Preliminary mbed encoder interface IC class
LS7366.cpp
- Committer:
- lsh2205
- Date:
- 2020-03-24
- Revision:
- 3:6063c8171873
- Parent:
- 2:2193b220248b
File content as of revision 3:6063c8171873:
// LS7366.cpp for Encoder Class Library // J. Bradshaw 20141030 /* Copyright (c) 2014, jbradshaw (http://mbed.org) * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * */ #include "LS7366.h" //----- LS7366 Encoder/Counter Routines -------------------- //Constructor LS7366::LS7366(SPI& spi, PinName cs) : _spi(spi), _cs(cs) { this->_cs = 0; // Initialize chip select as off (high) this->_init(); } void LS7366::LS7366_cmd(int inst, int reg){ char cmd; this->_spi.format(8, 0); this->_spi.frequency(2000000); cmd = (inst << 6) | (reg << 3); // printf("\r\ncmd=0X%2X", cmd); this->_spi.write(cmd); } long LS7366::LS7366_read_counter(){ union bytes{ char byte_enc[4]; long long_enc; }counter; this->_spi.format(8, 0); this->_spi.frequency(2000000); this->_cs = 1; wait_us(1); this->LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR this->_cs = 0; wait_us(1); this->_cs = 1; wait_us(1); this->LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR counter.byte_enc[3] = this->_spi.write(0x00); counter.byte_enc[2] = this->_spi.write(0x00); counter.byte_enc[1] = this->_spi.write(0x00); counter.byte_enc[0] = this->_spi.write(0x00); this->_cs = 0; this->count = counter.long_enc; return counter.long_enc; //return count } void LS7366::LS7366_quad_mode_x4(){ this->_spi.format(8, 0); this->_spi.frequency(2000000); this->_cs = 1; wait_us(1); this->LS7366_cmd(WR,MDR0);// Write to the MDR0 register this->_spi.write(0x03); // X4 quadrature count mode this->_cs = 0; } void LS7366::LS7366_reset_counter(){ this->_spi.format(8, 0); this->_spi.frequency(2000000); this->_cs = 1; wait_us(1); this->LS7366_cmd(CLR,CNTR);//Clear the counter register this->_cs = 0; wait_us(1); this->_cs = 1; wait_us(1); this->LS7366_cmd(LOAD,CNTR);// this->_cs = 0; } void LS7366::LS7366_write_DTR(long enc_value) { union bytes { char byte_enc[4]; long long_enc; }counter; this->_spi.format(8, 0); this->_spi.frequency(2000000); counter.long_enc = enc_value; this->_cs = 1; wait_us(1); this->LS7366_cmd(WR,DTR);// this->_spi.write(counter.byte_enc[3]); this->_spi.write(counter.byte_enc[2]); this->_spi.write(counter.byte_enc[1]); this->_spi.write(counter.byte_enc[0]); this->_cs = 0; wait_us(1); this->_cs = 1; wait_us(1); this->LS7366_cmd(LOAD,CNTR);// this->_cs = 0; } void LS7366::_init(){ this->_spi.frequency(2000000); this->LS7366_reset_counter(); this->LS7366_quad_mode_x4(); this->LS7366_write_DTR(0); } void LS7366::write(long wcount){ this->LS7366_write_DTR(wcount); } long LS7366::read(){ return this->LS7366_read_counter(); } LS7366& LS7366::operator= (long wcount) { this->write(wcount); return *this; } LS7366::operator long() { return this->read(); }