Joseph Bradshaw / LS7366LIB

Preliminary mbed encoder interface IC class

Dependents:   mbed_QUAD_ENCLIB_TEST Axis Axis_20181108 Axis_version2

include the mbed library with this snippet

#include "mbed.h"
#include "LS7366.h"

SPI spi(p5, p6, p7);   
LS7366 enc1(spi, p19);
LS7366 enc2(spi, p20);
Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc

//------------------- MAIN --------------------------------
int main()
{    
    while(1){ 
        pc.printf("enc1 = %ld enc2 = %ld\r\n",enc1.read(), enc2.read());
        wait(.02);
    }//while(1)                        
}//main

LS7366.cpp@2:2193b220248b, 2015-10-07 (annotated)

Committer:
jebradshaw
Date:
Wed Oct 07 17:31:26 2015 +0000
Revision:
2:2193b220248b
Parent:
1:c627734cf04c 
added this-> to most local variables/methods to avoid ambiguity

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jebradshaw 0:c2458154721b 1 // LS7366.cpp for Encoder Class Library
jebradshaw 0:c2458154721b 2 // J. Bradshaw 20141030
jebradshaw 0:c2458154721b 3 /* Copyright (c) 2014, jbradshaw (http://mbed.org)
jebradshaw 0:c2458154721b 4 *
jebradshaw 0:c2458154721b 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
jebradshaw 0:c2458154721b 6 * of this software and associated documentation files (the "Software"), to deal
jebradshaw 0:c2458154721b 7 * in the Software without restriction, including without limitation the rights
jebradshaw 0:c2458154721b 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jebradshaw 0:c2458154721b 9 * copies of the Software, and to permit persons to whom the Software is
jebradshaw 0:c2458154721b 10 * furnished to do so, subject to the following conditions:
jebradshaw 0:c2458154721b 11 *
jebradshaw 0:c2458154721b 12 * The above copyright notice and this permission notice shall be included in
jebradshaw 0:c2458154721b 13 * all copies or substantial portions of the Software.
jebradshaw 0:c2458154721b 14 *
jebradshaw 0:c2458154721b 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jebradshaw 0:c2458154721b 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jebradshaw 0:c2458154721b 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jebradshaw 0:c2458154721b 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
jebradshaw 0:c2458154721b 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jebradshaw 0:c2458154721b 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
jebradshaw 0:c2458154721b 21 * THE SOFTWARE.
jebradshaw 0:c2458154721b 22 *
jebradshaw 0:c2458154721b 23 */
jebradshaw 0:c2458154721b 24 #include "LS7366.h"
jebradshaw 0:c2458154721b 25
jebradshaw 0:c2458154721b 26 //----- LS7366 Encoder/Counter Routines --------------------
jebradshaw 0:c2458154721b 27
jebradshaw 0:c2458154721b 28 //Constructor
jebradshaw 0:c2458154721b 29 LS7366::LS7366(SPI& spi, PinName cs) : _spi(spi), _cs(cs) {
jebradshaw 2:2193b220248b 30 this->_cs = 1; // Initialize chip select as off (high)
jebradshaw 2:2193b220248b 31 this->_init();
jebradshaw 0:c2458154721b 32 }
jebradshaw 0:c2458154721b 33
jebradshaw 0:c2458154721b 34 void LS7366::LS7366_cmd(int inst, int reg){
