Joseph Bradshaw / mbedWSEsbc

C Library for mbedWSE project based single board computer for hardware peripherals

Dependents:   Lab7_wse Lab7_wse_student mbed_WSEPRJSBC_EncoderTest mbed_WSEPRJSBC_ADC_test ... more

Weapons and Systems Engineering mbed based single board computer

/media/uploads/jebradshaw/mbedwseprojectsbc_final_small.jpg

Contains C library function listing for hardware peripheral support. Includes functions for +/-10V 12-bit 8-Channel analog-to-digital converter (ADC), 10-bit 2-Channel digital-to-analog converter (DAC), motor control/servo ports, and quadrature encoder ports. Board includes physical Ethernet, USB Host, and CAN bus interfaces. Also includes xbee socket and external I/O pins straight to processor for on-board I2C, SPI, ADC, and DAC.

Schematic

/media/uploads/jebradshaw/mbed_wseprojsbc_schematic_20150211.jpg

Description

This single board computer was designed for the Weapons and Systems Engineering department at the US Naval Academy. The board encompasses a multitude of functional capability for interfacing to a variety of sensors and actuators used in embedded control systems. The board can be powered from a 7-36V DC / AC power supply using a 2.1mm standard barrel connector. The on board bridge rectifier composed of individual diodes allows either polarity on the connector power supply. The four primary external integrated circuits on the board all use the SPI bus for communication. The four primary components are the analog to digital converter, the digital to analog converter, and the two dedicated encoder/counter IC's. The encoder/counter IC's off-load the micro-processor from the burden of external interrupts during high frequency edge detection. The IC's offer 32-bit resolution counting/quadrature decoding, rollover and status information, and index detection for absolute position encoder interfacing. The MAX1270 analog to digital converter (ADC) was chosen for its internal reference and bi-polar voltage input range and scaling program-ability (0-5V, 0-10V, +/-5V, +/-10V). The ADC provides 12-bit resolution at these voltage ranges and are individually channel select-able. Note that careful attention must be used when driving the ADC inputs when in Bipolar operation. An Op-Amp with insufficient current drive capability (milli-amps) will be unable to overcome the internal voltage reference on the input pin due to impedance mismatch/ output current drive capability. This should be checked with an oscilloscope on the input pin if discrepancies between measured voltage values and ADC results exist.

The MAX522 DAC provides 0-5V 10-bit voltage resolution. The range is dependent on the selected 5V board voltage reference source (external 5V switching regulator vs. USB power supply). The board power supply 5V reference can be read by connecting the supply to an external ADC channel and reading the voltage on the 0-10V range.

/media/uploads/jebradshaw/mbed_wseprojsbc_schematic_20140922.pdf - Schematic in PDF

Test Program

/media/uploads/jebradshaw/main_mbedwsesbctest.cpp - Program for testing the library, control the SBC with serial commands

http://developer.mbed.org/users/jebradshaw/code/mbed_WSEPRJSBC_EncoderTest/ - Program for testing the Quadrature Encoder Channels

http://developer.mbed.org/users/jebradshaw/code/mbed_WSEPRJSBC_ADC_test/ - Program to read two channels from the MAX1270 ADC in +/- 10V operation.

http://mbed.org/handbook/Windows-serial-configuration - Link to Serial Driver Installation instructions

Datasheets

/media/uploads/jebradshaw/oki-78sr.pdf - 5V switching regulator

/media/uploads/jebradshaw/ls7366r_w_program.pdf - Encoder IC's

/media/uploads/jebradshaw/max1270.pdf - ADC 8-Channel 12-bit 5V to 10V single/bi-polar input

/media/uploads/jebradshaw/max522.pdf - DAC 2-Channel 0-5V 10-bit

/media/uploads/jebradshaw/mcp2551_can_transceiver.pdf - CAN Transceiver

/media/uploads/jebradshaw/0821-1x1t-36-f.pdf - Ethernet Jack

/media/uploads/jebradshaw/190-009-263r001.pdf - CAN connector

Printed Circuit Board (ExpressPCB)

