AS5145.cpp

00001 #include"AS5145.h"
00002 
00003 SPI spi(PB_15,PB_14,PB_13);
00004 SPI spi2(PC_12,PC_11,PC_10);
00005 DigitalOut CS(PB_1);
00006 DigitalOut CS2(PA_13);
00007 
00008 int position[2] = {0,0};
00009 int position_old[2] = {0,0};
00010 short low_byte = 0x00;
00011 short high_byte = 0x00;
00012 
00013 bool AS5145_begin(void)
00014 {
00015     spi.format(8,3);
00016     spi.frequency(1000000);
00017     CS = 1;
00018     spi2.format(8,3);
00019     spi2.frequency(1000000);
00020     CS2 = 1;
00021     return true;
00022 }
00023 void ReadValue(void)
00024 {
00025     CS = 0;
00026     low_byte = spi.write(0x00);
00027     high_byte = spi.write(0x00);
00028     wait_us(1);
00029     CS = 1;
00030     position[0] = (low_byte << 8 | high_byte) >> 3;
00031     CS2 = 0;
00032     low_byte = spi2.write(0x00);
00033     high_byte = spi2.write(0x00);
00034     wait_us(1);
00035     CS2 = 1;
00036     position[1] = (low_byte << 8 | high_byte) >> 3;
00037     if(position[0] > 4096)
00038         position[0] = position_old[0];
00039     position_old[0] = position[0];
00040     if(position[1] > 4096)
00041         position[1] = position_old[1];
00042     position_old[1] = position[1];      
00043 }