jebradshaw 0:c2458154721b 35 char cmd;
jebradshaw 0:c2458154721b 36
jebradshaw 2:2193b220248b 37 this->_spi.format(8, 0);
jebradshaw 2:2193b220248b 38 this->_spi.frequency(2000000);
jebradshaw 0:c2458154721b 39 cmd = (inst << 6) | (reg << 3);
jebradshaw 0:c2458154721b 40 // printf("\r\ncmd=0X%2X", cmd);
jebradshaw 2:2193b220248b 41 this->_spi.write(cmd);
jebradshaw 0:c2458154721b 42 }
jebradshaw 0:c2458154721b 43
jebradshaw 0:c2458154721b 44 long LS7366::LS7366_read_counter(){
jebradshaw 0:c2458154721b 45 union bytes{
jebradshaw 0:c2458154721b 46 char byte_enc[4];
jebradshaw 0:c2458154721b 47 long long_enc;
jebradshaw 0:c2458154721b 48 }counter;
jebradshaw 0:c2458154721b 49
jebradshaw 2:2193b220248b 50 this->_spi.format(8, 0);
jebradshaw 2:2193b220248b 51 this->_spi.frequency(2000000);
jebradshaw 0:c2458154721b 52
jebradshaw 2:2193b220248b 53 this->_cs = 0;
jebradshaw 0:c2458154721b 54 wait_us(1);
jebradshaw 2:2193b220248b 55 this->LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 2:2193b220248b 56 this->_cs = 1;
jebradshaw 0:c2458154721b 57 wait_us(1);
jebradshaw 0:c2458154721b 58
jebradshaw 2:2193b220248b 59 this->_cs = 0;
jebradshaw 0:c2458154721b 60
jebradshaw 0:c2458154721b 61 wait_us(1);
jebradshaw 2:2193b220248b 62 this->LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR
jebradshaw 2:2193b220248b 63 counter.byte_enc[3] = this->_spi.write(0x00);
jebradshaw 2:2193b220248b 64 counter.byte_enc[2] = this->_spi.write(0x00);
jebradshaw 2:2193b220248b 65 counter.byte_enc[1] = this->_spi.write(0x00);
jebradshaw 2:2193b220248b 66 counter.byte_enc[0] = this->_spi.write(0x00);
jebradshaw 0:c2458154721b 67
jebradshaw 2:2193b220248b 68 this->_cs = 1;
jebradshaw 0:c2458154721b 69
jebradshaw 2:2193b220248b 70 this->count = counter.long_enc;
jebradshaw 0:c2458154721b 71 return counter.long_enc; //return count
jebradshaw 0:c2458154721b 72 }
jebradshaw 0:c2458154721b 73
jebradshaw 0:c2458154721b 74 void LS7366::LS7366_quad_mode_x4(){
jebradshaw 0:c2458154721b 75
jebradshaw 2:2193b220248b 76 this->_spi.format(8, 0);
jebradshaw 2:2193b220248b 77 this->_spi.frequency(2000000);
jebradshaw 0:c2458154721b 78
jebradshaw 2:2193b220248b 79 this->_cs = 0;
jebradshaw 0:c2458154721b 80
jebradshaw 0:c2458154721b 81 wait_us(1);
jebradshaw 2:2193b220248b 82 this->LS7366_cmd(WR,MDR0);// Write to the MDR0 register
jebradshaw 2:2193b220248b 83 this->_spi.write(0x03); // X4 quadrature count mode
jebradshaw 0:c2458154721b 84
jebradshaw 2:2193b220248b 85 this->_cs = 1;
jebradshaw 0:c2458154721b 86 }
jebradshaw 0:c2458154721b 87
jebradshaw 0:c2458154721b 88 void LS7366::LS7366_reset_counter(){
jebradshaw 0:c2458154721b 89
jebradshaw 2:2193b220248b 90 this->_spi.format(8, 0);
jebradshaw 2:2193b220248b 91 this->_spi.frequency(2000000);
jebradshaw 0:c2458154721b 92
jebradshaw 2:2193b220248b 93 this->_cs = 0;
jebradshaw 0:c2458154721b 94
jebradshaw 0:c2458154721b 95 wait_us(1);
jebradshaw 2:2193b220248b 96 this->LS7366_cmd(CLR,CNTR);//Clear the counter register
jebradshaw 0:c2458154721b 97
jebradshaw 2:2193b220248b 98 this->_cs = 1;