/media/uploads/jebradshaw/mbedprjv10_20140916.pcb

Partslist (partial)

/media/uploads/jebradshaw/mbedprjv10_partslist.pdf

mbedWSEsbc.h@7:740d112d934d, 2014-10-22 (annotated)

Committer:
jebradshaw
Date:
Wed Oct 22 19:09:00 2014 +0000
Revision:
7:740d112d934d
Parent:
4:1aa4a75f6885
Child:
9:56c77746e6a8
PID control Quanser active suspension demo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jebradshaw 4:1aa4a75f6885 1 /* C Library for the WSE-PROJ-SBC
jebradshaw 4:1aa4a75f6885 2 J Bradshaw
jebradshaw 4:1aa4a75f6885 3 20140912
jebradshaw 4:1aa4a75f6885 4 20140918 J Bradshaw - Found CS mistake in Encoder routines
jebradshaw 4:1aa4a75f6885 5 Added comments in Init function, encoder functions
jebradshaw 7:740d112d934d 6 20141021 J Bradshaw - Added comments for ADC function
jebradshaw 4:1aa4a75f6885 7 */
jebradshaw 0:dbd8b5c35d0f 8
jebradshaw 4:1aa4a75f6885 9
jebradshaw 4:1aa4a75f6885 10 // LS7366 ENCODER IC DEFINITIONS
jebradshaw 0:dbd8b5c35d0f 11 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 12 // Four commands for the Instruction Register (B7,B6) - LS7366
jebradshaw 0:dbd8b5c35d0f 13 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 14 #define CLR 0x00 //Clear Instruction
jebradshaw 0:dbd8b5c35d0f 15 #define RD 0x01 //Read Instruction
jebradshaw 0:dbd8b5c35d0f 16 #define WR 0x02 //Write Instruction
jebradshaw 0:dbd8b5c35d0f 17 #define LOAD 0x03 //Load Instruction
jebradshaw 0:dbd8b5c35d0f 18
jebradshaw 0:dbd8b5c35d0f 19 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 20 // Register to Select from the Instruction Register (B5,B4,B3) - LS7366
jebradshaw 0:dbd8b5c35d0f 21 //=============================================================================
jebradshaw 0:dbd8b5c35d0f 22 #define NONE 0x00 //No Register Selected
jebradshaw 0:dbd8b5c35d0f 23 #define MDR0 0x01 //Mode Register 0
jebradshaw 0:dbd8b5c35d0f 24 #define MDR1 0x02 //Mode Register 1
jebradshaw 0:dbd8b5c35d0f 25 #define DTR 0x03 //Data Transfer Register
jebradshaw 0:dbd8b5c35d0f 26 #define CNTR 0x04 //Software Configurable Counter Register
jebradshaw 0:dbd8b5c35d0f 27 #define OTR 0x05 //Output Transfer Register
jebradshaw 0:dbd8b5c35d0f 28 #define STR 0x06 //Status Register
jebradshaw 0:dbd8b5c35d0f 29 #define NONE_REG 0x07 //No Register Selected
jebradshaw 0:dbd8b5c35d0f 30
jebradshaw 0:dbd8b5c35d0f 31 // Set-up hardwired IO
jebradshaw 0:dbd8b5c35d0f 32 SPI spi_max1270(p5, p6, p7);
jebradshaw 0:dbd8b5c35d0f 33 SPI spi(p5, p6, p7);
jebradshaw 4:1aa4a75f6885 34 DigitalOut max1270_cs(p8); //CS for MAX1270 ADC (U3)
jebradshaw 4:1aa4a75f6885 35 DigitalOut max522_cs(p11); //CS for MAX522 DAC (U5)
jebradshaw 0:dbd8b5c35d0f 36
jebradshaw 4:1aa4a75f6885 37 DigitalOut ls7166_cs1(p19); //CS for LS7366-1 (U8)
jebradshaw 4:1aa4a75f6885 38 DigitalOut ls7166_cs2(p20); //CS for LS7366-2 (U9)
jebradshaw 0:dbd8b5c35d0f 39
jebradshaw 4:1aa4a75f6885 40 DigitalOut mot1_ph1(p21);
