Joseph Bradshaw
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
Revision 2:2193b220248b, committed 2015-10-07
- Comitter:
- jebradshaw
- Date:
- Wed Oct 07 17:31:26 2015 +0000
- Parent:
- 1:c627734cf04c
- Commit message:
- added this-> to most local variables/methods to avoid ambiguity
Changed in this revision
| LS7366.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/LS7366.cpp Mon Aug 31 17:13:34 2015 +0000
+++ b/LS7366.cpp Wed Oct 07 17:31:26 2015 +0000
@@ -27,18 +27,18 @@
//Constructor
LS7366::LS7366(SPI& spi, PinName cs) : _spi(spi), _cs(cs) {
- _cs = 1; // Initialize chip select as off (high)
- _init();
+ this->_cs = 1; // Initialize chip select as off (high)
+ this->_init();
}
void LS7366::LS7366_cmd(int inst, int reg){
char cmd;
- _spi.format(8, 0);
- _spi.frequency(2000000);
+ this->_spi.format(8, 0);
+ this->_spi.frequency(2000000);
cmd = (inst << 6) | (reg << 3);
// printf("\r\ncmd=0X%2X", cmd);
- _spi.write(cmd);
+ this->_spi.write(cmd);
}
long LS7366::LS7366_read_counter(){
@@ -47,64 +47,64 @@
long long_enc;
}counter;
- _spi.format(8, 0);
- _spi.frequency(2000000);
+ this->_spi.format(8, 0);
+ this->_spi.frequency(2000000);
- _cs = 0;
+ this->_cs = 0;
wait_us(1);
- LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
- _cs = 1;
+ this->LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
+ this->_cs = 1;
wait_us(1);
- _cs = 0;
+ this->_cs = 0;
wait_us(1);
- LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR
- counter.byte_enc[3] = _spi.write(0x00);
- counter.byte_enc[2] = _spi.write(0x00);
- counter.byte_enc[1] = _spi.write(0x00);
- counter.byte_enc[0] = _spi.write(0x00);
+ this->LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR
+ counter.byte_enc[3] = this->_spi.write(0x00);
+ counter.byte_enc[2] = this->_spi.write(0x00);
+ counter.byte_enc[1] = this->_spi.write(0x00);
+ counter.byte_enc[0] = this->_spi.write(0x00);
- _cs = 1;
+ this->_cs = 1;
- count = counter.long_enc;
+ this->count = counter.long_enc;
return counter.long_enc; //return count
}
void LS7366::LS7366_quad_mode_x4(){
- _spi.format(8, 0);
- _spi.frequency(2000000);
+ this->_spi.format(8, 0);
+ this->_spi.frequency(2000000);
- _cs = 0;
+ this->_cs = 0;
wait_us(1);
- LS7366_cmd(WR,MDR0);// Write to the MDR0 register
- _spi.write(0x03); // X4 quadrature count mode
+ this->LS7366_cmd(WR,MDR0);// Write to the MDR0 register
+ this->_spi.write(0x03); // X4 quadrature count mode
- _cs = 1;
+ this->_cs = 1;
}
void LS7366::LS7366_reset_counter(){
- _spi.format(8, 0);
- _spi.frequency(2000000);
+ this->_spi.format(8, 0);
+ this->_spi.frequency(2000000);
- _cs = 0;
+ this->_cs = 0;
wait_us(1);
- LS7366_cmd(CLR,CNTR);//Clear the counter register
+ this->LS7366_cmd(CLR,CNTR);//Clear the counter register
- _cs = 1;
+ this->_cs = 1;
wait_us(1);
- _cs = 0;
+ this->_cs = 0;
wait_us(1);
- LS7366_cmd(LOAD,CNTR);//
+ this->LS7366_cmd(LOAD,CNTR);//
- _cs = 1;
+ this->_cs = 1;
}
void LS7366::LS7366_write_DTR(long enc_value)
@@ -115,53 +115,53 @@
long long_enc;
}counter;
- _spi.format(8, 0);
- _spi.frequency(2000000);
+ this->_spi.format(8, 0);
+ this->_spi.frequency(2000000);
counter.long_enc = enc_value;
- _cs = 0;
+ this->_cs = 0;
wait_us(1);
- LS7366_cmd(WR,DTR);//
- _spi.write(counter.byte_enc[3]);
- _spi.write(counter.byte_enc[2]);
- _spi.write(counter.byte_enc[1]);
- _spi.write(counter.byte_enc[0]);
+ this->LS7366_cmd(WR,DTR);//
+ this->_spi.write(counter.byte_enc[3]);
+ this->_spi.write(counter.byte_enc[2]);
+ this->_spi.write(counter.byte_enc[1]);
+ this->_spi.write(counter.byte_enc[0]);
- _cs = 1;
+ this->_cs = 1;
wait_us(1);
- _cs = 0;
+ this->_cs = 0;
wait_us(1);
- LS7366_cmd(LOAD,CNTR);//
+ this->LS7366_cmd(LOAD,CNTR);//
- _cs = 1;
+ this->_cs = 1;
}
void LS7366::_init(){
- _spi.frequency(2000000);
- LS7366_reset_counter();
- LS7366_quad_mode_x4();
- LS7366_write_DTR(0);
+ this->_spi.frequency(2000000);
+ this->LS7366_reset_counter();
+ this->LS7366_quad_mode_x4();
+ this->LS7366_write_DTR(0);
}
void LS7366::write(long wcount){
- LS7366_write_DTR(wcount);
+ this->LS7366_write_DTR(wcount);
}
long LS7366::read(){
- return LS7366_read_counter();
+ return this->LS7366_read_counter();
}
LS7366& LS7366::operator= (long wcount) {
- write(wcount);
+ this->write(wcount);
return *this;
}
LS7366::operator long() {
- return read();
+ return this->read();
}
\ No newline at end of file