Revision 1:ba4ae56b4895, committed 2019-02-24

Comitter:

Rbinas

Date:

Sun Feb 24 03:07:12 2019 +0000

Parent:

0:32af259f9f2a

Commit message:

Camera Pan Tilt Encoder

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SPIEncoder.h	Sun Feb 24 03:07:12 2019 +0000
@@ -0,0 +1,120 @@
+#ifndef SPIENCODER_H_
+#define SPIENCODER_H_
+
+#include "mbed.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+SPI EncoderSpi(p5, p6, p7);//Mosi Miso Sclk
+DigitalOut cs(p8); //Chip select
+DigitalOut cs1(p9); //Chip select
+
+uint16_t EncoderByteData = 0;
+uint16_t Encoderposition_last = 0;
+uint8_t temp[2];
+uint16_t Steps;
+
+uint16_t EncoderByteData1 = 0;
+uint16_t Encoderposition_last1 = 0;
+uint8_t temp1[2];
+uint16_t Steps1;
+
+void wait_ms(int us);
+
+void InitializeEncoder()
+{
+    EncoderSpi.format(8,0);
+    EncoderSpi.frequency(8000000);
+}
+//------------------------------------------EncoderA---------------------------------------------------
+uint8_t SPI_T (uint8_t SPITransmit)//Repetive SPI transmit sequence
+{
+    uint8_t SPI_temp = 0;  //vairable to hold recieved data
+    cs=0;     //select spi device
+    SPI_temp = EncoderSpi.write(SPITransmit);//send and recieve
+    cs=1;//deselect spi device
+    return(SPI_temp);      //return recieved byte
+}
+
+void start()
+{
+    uint8_t recieved = 0xA5;//just a temp vairable
+    EncoderByteData  = 0;//reset position vairable
+    cs=0;
+    SPI_T(0x10);//issue read command
+    wait_ms(50);//give time to read. Timmig is critical
+
+    while (recieved != 0x10) { //loop while encoder is not ready to send
+        recieved = SPI_T(0x00); //cleck again if encoder is still working
+        wait_ms(1); //again,give time to read. Timmig is critical
+    }
+
+    temp[0] = SPI_T(0x00); //Recieve MSB
+    temp[1] = SPI_T(0x00); // recieve LSB
+    cs=1;
+
+    temp[0] &=~ 0xF0;//mask out the first 4 bits
+    EncoderByteData  = temp[0] << 8; //shift MSB to correct EncoderByteData in EncoderByteData message
+    EncoderByteData  += temp[1]; // add LSB to EncoderByteData message to complete message
+    wait_ms(1);//again,give time to read. Timmig is critical
+}
+
+
+void EncoderA()
+{
+    if (EncoderByteData != Encoderposition_last) { //if nothing has changed dont wast time sending position
+        Encoderposition_last = EncoderByteData ; //set last position to current position
+    } else {
+        start();   //if something has changed in position, catch it
+    }
+    Steps = EncoderByteData/16;
+}
+//-----------------------------------------------EncoderB---------------------------------------------------------------
+uint8_t SPI_TT (uint8_t SPITransmit1)//Repetive SPI transmit sequence
+{
+    uint8_t SPI_temp1 = 0;  //vairable to hold recieved data
+    cs1=0;     //select spi device
+    SPI_temp1 = EncoderSpi.write(SPITransmit1);//send and recieve
+    cs1=1;//deselect spi device
+    return(SPI_temp1);      //return recieved byte
+}
+
+void start1()
+{
+    uint8_t recieved1 = 0xA5;//just a temp vairable
+    EncoderByteData1  = 0;//reset position vairable
+    cs1=0;
+    SPI_TT(0x10);//issue read command
+    wait_ms(50);//give time to read. Timmig is critical
+
+    while (recieved1 != 0x10) { //loop while encoder is not ready to send
+        recieved1 = SPI_TT(0x00); //cleck again if encoder is still working
+        wait_ms(1); //again,give time to read. Timmig is critical
+    }
+
+    temp1[0] = SPI_TT(0x00); //Recieve MSB
+    temp1[1] = SPI_TT(0x00); // recieve LSB
+    cs1=1;
+
+    temp1[0] &=~ 0xF0;//mask out the first 4 bits
+    EncoderByteData1  = temp1[0] << 8; //shift MSB to correct EncoderByteData in EncoderByteData message
+    EncoderByteData1  += temp1[1]; // add LSB to EncoderByteData message to complete message
+    wait_ms(1);//again,give time to read. Timmig is critical
+}
+void EncoderB()
+{
+    if (EncoderByteData1 != Encoderposition_last1) { //if nothing has changed dont wast time sending position
+        Encoderposition_last1 = EncoderByteData1 ; //set last position to current position
+    } else {
+        start1(); //if something has changed in position, catch it
+    }
+    Steps1 = EncoderByteData1/16;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // #ifndef SPIENCODER_H_
\ No newline at end of file