jebradshaw 0:dbd8b5c35d0f 41 DigitalOut mot1_ph2(p22);
jebradshaw 0:dbd8b5c35d0f 42 PwmOut mot_en1(p23);
jebradshaw 0:dbd8b5c35d0f 43
jebradshaw 0:dbd8b5c35d0f 44 DigitalOut mot2_ph1(p24);
jebradshaw 0:dbd8b5c35d0f 45 DigitalOut mot2_ph2(p25);
jebradshaw 0:dbd8b5c35d0f 46 PwmOut mot_en2(p26);
jebradshaw 0:dbd8b5c35d0f 47
jebradshaw 0:dbd8b5c35d0f 48 DigitalOut led1(LED1);
jebradshaw 0:dbd8b5c35d0f 49 DigitalOut led2(LED2);
jebradshaw 0:dbd8b5c35d0f 50 DigitalOut led3(LED3);
jebradshaw 0:dbd8b5c35d0f 51 DigitalOut led4(LED4);
jebradshaw 0:dbd8b5c35d0f 52
jebradshaw 0:dbd8b5c35d0f 53 Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc
jebradshaw 0:dbd8b5c35d0f 54 Serial xbee(p13, p14); // tx, rx for Xbee
jebradshaw 0:dbd8b5c35d0f 55 Timer t; // create timer instance
jebradshaw 0:dbd8b5c35d0f 56
jebradshaw 0:dbd8b5c35d0f 57 // ------ Prototypes -----------
jebradshaw 0:dbd8b5c35d0f 58 int read_max1270(int chan, int range, int bipol);
jebradshaw 0:dbd8b5c35d0f 59 float read_max1270_volts(int chan, int range, int bipol);
jebradshaw 0:dbd8b5c35d0f 60 void mot_control(int drv_num, float dc);
jebradshaw 0:dbd8b5c35d0f 61 void LS7366_cmd(int inst, int reg);
jebradshaw 0:dbd8b5c35d0f 62 long LS7366_read_counter(int chan_num);
jebradshaw 0:dbd8b5c35d0f 63 void LS7366_quad_mode_x4(int chan_num);
jebradshaw 0:dbd8b5c35d0f 64 void LS7366_reset_counter(int chan_num);
jebradshaw 0:dbd8b5c35d0f 65 void LS7366_write_DTR(int chan_num,long enc_value);
jebradshaw 0:dbd8b5c35d0f 66 void write_max522(int chan, float volts);
jebradshaw 0:dbd8b5c35d0f 67
jebradshaw 0:dbd8b5c35d0f 68 //---- Function Listing -------------------------------
jebradshaw 7:740d112d934d 69 // return integer - 12 bit ADC result
jebradshaw 7:740d112d934d 70 // chan - integer from 0 - 7
jebradshaw 7:740d112d934d 71 // range - 0: 0 - 5 volts, 1: 0 - 10V
jebradshaw 7:740d112d934d 72 // bipol - 0: 0 - 5 volts, 0 - 10V, 1 for +/- 5 volts, +/- 10 volts
jebradshaw 0:dbd8b5c35d0f 73 int read_max1270(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 74 int cword=0x80; //set the start bit
jebradshaw 0:dbd8b5c35d0f 75
jebradshaw 0:dbd8b5c35d0f 76 spi_max1270.frequency(10000000);
jebradshaw 0:dbd8b5c35d0f 77 spi_max1270.format(8, 0); // 8 data bits, CPOL0, and CPHA0 (datasheet Digital Interface)
jebradshaw 0:dbd8b5c35d0f 78
jebradshaw 0:dbd8b5c35d0f 79 cword |= (chan << 4); //shift channel
jebradshaw 0:dbd8b5c35d0f 80 cword |= (range << 3);
jebradshaw 0:dbd8b5c35d0f 81 cword |= (bipol << 2);
jebradshaw 0:dbd8b5c35d0f 82
jebradshaw 0:dbd8b5c35d0f 83 max1270_cs = 0;
jebradshaw 0:dbd8b5c35d0f 84
jebradshaw 0:dbd8b5c35d0f 85 spi_max1270.write(cword);
jebradshaw 0:dbd8b5c35d0f 86 wait_us(15); //15us
jebradshaw 0:dbd8b5c35d0f 87 spi_max1270.format(12, 3);
jebradshaw 0:dbd8b5c35d0f 88
jebradshaw 0:dbd8b5c35d0f 89 int result = spi_max1270.write(0);
jebradshaw 0:dbd8b5c35d0f 90
jebradshaw 0:dbd8b5c35d0f 91 max1270_cs = 1;
