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non
mbedWSEsbc.h
- Committer:
- matthewhall115
- Date:
- 2017-11-05
- Revision:
- 0:2c721947a97e
File content as of revision 0:2c721947a97e:
/* C Library for the WSE-PROJ-SBC J Bradshaw 20140912 20140918 J Bradshaw - Found CS mistake in Encoder routines Added comments in Init function, encoder functions 20150210 J Bradshaw - Initialized DigitalOuts with pre-defined logic levels (CS's high, etc) 20161011 J Bradshaw - Changed MAX1270 ADC SCLK to 5MHz and format(12, 0) for conversion mode to match datasheet (200ns SCLK max PW high and low) */ // LS7366 ENCODER IC DEFINITIONS //============================================================================= // Four commands for the Instruction Register (B7,B6) - LS7366 //============================================================================= #define CLR 0x00 //Clear Instruction #define RD 0x01 //Read Instruction #define WR 0x02 //Write Instruction #define LOAD 0x03 //Load Instruction //============================================================================= // Register to Select from the Instruction Register (B5,B4,B3) - LS7366 //============================================================================= #define NONE 0x00 //No Register Selected #define MDR0 0x01 //Mode Register 0 #define MDR1 0x02 //Mode Register 1 #define DTR 0x03 //Data Transfer Register #define CNTR 0x04 //Software Configurable Counter Register #define OTR 0x05 //Output Transfer Register #define STR 0x06 //Status Register #define NONE_REG 0x07 //No Register Selected // Set-up hardwired IO SPI spi_max1270(p5, p6, p7); SPI spi(p5, p6, p7); DigitalOut max1270_cs(p8, 1); //CS for MAX1270 ADC (U3) DigitalOut max522_cs(p11, 1); //CS for MAX522 DAC (U5) DigitalOut ls7166_cs1(p19, 1); //CS for LS7366-1 (U8) DigitalOut ls7166_cs2(p20, 1); //CS for LS7366-2 (U9) DigitalOut mot1_ph1(p21, 0); DigitalOut mot1_ph2(p22, 0); PwmOut mot_en1(p23); DigitalOut mot2_ph1(p24, 0); DigitalOut mot2_ph2(p25, 0); PwmOut mot_en2(p26); DigitalOut led1(LED1, 0); DigitalOut led2(LED2, 0); DigitalOut led3(LED3, 0); DigitalOut led4(LED4, 0); Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc Serial xbee(p13, p14); // tx, rx for Xbee Timer t; // create timer instance // ------ Prototypes ----------- int read_max1270(int chan, int range, int bipol); float read_max1270_volts(int chan, int range, int bipol); void mot_control(int drv_num, float dc); void LS7366_cmd(int inst, int reg); long LS7366_read_counter(int chan_num); void LS7366_quad_mode_x4(int chan_num); void LS7366_reset_counter(int chan_num); void LS7366_write_DTR(int chan_num,long enc_value); void write_max522(int chan, float volts); //---- Function Listing ------------------------------- int read_max1270(int chan, int range, int bipol){ int cword=0x80; //set the start bit spi_max1270.frequency(5000000); //5MHz Max spi_max1270.format(8, 0); // 8 data bits, CPOL0, and CPHA0 (datasheet Digital Interface) cword |= (chan << 4); //shift channel cword |= (range << 3); cword |= (bipol << 2); max1270_cs = 0; spi_max1270.write(cword); wait_us(15); //15us spi_max1270.format(12, 0); int result = spi_max1270.write(0); max1270_cs = 1; spi_max1270.format(8, 0); return result; } float read_max1270_volts(int chan, int range, int bipol){ float rangevolts=0.0; float volts=0.0; int adc_res; //read the ADC converter adc_res = read_max1270(chan, range, bipol) & 0xFFF; //Determine the voltage range if(range) //RNG bit rangevolts=10.0; else rangevolts=5.0; //bi-polar input range if(bipol){ //BIP is set, input is +/- if(adc_res < 0x800){ //if result was positive volts = ((float)adc_res/0x7FF) * rangevolts; } else{ //result was negative volts = -(-((float)adc_res/0x7FF) * rangevolts) - (rangevolts * 2.0); } } else{ //input is positive polarity only volts = ((float)adc_res/0xFFF) * rangevolts; } return volts; } //Motor control routine for PWM on 5 pin motor driver header // drv_num is 1 or 2 (defaults to 1, anything but 2) // dc is signed duty cycle (+/-1.0) void mot_control(int drv_num, float dc){ if(dc>1.0) dc=1.0; if(dc<-1.0) dc=-1.0; if(drv_num != 2){ if(dc > 0.0){ mot1_ph2 = 0; mot1_ph1 = 1; mot_en1 = dc; } else if(dc < -0.0){ mot1_ph1 = 0; mot1_ph2 = 1; mot_en1 = abs(dc); } else{ mot1_ph1 = 0; mot1_ph2 = 0; mot_en1 = 0.0; } } else{ if(dc > 0.0){ mot2_ph2 = 0; mot2_ph1 = 1; mot_en2 = dc; } else if(dc < -0.0){ mot2_ph1 = 0; mot2_ph2 = 1; mot_en2 = abs(dc); } else{ mot2_ph1 = 0; mot2_ph2 = 0; mot_en2 = 0.0; } } } //----- LS7366 Encoder/Counter Routines -------------------- void LS7366_cmd(int inst, int reg){ char cmd; spi.format(8, 0); spi.frequency(2000000); cmd = (inst << 6) | (reg << 3); // printf("\r\ncmd=0X%2X", cmd); spi.write(cmd); } long LS7366_read_counter(int chan_num){ union bytes{ char byte_enc[4]; long long_enc; }counter; counter.long_enc = 0; spi.format(8, 0); spi.frequency(2000000); if(chan_num!