Diff: AS5045/AS5045.cpp

Revision:

4:f6e22dd39313

Parent:

1:3c6771928b35

Child:

5:97117a837d2c

--- a/AS5045/AS5045.cpp	Tue Jul 07 15:02:22 2020 +0000
+++ b/AS5045/AS5045.cpp	Sat Jul 18 14:59:04 2020 +0000
@@ -1,5 +1,5 @@
 #include "AS5045.h"
-
+//we have 5040
 /** Constructor
  *
  *	@param CS Pin number for the digital output
@@ -7,16 +7,18 @@
  *	@note
  *		PinName CS is the digital output pin number
  */
+ 
+ 
+ Timer timer_enc;
 AS5045::AS5045(PinName CS) :
   _spi(NC,D12, D13),	// MBED SPI init
   _cs(CS)				// Digital output pin init
 {
 	// Set SPI bitwidth
-	_spi.format(9,2);
+	_spi.format(9, 2);
 
 	// Set SPI frequency
-	_spi.frequency(SPI_FREQ);
-
+	_spi.frequency(50000);//SPI_FREQ);
 	// Set the digital output high
 	_cs = 1;
 }
@@ -28,21 +30,29 @@
  */
 int AS5045::getPosition()
 {
-	int upper,		// Upper part of the tick amount integer
-		lower;		// Lower part of the tick amount integer
+	unsigned int upper,		// Upper part of the tick amount integer
+				lower;		// Lower part of the tick amount integer
 
 	// Set the chip select pin low
 	_cs = 0;
-
+	timer_enc.reset();
+        timer_enc.start();
+	wait_ms(5);
 	// Read data from the encoder
- 	upper = _spi.write(0x00);
- 	lower = _spi.write(0x00);
+ 	upper = (_spi.write(0x00)) ;
+ 	lower = (_spi.write(0x00));
+ 	
+// 	lower = lower >> 6;   
+//    upper = (upper >> 6)+lower;
+//   upper = upper & 0xffc0;
+   upper = upper >> 6;
 
 	// Set the chip select pin high
  	_cs = 1;
-
+wait_ms(5);
  	// Return full 9-bits tick amount
-	return ((upper << 3)+(lower >> 6));
+	return upper; 
+	//return upper ;
 }
 
 /** Convert position of the encoder to degrees