jebradshaw 0:dbd8b5c35d0f 92 spi_max1270.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 93 return result;
jebradshaw 0:dbd8b5c35d0f 94 }
jebradshaw 0:dbd8b5c35d0f 95
jebradshaw 0:dbd8b5c35d0f 96 float read_max1270_volts(int chan, int range, int bipol){
jebradshaw 0:dbd8b5c35d0f 97 float rangevolts=0.0;
jebradshaw 0:dbd8b5c35d0f 98 float volts=0.0;
jebradshaw 0:dbd8b5c35d0f 99 int adc_res;
jebradshaw 0:dbd8b5c35d0f 100
jebradshaw 0:dbd8b5c35d0f 101 //read the ADC converter
jebradshaw 0:dbd8b5c35d0f 102 adc_res = read_max1270(chan, range, bipol) & 0xFFF;
jebradshaw 0:dbd8b5c35d0f 103
jebradshaw 0:dbd8b5c35d0f 104 //Determine the voltage range
jebradshaw 0:dbd8b5c35d0f 105 if(range) //RNG bit
jebradshaw 0:dbd8b5c35d0f 106 rangevolts=10.0;
jebradshaw 0:dbd8b5c35d0f 107 else
jebradshaw 0:dbd8b5c35d0f 108 rangevolts=5.0;
jebradshaw 0:dbd8b5c35d0f 109
jebradshaw 0:dbd8b5c35d0f 110 //bi-polar input range
jebradshaw 0:dbd8b5c35d0f 111 if(bipol){ //BIP is set, input is +/-
jebradshaw 0:dbd8b5c35d0f 112 if(adc_res < 0x800){ //if result was positive
jebradshaw 0:dbd8b5c35d0f 113 volts = ((float)adc_res/0x7FF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 114 }
jebradshaw 0:dbd8b5c35d0f 115 else{ //result was negative
jebradshaw 0:dbd8b5c35d0f 116 volts = -(-((float)adc_res/0x7FF) * rangevolts) - (rangevolts * 2.0);
jebradshaw 0:dbd8b5c35d0f 117 }
jebradshaw 0:dbd8b5c35d0f 118 }
jebradshaw 0:dbd8b5c35d0f 119 else{ //input is positive polarity only
jebradshaw 0:dbd8b5c35d0f 120 volts = ((float)adc_res/0xFFF) * rangevolts;
jebradshaw 0:dbd8b5c35d0f 121 }
jebradshaw 0:dbd8b5c35d0f 122
jebradshaw 0:dbd8b5c35d0f 123 return volts;
jebradshaw 0:dbd8b5c35d0f 124 }
jebradshaw 0:dbd8b5c35d0f 125
jebradshaw 0:dbd8b5c35d0f 126 //Motor control routine for PWM on 5 pin motor driver header
jebradshaw 0:dbd8b5c35d0f 127 // drv_num is 1 or 2 (defaults to 1, anything but 2)
jebradshaw 0:dbd8b5c35d0f 128 // dc is signed duty cycle (+/-1.0)
jebradshaw 0:dbd8b5c35d0f 129
jebradshaw 0:dbd8b5c35d0f 130 void mot_control(int drv_num, float dc){
jebradshaw 0:dbd8b5c35d0f 131 if(dc>1.0)
jebradshaw 0:dbd8b5c35d0f 132 dc=1.0;
jebradshaw 0:dbd8b5c35d0f 133 if(dc<-1.0)
jebradshaw 0:dbd8b5c35d0f 134 dc=-1.0;
jebradshaw 0:dbd8b5c35d0f 135
jebradshaw 0:dbd8b5c35d0f 136 if(drv_num != 2){
jebradshaw 0:dbd8b5c35d0f 137 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 138 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 139 mot1_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 140 mot_en1 = dc;
jebradshaw 0:dbd8b5c35d0f 141 }
jebradshaw 0:dbd8b5c35d0f 142 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 143 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 144 mot1_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 145 mot_en1 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 146 }
jebradshaw 0:dbd8b5c35d0f 147 else{
