Diff: Encoder.cpp

Revision:

1:2e39be3d2088

Parent:

0:1d2644a20b71

--- a/Encoder.cpp	Mon Nov 24 03:33:29 2014 +0000
+++ b/Encoder.cpp	Sat Mar 07 01:56:09 2015 +0000
@@ -59,6 +59,19 @@
 
     // XNOR parity check
     parity=~(parity_calc(raw) ^ (raw>>15));
+    if(!parity) {
+        // Select the device by seting chip select low
+        _cs = 0;
+
+        //send a dummy byte to the MOSI to get a reading through the MISO
+        raw=_spi.write(0xFFFF);
+
+        // Set the select back to low to allow the encoder to chill
+        _cs=1;
+
+        // XNOR parity check
+        parity=~(parity_calc(raw) ^ (raw>>15));
+    }
 
     // Mask and bit shift to look at encoder flag value
     enc_flag=(raw & 0x4000)>>14;
@@ -68,9 +81,10 @@
     return raw;
 }
 
-short int Encoder::readRaw(){
+short int Encoder::readRaw()
+{
     return raw;
-    }
+}
 /***********************************************************
 Translate Function - Translates Ticks to Position
 ***********************************************************/
@@ -107,4 +121,4 @@
 void Encoder::flip()
 {
     sign=-sign;
-    }
\ No newline at end of file
+}
\ No newline at end of file