encoder and tachometer class for EW3XX single board computer

Files at this revision

API Documentation at this revision

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

EW305sbc.cpp Show annotated file Show diff for this revision Revisions of this file
EW305sbc.h Show annotated file Show diff for this revision Revisions of this file
diff -r 19ee7eb16605 -r 58b13292286e EW305sbc.cpp
--- 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
diff -r 19ee7eb16605 -r 58b13292286e EW305sbc.h
--- 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