--- a/main.cpp	Sun Feb 17 00:30:29 2019 +0000
+++ b/main.cpp	Sun Feb 24 03:07:12 2019 +0000
@@ -1,70 +1,21 @@
 
 // program used to read SPI 12 bit Encoder AMT203-V in steps of 16
 #include "mbed.h"
+#include "SPIEncoder.h"
 
 Serial pc(USBTX, USBRX); // tx, rx
-SPI EncoderSpi(p5, p6, p7);//Mosi Miso Sclk
-DigitalOut cs(p8); //Chip select
-
-uint16_t EncoderByteData = 0;
-uint16_t Encoderposition_last = 0;
-uint8_t temp[2];
-uint16_t Steps;
-void wait_ms(int us);
-
-
-uint8_t SPI_T (uint8_t SPITransmit)//Repetive SPI transmit sequence
-{
-    uint8_t SPI_temp = 0;  //vairable to hold recieved data
-    cs=0;     //select spi device
-    SPI_temp = EncoderSpi.write(SPITransmit);//send and recieve
-    cs=1;//deselect spi device
-    return(SPI_temp);      //return recieved byte
-}
-
-void start()
-{
-    uint8_t recieved = 0xA5;//just a temp vairable
-    EncoderByteData  = 0;//reset position vairable 
-    cs=0;  
-    SPI_T(0x10);//issue read command     
-    wait_ms(50);//give time to read. Timmig is critical
-    
-    while (recieved != 0x10) //loop while encoder is not ready to send
-    { 
-     recieved = SPI_T(0x00); //cleck again if encoder is still working
-     wait_ms(1); //again,give time to read. Timmig is critical
-    }
-
-     temp[0] = SPI_T(0x00); //Recieve MSB
-     temp[1] = SPI_T(0x00); // recieve LSB      
-     cs=1;
-        
-     temp[0] &=~ 0xF0;//mask out the first 4 bits
-     EncoderByteData  = temp[0] << 8; //shift MSB to correct EncoderByteData in EncoderByteData message
-     EncoderByteData  += temp[1]; // add LSB to EncoderByteData message to complete message            
-     wait_ms(1);//again,give time to read. Timmig is critical
-}
 
 int main()
 {  
-    EncoderSpi.format(8,0);
-    EncoderSpi.frequency(8000000);
+   
+    InitializeEncoder();
     
  while(true)
     {
-   
-     if (EncoderByteData != Encoderposition_last) //if nothing has changed dont wast time sending position
-    {
-      Encoderposition_last = EncoderByteData ; //set last position to current position         
-    }
-     else
-    {   
-      start(); //if something has changed in position, catch it
-    } 
-        Steps = EncoderByteData;        
-       //pc.printf("Data = %d \n", EncoderByteData ); //actual byte reading
-        pc.printf("Data = %03d \n", Steps/16 );
+   EncoderA();
+   EncoderB();
+   pc.printf("Data = %03d%03d \n", Steps,Steps1);
+  
     }
     
 }
\ No newline at end of file