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version2
Fork of LSM9DS1_project by
AS5145.cpp@1:b1562831bbaf, 2017-12-20 (annotated)
- Committer:
- middleyuan
- Date:
- Wed Dec 20 15:45:02 2017 +0000
- Revision:
- 1:b1562831bbaf
- Child:
- 2:c889fecf9afe
1;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
middleyuan | 1:b1562831bbaf | 1 | #include"AS5145.h" |
middleyuan | 1:b1562831bbaf | 2 | |
middleyuan | 1:b1562831bbaf | 3 | SPI spi(PB_15,PB_14,PB_13); |
middleyuan | 1:b1562831bbaf | 4 | SPI spi2(PC_12,PC_11,PC_10); |
middleyuan | 1:b1562831bbaf | 5 | DigitalOut CS(PB_1); |
middleyuan | 1:b1562831bbaf | 6 | DigitalOut CS2(PA_14); |
middleyuan | 1:b1562831bbaf | 7 | |
middleyuan | 1:b1562831bbaf | 8 | int position[2] = {0,0}; |
middleyuan | 1:b1562831bbaf | 9 | int position_old[2] = {0,0}; |
middleyuan | 1:b1562831bbaf | 10 | short low_byte = 0x00; |
middleyuan | 1:b1562831bbaf | 11 | short high_byte = 0x00; |
middleyuan | 1:b1562831bbaf | 12 | |
middleyuan | 1:b1562831bbaf | 13 | bool AS5145_begin(void) |
middleyuan | 1:b1562831bbaf | 14 | { |
middleyuan | 1:b1562831bbaf | 15 | spi.format(8,3); |
middleyuan | 1:b1562831bbaf | 16 | spi.frequency(1000000); |
middleyuan | 1:b1562831bbaf | 17 | CS = 1; |
middleyuan | 1:b1562831bbaf | 18 | spi2.format(8,3); |
middleyuan | 1:b1562831bbaf | 19 | spi2.frequency(1000000); |
middleyuan | 1:b1562831bbaf | 20 | CS2 = 1; |
middleyuan | 1:b1562831bbaf | 21 | return true; |
middleyuan | 1:b1562831bbaf | 22 | } |
middleyuan | 1:b1562831bbaf | 23 | void ReadValue(void) |
middleyuan | 1:b1562831bbaf | 24 | { |
middleyuan | 1:b1562831bbaf | 25 | CS = 0; |
middleyuan | 1:b1562831bbaf | 26 | low_byte = spi.write(0x00); |
middleyuan | 1:b1562831bbaf | 27 | high_byte = spi.write(0x00); |
middleyuan | 1:b1562831bbaf | 28 | wait_us(1); |
middleyuan | 1:b1562831bbaf | 29 | CS = 1; |
middleyuan | 1:b1562831bbaf | 30 | position[0] = (low_byte << 8 | high_byte) >> 3; |
middleyuan | 1:b1562831bbaf | 31 | CS2 = 0; |
middleyuan | 1:b1562831bbaf | 32 | low_byte = spi2.write(0x00); |
middleyuan | 1:b1562831bbaf | 33 | high_byte = spi2.write(0x00); |
middleyuan | 1:b1562831bbaf | 34 | wait_us(1); |
middleyuan | 1:b1562831bbaf | 35 | CS2 = 1; |
middleyuan | 1:b1562831bbaf | 36 | position[1] = (low_byte << 8 | high_byte) >> 3; |
middleyuan | 1:b1562831bbaf | 37 | if(position[0] > 4096) |
middleyuan | 1:b1562831bbaf | 38 | position[0] = position_old[0]; |
middleyuan | 1:b1562831bbaf | 39 | position_old[0] = position[0]; |
middleyuan | 1:b1562831bbaf | 40 | if(position[1] > 4096) |
middleyuan | 1:b1562831bbaf | 41 | position[1] = position_old[1]; |
middleyuan | 1:b1562831bbaf | 42 | position_old[1] = position[1]; |
middleyuan | 1:b1562831bbaf | 43 | } |