jebradshaw 0:dbd8b5c35d0f 148 mot1_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 149 mot1_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 150 mot_en1 = 0.0;
jebradshaw 0:dbd8b5c35d0f 151 }
jebradshaw 0:dbd8b5c35d0f 152 }
jebradshaw 0:dbd8b5c35d0f 153 else{
jebradshaw 0:dbd8b5c35d0f 154 if(dc > 0.0){
jebradshaw 0:dbd8b5c35d0f 155 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 156 mot2_ph1 = 1;
jebradshaw 0:dbd8b5c35d0f 157 mot_en2 = dc;
jebradshaw 0:dbd8b5c35d0f 158 }
jebradshaw 0:dbd8b5c35d0f 159 else if(dc < -0.0){
jebradshaw 0:dbd8b5c35d0f 160 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 161 mot2_ph2 = 1;
jebradshaw 0:dbd8b5c35d0f 162 mot_en2 = abs(dc);
jebradshaw 0:dbd8b5c35d0f 163 }
jebradshaw 0:dbd8b5c35d0f 164 else{
jebradshaw 0:dbd8b5c35d0f 165 mot2_ph1 = 0;
jebradshaw 0:dbd8b5c35d0f 166 mot2_ph2 = 0;
jebradshaw 0:dbd8b5c35d0f 167 mot_en2 = 0.0;
jebradshaw 0:dbd8b5c35d0f 168 }
jebradshaw 0:dbd8b5c35d0f 169 }
jebradshaw 0:dbd8b5c35d0f 170 }
jebradshaw 0:dbd8b5c35d0f 171
jebradshaw 0:dbd8b5c35d0f 172 //----- LS7366 Encoder/Counter Routines --------------------
jebradshaw 0:dbd8b5c35d0f 173 void LS7366_cmd(int inst, int reg){
jebradshaw 0:dbd8b5c35d0f 174 char cmd;
jebradshaw 0:dbd8b5c35d0f 175
jebradshaw 0:dbd8b5c35d0f 176 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 177 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 178 cmd = (inst << 6) | (reg << 3);
jebradshaw 0:dbd8b5c35d0f 179 // printf("\r\ncmd=0X%2X", cmd);
jebradshaw 0:dbd8b5c35d0f 180 spi.write(cmd);
jebradshaw 0:dbd8b5c35d0f 181 }
jebradshaw 0:dbd8b5c35d0f 182
jebradshaw 0:dbd8b5c35d0f 183 long LS7366_read_counter(int chan_num){
jebradshaw 0:dbd8b5c35d0f 184 union bytes{
jebradshaw 0:dbd8b5c35d0f 185 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 186 long long_enc;
jebradshaw 0:dbd8b5c35d0f 187 }counter;
jebradshaw 0:dbd8b5c35d0f 188
jebradshaw 0:dbd8b5c35d0f 189 counter.long_enc = 0;
jebradshaw 0:dbd8b5c35d0f 190
jebradshaw 0:dbd8b5c35d0f 191 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 192 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 193
jebradshaw 0:dbd8b5c35d0f 194 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 195 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 196 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 197 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 198 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 199 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 200 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 201 }
jebradshaw 0:dbd8b5c35d0f 202 else{
jebradshaw 0:dbd8b5c35d0f 203 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 204 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 205 LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
jebradshaw 0:dbd8b5c35d0f 206 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 207 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 208
jebradshaw 0:dbd8b5c35d0f 209 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 210 }