jebradshaw 0:c2458154721b 99
jebradshaw 0:c2458154721b 100 wait_us(1);
jebradshaw 0:c2458154721b 101
jebradshaw 2:2193b220248b 102 this->_cs = 0;
jebradshaw 0:c2458154721b 103
jebradshaw 0:c2458154721b 104 wait_us(1);
jebradshaw 2:2193b220248b 105 this->LS7366_cmd(LOAD,CNTR);//
jebradshaw 0:c2458154721b 106
jebradshaw 2:2193b220248b 107 this->_cs = 1;
jebradshaw 0:c2458154721b 108 }
jebradshaw 0:c2458154721b 109
jebradshaw 0:c2458154721b 110 void LS7366::LS7366_write_DTR(long enc_value)
jebradshaw 0:c2458154721b 111 {
jebradshaw 0:c2458154721b 112 union bytes
jebradshaw 0:c2458154721b 113 {
jebradshaw 0:c2458154721b 114 char byte_enc[4];
jebradshaw 0:c2458154721b 115 long long_enc;
jebradshaw 0:c2458154721b 116 }counter;
jebradshaw 0:c2458154721b 117
jebradshaw 2:2193b220248b 118 this->_spi.format(8, 0);
jebradshaw 2:2193b220248b 119 this->_spi.frequency(2000000);
jebradshaw 0:c2458154721b 120
jebradshaw 0:c2458154721b 121 counter.long_enc = enc_value;
jebradshaw 0:c2458154721b 122
jebradshaw 2:2193b220248b 123 this->_cs = 0;
jebradshaw 0:c2458154721b 124
jebradshaw 0:c2458154721b 125 wait_us(1);
jebradshaw 2:2193b220248b 126 this->LS7366_cmd(WR,DTR);//
jebradshaw 2:2193b220248b 127 this->_spi.write(counter.byte_enc[3]);
jebradshaw 2:2193b220248b 128 this->_spi.write(counter.byte_enc[2]);
jebradshaw 2:2193b220248b 129 this->_spi.write(counter.byte_enc[1]);
jebradshaw 2:2193b220248b 130 this->_spi.write(counter.byte_enc[0]);
jebradshaw 0:c2458154721b 131
jebradshaw 2:2193b220248b 132 this->_cs = 1;
jebradshaw 0:c2458154721b 133
jebradshaw 0:c2458154721b 134 wait_us(1);
jebradshaw 0:c2458154721b 135
jebradshaw 2:2193b220248b 136 this->_cs = 0;
jebradshaw 0:c2458154721b 137
jebradshaw 0:c2458154721b 138 wait_us(1);
jebradshaw 2:2193b220248b 139 this->LS7366_cmd(LOAD,CNTR);//
jebradshaw 0:c2458154721b 140
jebradshaw 2:2193b220248b 141 this->_cs = 1;
jebradshaw 0:c2458154721b 142 }
jebradshaw 0:c2458154721b 143
jebradshaw 0:c2458154721b 144 void LS7366::_init(){
jebradshaw 2:2193b220248b 145 this->_spi.frequency(2000000);
jebradshaw 2:2193b220248b 146 this->LS7366_reset_counter();
jebradshaw 2:2193b220248b 147 this->LS7366_quad_mode_x4();
jebradshaw 2:2193b220248b 148 this->LS7366_write_DTR(0);
jebradshaw 0:c2458154721b 149 }
jebradshaw 0:c2458154721b 150
jebradshaw 0:c2458154721b 151 void LS7366::write(long wcount){
jebradshaw 2:2193b220248b 152 this->LS7366_write_DTR(wcount);
jebradshaw 0:c2458154721b 153 }
jebradshaw 0:c2458154721b 154
jebradshaw 0:c2458154721b 155 long LS7366::read(){
jebradshaw 2:2193b220248b 156 return this->LS7366_read_counter();
jebradshaw 0:c2458154721b 157 }
jebradshaw 0:c2458154721b 158
jebradshaw 0:c2458154721b 159 LS7366& LS7366::operator= (long wcount) {
jebradshaw 2:2193b220248b 160 this->write(wcount);
jebradshaw 0:c2458154721b 161 return *this;
jebradshaw 0:c2458154721b 162 }
jebradshaw 0:c2458154721b 163
jebradshaw 0:c2458154721b 164
jebradshaw 0:c2458154721b 165 LS7366::operator long() {
jebradshaw 2:2193b220248b 166 return this->read();
jebradshaw 0:c2458154721b 167 }