_input(float inp)
+{
+    if(inp>MAX_SCALE)
+        inp=MAX_SCALE;
+    if(inp<-MAX_SCALE)
+        inp=-MAX_SCALE;
+    
+    write_ad5293(WCON,0x3FF); // Write to Control Register, C2=1 (normal mode), C1=1 (allows update of wiper)
+    write_ad5293(WRDAC,512 + inp*512);
+}
+
+void EW305sbc::reset_ad5293()
+{
+    write_ad5293(RESET,0x3FF);
+    wait(2.5);
+    LS7366_reset_counter(1);
+    LS7366_quad_mode_x4(1);
+    LS7366_write_DTR(1,0);
+}
+
+void EW305sbc::init_ad5293()
+{
+    write_ad5293(WCON,0x3FF); // Write to Control Register, C2=1 (normal mode), C1=1 (allows update of wiper)
+    write_ad5293(RESET,0x3FF);
+    wait(.4);    // allow time for motor to settle if the mbed was just reset while motor was moving
+    LS7366_reset_counter(1);
+    LS7366_quad_mode_x4(1);
+    LS7366_write_DTR(1,0);
+
+    write_ad5293(WCON,0x3FF);   // Write to Control Register, C2=1 (normal mode), C1=1 (allows update of wiper)
+    wait(1);
 }
\ No newline at end of file

--- a/EW305sbc.h	Wed Sep 25 16:05:11 2019 +0000
+++ b/EW305sbc.h	Mon Aug 16 11:12:19 2021 +0000
@@ -43,9 +43,21 @@
 #define NONE_REG    0x07    //No Register Selected
 
 
+//=============================================================================
+// AD5293 Command Set - Table 11 of Datasheet Command Operation Truth Table
+//=============================================================================
+#define MAX_SCALE 0.9f
+#define NOP 0x0   // Do nothing
+#define WRDAC 0x1 // Write the contects of the serial register to the RDAC (D9 - D0)
+#define RRDAC 0x2 // Read the RDAC wiper setting from SDO in the next frame
+#define RESET 0x4 // Refresh the RDAC with midscale code
+#define WCON 0x6  // Write contents of serial reg to control reg (D2, D1)
+#define RCON 0x7  // Read control register from SDO output in the next frame
+#define PWDN 0x8  // Software power down (D0=0 normal mode, D0=1 shutdown mode)
+
 
 /**
- * Tach Interface.
+ * Tach and motor control Interface.
  */
 class EW305sbc
 {
@@ -93,7 +105,16 @@
      */
     void LS7366_reset_counter(int chan_num);
     
+    /**
+     * set input voltage to motor
+     */
+    void analog_input(float inp);
     
+    /**
+     * initialize digital potentiometer
+     */
+    void init_ad5293(void);
+    void reset_ad5293(void);
     
 private:
 
@@ -108,6 +129,8 @@
     SPI spi;//(PinName p5,PinName p6,PinName p7);
     DigitalOut ls7166_cs1;//(PinName p19,int tmp=1); //CS for LS7366-1 (U8)
     DigitalOut ls7166_cs2;//(PinName p20, int tmp=1); //CS for LS7366-2 (U9)
+    DigitalOut ad5293_sync; // (p12,1); //CS for Digital potentiometer AD5293
+    DigitalIn ad5293_rdy; // (p27); // data ready input pin from AD5293 digital pot
     
     long         count_;
     float        speed_;
@@ -135,6 +158,13 @@
      * update current speed estimate
      */
     void recalc(void);
+    
+    /**
+     * write data to digital potentiometer
+     */
+    void write_ad5293(int cmd, int data);
+    
+    
 };
 
 #endif /* TACH_H */
\ No newline at end of file