jebradshaw 0:dbd8b5c35d0f 211 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 212 LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR
jebradshaw 0:dbd8b5c35d0f 213 counter.byte_enc[3] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 214 counter.byte_enc[2] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 215 counter.byte_enc[1] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 216 counter.byte_enc[0] = spi.write(0x00);
jebradshaw 0:dbd8b5c35d0f 217
jebradshaw 0:dbd8b5c35d0f 218 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 219 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 220 }
jebradshaw 0:dbd8b5c35d0f 221 else{
jebradshaw 0:dbd8b5c35d0f 222 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 223 }
jebradshaw 0:dbd8b5c35d0f 224
jebradshaw 0:dbd8b5c35d0f 225 return counter.long_enc; //return count
jebradshaw 0:dbd8b5c35d0f 226 }
jebradshaw 0:dbd8b5c35d0f 227
jebradshaw 0:dbd8b5c35d0f 228 void LS7366_quad_mode_x4(int chan_num){
jebradshaw 0:dbd8b5c35d0f 229
jebradshaw 0:dbd8b5c35d0f 230 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 231 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 232
jebradshaw 0:dbd8b5c35d0f 233 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 234 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 235 }
jebradshaw 0:dbd8b5c35d0f 236 else{
jebradshaw 0:dbd8b5c35d0f 237 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 238 }
jebradshaw 0:dbd8b5c35d0f 239 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 240 LS7366_cmd(WR,MDR0);// Write to the MDR0 register
jebradshaw 4:1aa4a75f6885 241 wait_us(1);
jebradshaw 0:dbd8b5c35d0f 242 spi.write(0x03); // X4 quadrature count mode
jebradshaw 0:dbd8b5c35d0f 243 if(chan_num!=2){
jebradshaw 0:dbd8b5c35d0f 244 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 245 }
jebradshaw 0:dbd8b5c35d0f 246 else{
jebradshaw 0:dbd8b5c35d0f 247 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 248 }
jebradshaw 0:dbd8b5c35d0f 249 }
jebradshaw 0:dbd8b5c35d0f 250
jebradshaw 4:1aa4a75f6885 251 void LS7366_reset_counter(int chan_num){
jebradshaw 4:1aa4a75f6885 252 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 4:1aa4a75f6885 253 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 254
jebradshaw 4:1aa4a75f6885 255 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 256 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 257 }
jebradshaw 0:dbd8b5c35d0f 258 else{
jebradshaw 0:dbd8b5c35d0f 259 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 260 }
jebradshaw 4:1aa4a75f6885 261 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 262 LS7366_cmd(CLR,CNTR); // Clear the counter register
jebradshaw 4:1aa4a75f6885 263 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 264 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 265 }
jebradshaw 0:dbd8b5c35d0f 266 else{
