main.cpp

00001 #include "mbed.h"
00002 #include <as5048spi.h>
00003 #define PI 3.1415926
00004  
00005 // The sensors connection are attached to pins 5-8
00006 As5048Spi sensor1(p5, p6, p7,1);
00007 
00008 
00009 Serial pc(USBTX, USBRX); // tx, rx
00010 float vitesse,delta_deg,tour_sec;
00011 int degrees_av,degrees;
00012 Timer delta_t;
00013 
00014 
00015 int main() {
00016     pc.baud(38400);
00017     delta_t.start();
00018     while(1) {
00019         // 
00020         const int* angles = sensor1.read_angle();
00021         
00022         int angle = angles[0];
00023         
00024         // The read angle returns the value returned over the SPI bus, including parity bit
00025         //pc.printf("Read result: %x\r\n", angle);
00026         
00027         if( As5048Spi::parity_check(angle) )
00028         { 
00029             degrees = As5048Spi::degrees(angle)/100;  
00030             pc.printf("deg=%d\n\r", degrees);
00031             // Convert range from 0 to 2^14-1 to 0 - 360 degrees
00032             /*degrees_av=degrees;
00033             degrees = As5048Spi::degrees(angle)/100;
00034             delta_deg=(degrees-degrees_av);
00035             if(delta_deg<0)
00036             {
00037                 delta_deg=delta_deg+360;
00038             }
00039             tour_sec=((delta_deg)/delta_t.read())/(11*360);
00040             vitesse=tour_sec*5.9*PI;
00041             delta_t.reset();
00042             //vitesse=vitesse/(6.283185*11);
00043             
00044             pc.printf("vitesse=%0.2f m/sec \n\r",vitesse);
00045             
00046             //pc.printf("Parity check succesfull.\r\n");
00047             
00048             //pc.printf("Angle: %i degrees\r\n", degrees );*/
00049         }
00050         else
00051         {
00052             //pc.printf("Parity check failed.\r\n");
00053         }
00054 
00055     }
00056 }
00057