=2){ ls7166_cs1 = 0; wait_us(1); LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR ls7166_cs1 = 1; wait_us(1); ls7166_cs1 = 0; } else{ ls7166_cs2 = 0; wait_us(1); LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR ls7166_cs2 = 1; wait_us(1); ls7166_cs2 = 0; } wait_us(1); LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR counter.byte_enc[3] = spi.write(0x00); counter.byte_enc[2] = spi.write(0x00); counter.byte_enc[1] = spi.write(0x00); counter.byte_enc[0] = spi.write(0x00); if(chan_num!=2){ ls7166_cs1 = 1; } else{ ls7166_cs2 = 1; } return counter.long_enc; //return count } void LS7366_quad_mode_x4(int chan_num){ spi.format(8, 0); spi.frequency(2000000); if(chan_num!=2){ ls7166_cs1 = 0; } else{ ls7166_cs2 = 0; } wait_us(1); LS7366_cmd(WR,MDR0);// Write to the MDR0 register wait_us(1); spi.write(0x03); // X4 quadrature count mode if(chan_num!=2){ ls7166_cs1 = 1; } else{ ls7166_cs2 = 1; } } void LS7366_reset_counter(int chan_num){ spi.format(8, 0); // set up SPI for 8 data bits, mode 0 spi.frequency(2000000); // 2MHz SPI clock if(chan_num!=2){ // activate chip select ls7166_cs1 = 0; } else{ ls7166_cs2 = 0; } wait_us(1); // short delay LS7366_cmd(CLR,CNTR); // Clear the counter register if(chan_num!=2){ // de-activate chip select ls7166_cs1 = 1; } else{ ls7166_cs2 = 1; } wait_us(1); // short delay if(chan_num!=2){ // activate chip select ls7166_cs1 = 0; } else{ ls7166_cs2 = 0; } wait_us(1); // short delay LS7366_cmd(LOAD,CNTR); // load counter reg if(chan_num!=2){ // de-activate chip select ls7166_cs1 = 1; } else{ ls7166_cs2 = 1; } } void LS7366_write_DTR(int chan_num, long enc_value){ union bytes // Union to speed up byte writes { char byte_enc[4]; long long_enc; }counter; spi.format(8, 0); // set up SPI for 8 data bits, mode 0 spi.frequency(2000000); // 2MHz SPI clock counter.long_enc = enc_value; // pass enc_value to Union if(chan_num!=2){ // activate chip select ls7166_cs1 = 0; } else{ ls7166_cs2 = 0; } wait_us(1); // short delay LS7366_cmd(WR,DTR); // Write to the Data Transfer Register spi.write(counter.byte_enc[3]); // Write the 32-bit encoder value spi.write(counter.byte_enc[2]); spi.write(counter.byte_enc[1]); spi.write(counter.byte_enc[0]); if(chan_num!=2){ // de-activate the chip select ls7166_cs1 = 1; } else{ ls7166_cs2 = 1; } wait_us(1); // short delay if(chan_num!=2){ // activate chip select ls7166_cs1 = 0; } else{ ls7166_cs2 = 0; } wait_us(1); // short delay LS7366_cmd(LOAD,CNTR); // load command to the counter register from DTR if(chan_num!=2){ // de-activate chip select ls7166_cs1 = 1; } else{ ls7166_cs2 = 1; } } //------- MAX522 routines --------------------------------- void write_max522(int chan, float volts){ int cmd=0x20; //set UB3 int data_word = (int)((volts/5.0) * 256.0); if(chan != 2) cmd |= 0x01; //set DAC A out else cmd |= 0x02; //set DACB out // pc.printf("cmd=0x%4X data_word=0x%4X \r\n", cmd, data_word); spi.format(8, 0); spi.frequency(2000000); max522_cs = 0; spi.write(cmd & 0xFF); spi.write(data_word & 0xFF); max522_cs = 1; } void mbedWSEsbcInit(unsigned long pcbaud){ led1 = 0; //Initialize all LEDs as off led2 = 0; led3 = 0; led4 = 0; max1270_cs = 1; //Initialize all chip selects as off max522_cs = 1; ls7166_cs1 = 1; ls7166_cs2 = 1; wait(.2); //delay at beginning for voltage settle purposes mot_en1.period_us(50); //20KHz for DC motor control PWM pc.baud(pcbaud); //Set up serial port baud rate pc.printf("\r\n"); xbee.baud(9600); LS7366_reset_counter(1); LS7366_quad_mode_x4(1); LS7366_write_DTR(1,0); LS7366_reset_counter(2); LS7366_quad_mode_x4(2); LS7366_write_DTR(2,0); t.start(); // Set up timer }//mbedWSEsbc_init()