jebradshaw 4:1aa4a75f6885 267 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 268 }
jebradshaw 4:1aa4a75f6885 269 wait_us(1); // short delay
jebradshaw 0:dbd8b5c35d0f 270
jebradshaw 4:1aa4a75f6885 271 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 272 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 273 }
jebradshaw 0:dbd8b5c35d0f 274 else{
jebradshaw 0:dbd8b5c35d0f 275 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 276 }
jebradshaw 4:1aa4a75f6885 277 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 278 LS7366_cmd(LOAD,CNTR); // load counter reg
jebradshaw 4:1aa4a75f6885 279 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 280 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 281 }
jebradshaw 0:dbd8b5c35d0f 282 else{
jebradshaw 4:1aa4a75f6885 283 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 284 }
jebradshaw 0:dbd8b5c35d0f 285 }
jebradshaw 0:dbd8b5c35d0f 286
jebradshaw 4:1aa4a75f6885 287 void LS7366_write_DTR(int chan_num, long enc_value){
jebradshaw 4:1aa4a75f6885 288 union bytes // Union to speed up byte writes
jebradshaw 0:dbd8b5c35d0f 289 {
jebradshaw 0:dbd8b5c35d0f 290 char byte_enc[4];
jebradshaw 0:dbd8b5c35d0f 291 long long_enc;
jebradshaw 0:dbd8b5c35d0f 292 }counter;
jebradshaw 0:dbd8b5c35d0f 293
jebradshaw 4:1aa4a75f6885 294 spi.format(8, 0); // set up SPI for 8 data bits, mode 0
jebradshaw 4:1aa4a75f6885 295 spi.frequency(2000000); // 2MHz SPI clock
jebradshaw 0:dbd8b5c35d0f 296
jebradshaw 4:1aa4a75f6885 297 counter.long_enc = enc_value; // pass enc_value to Union
jebradshaw 0:dbd8b5c35d0f 298
jebradshaw 4:1aa4a75f6885 299 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 300 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 301 }
jebradshaw 0:dbd8b5c35d0f 302 else{
jebradshaw 0:dbd8b5c35d0f 303 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 304 }
jebradshaw 4:1aa4a75f6885 305 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 306 LS7366_cmd(WR,DTR); // Write to the Data Transfer Register
jebradshaw 4:1aa4a75f6885 307 spi.write(counter.byte_enc[3]); // Write the 32-bit encoder value
jebradshaw 0:dbd8b5c35d0f 308 spi.write(counter.byte_enc[2]);
jebradshaw 0:dbd8b5c35d0f 309 spi.write(counter.byte_enc[1]);
jebradshaw 0:dbd8b5c35d0f 310 spi.write(counter.byte_enc[0]);
jebradshaw 4:1aa4a75f6885 311 if(chan_num!=2){ // de-activate the chip select
jebradshaw 0:dbd8b5c35d0f 312 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 313 }
jebradshaw 0:dbd8b5c35d0f 314 else{
jebradshaw 0:dbd8b5c35d0f 315 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 316 }
jebradshaw 0:dbd8b5c35d0f 317
jebradshaw 4:1aa4a75f6885 318 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 319 if(chan_num!=2){ // activate chip select
jebradshaw 0:dbd8b5c35d0f 320 ls7166_cs1 = 0;
jebradshaw 0:dbd8b5c35d0f 321 }
jebradshaw 0:dbd8b5c35d0f 322 else{
jebradshaw 0:dbd8b5c35d0f 323 ls7166_cs2 = 0;
jebradshaw 0:dbd8b5c35d0f 324 }
jebradshaw 4:1aa4a75f6885 325 wait_us(1); // short delay
jebradshaw 4:1aa4a75f6885 326 LS7366_cmd(LOAD,CNTR); // load command to the counter register from DTR
jebradshaw 4:1aa4a75f6885 327 if(chan_num!=2){ // de-activate chip select
jebradshaw 0:dbd8b5c35d0f 328 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 329 }
jebradshaw 0:dbd8b5c35d0f 330 else{
jebradshaw 0:dbd8b5c35d0f 331 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 332 }
jebradshaw 0:dbd8b5c35d0f 333 }
jebradshaw 0:dbd8b5c35d0f 334
jebradshaw 0:dbd8b5c35d0f 335 //------- MAX522 routines ---------------------------------
jebradshaw 0:dbd8b5c35d0f 336 void write_max522(int chan, float volts){
jebradshaw 0:dbd8b5c35d0f 337 int cmd=0x20; //set UB3
jebradshaw 0:dbd8b5c35d0f 338 int data_word = (int)((volts/5.0) * 256.0);
jebradshaw 0:dbd8b5c35d0f 339 if(chan != 2)
jebradshaw 0:dbd8b5c35d0f 340 cmd |= 0x01; //set DAC A out
jebradshaw 0:dbd8b5c35d0f 341 else
jebradshaw 0:dbd8b5c35d0f 342 cmd |= 0x02; //set DACB out
jebradshaw 0:dbd8b5c35d0f 343
jebradshaw 0:dbd8b5c35d0f 344 // pc.printf("cmd=0x%4X data_word=0x%4X \r\n", cmd, data_word);
jebradshaw 0:dbd8b5c35d0f 345
jebradshaw 0:dbd8b5c35d0f 346 spi.format(8, 0);
jebradshaw 0:dbd8b5c35d0f 347 spi.frequency(2000000);
jebradshaw 0:dbd8b5c35d0f 348 max522_cs = 0;
jebradshaw 0:dbd8b5c35d0f 349 spi.write(cmd & 0xFF);
jebradshaw 0:dbd8b5c35d0f 350 spi.write(data_word & 0xFF);
jebradshaw 0:dbd8b5c35d0f 351 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 352 }
jebradshaw 0:dbd8b5c35d0f 353
jebradshaw 1:85cd6d500385 354 void mbedWSEsbcInit(unsigned long pcbaud){
jebradshaw 4:1aa4a75f6885 355 led1 = 0; //Initialize all LEDs as off
jebradshaw 4:1aa4a75f6885 356 led2 = 0;
jebradshaw 4:1aa4a75f6885 357 led3 = 0;
jebradshaw 4:1aa4a75f6885 358 led4 = 0;
jebradshaw 4:1aa4a75f6885 359 max1270_cs = 1; //Initialize all chip selects as off
jebradshaw 0:dbd8b5c35d0f 360 max522_cs = 1;
jebradshaw 0:dbd8b5c35d0f 361 ls7166_cs1 = 1;
jebradshaw 0:dbd8b5c35d0f 362 ls7166_cs2 = 1;
jebradshaw 0:dbd8b5c35d0f 363
jebradshaw 0:dbd8b5c35d0f 364 wait(.2); //delay at beginning for voltage settle purposes
jebradshaw 0:dbd8b5c35d0f 365
jebradshaw 4:1aa4a75f6885 366 mot_en1.period_us(50); //20KHz for DC motor control PWM
jebradshaw 1:85cd6d500385 367 pc.baud(pcbaud); //Set up serial port baud rate
jebradshaw 4:1aa4a75f6885 368 pc.printf("\r\n");
jebradshaw 0:dbd8b5c35d0f 369 xbee.baud(9600);
jebradshaw 0:dbd8b5c35d0f 370
jebradshaw 0:dbd8b5c35d0f 371 LS7366_reset_counter(1);
jebradshaw 0:dbd8b5c35d0f 372 LS7366_quad_mode_x4(1);
jebradshaw 0:dbd8b5c35d0f 373 LS7366_write_DTR(1,0);
jebradshaw 0:dbd8b5c35d0f 374
jebradshaw 0:dbd8b5c35d0f 375 LS7366_reset_counter(2);
jebradshaw 0:dbd8b5c35d0f 376 LS7366_quad_mode_x4(2);
jebradshaw 0:dbd8b5c35d0f 377 LS7366_write_DTR(2,0);
jebradshaw 0:dbd8b5c35d0f 378
jebradshaw 0:dbd8b5c35d0f 379 t.start(); // Set up timer
jebradshaw 0:dbd8b5c35d0f 380 }//mbedWSEsbc_init()