/**@fn char Encoder_Read(char command, long *result)
*@brief Reads from a register on the LS7366R encoder chip
*@param [in] command A valid encoder command. Use the symbolic constants in Encoder.h
*@param [in] *result pointer to a long value to store the result to
*
*This function reads from a register on the LS7366R encoder chip over SPI. It stores the result to the location pointed to by *result.
*NOTE: Not all registers are longs (and depending on configuration, none of them might be), so it is up to the user to interpret the
*returned value correctly. For READCNT commands, if the CNTR register is set to be less than 4 bytes, it will store the returned data
*in the upper n bytes of the long, MSBF, where n is the number of bytes CNTR is set up to be. For all other commands, it stores the value
*in the lower bytes.
*NOTE: Interrupts are disabled while this operation communicates over the SPI bus. Care should be taken that critical interrupts do not
*happen during the operation, as they will be ignored.
*/
char Encoder_Read(char command, long *result)
{
ENCODER_COMMAND genCom;
Encoder_Generate_Command(command, &genCom);
Serial_Print_String("\r\nGenerated Command: ");
Serial_Print_Int((int)genCom._COMMAND, 2);
cli();
Encoder_Initialize_SPI();
//bring encoder SS pin low to enable communications
Pin_Set('B', SSPIN_ENC, 0);
switch(command)
{
case READMDR0:
case READMDR1:
SPI_Send_Byte(genCom._COMMAND);
*result = SPI_Read_Byte();
break;
case READCNT:
SPI_Send_Byte(genCom._COMMAND);
*result = SPI_Read_Byte();
*result = *result<<8;
*result |= SPI_Read_Byte();
*result = *result<<8;
*result |= SPI_Read_Byte();
*result = *result<<8;
*result |= SPI_Read_Byte();
}
Pin_Set('B', SSPIN_ENC, 1);
sei();
return 1;
}
void Pin_Toggle(tPinName pin)
{
// Check for valid pin name
if (pin == NONE || pin == ERR)
return;
// Pin is an input
if (pins[pin].state == HiZ)
return;
// Toggle Pin
if (pins[pin].state == LOW)
Pin_Set(pin, HIGH);
else
Pin_Set(pin, LOW);
}
int main(void)
{
// Clock (80MHz)
SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
// Init peripherals
// Init Red LED Pin
Pin_Init(PF1);
Pin_Set(PF1, LOW);
// I2C0
I2C_Init(I2C0);
I2C_Enable(I2C0);
// Init Objects
PCA9557 pca9557 = PCA9557(I2C0);
pca9557.set(P2, LOW);
pca9557.set(P3, LOW);
while(1)
{
Pin_Toggle(PF1);
pca9557.toggle(P2);
delay(0.2);
}
}
int main(void)
{
// Clock (80MHz)
SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
// Init LEDs
Pin_Init(rLED);
Pin_Set(rLED, LOW);
// Init UART0
UART_Init(UART0);
UART_Enable(UART0);
setbuf(stdout, NULL); // Disable printf internal buffer
// Init I2C0
I2C_Init(I2C0);
I2C_Enable(I2C0);
// Wait until user presses enter
UART_ReadChar(UART0);
// Scan for I2C addresses
for(i=0; i < (1 << 7); i++)
{
printf("x%02x:", i);
if (I2C_Write(I2C0, i, 0) == true)
printf("* ");
else
printf(" ");
Pin_Toggle(rLED);
if (i % 8 == 7)
printf("\r\n");
}
// Indicator LED off
Pin_Set(rLED, LOW);
while(1);
}
/**Disables the electromagnet*/
void Disable_Magnet()
{
Pin_Set(MAGPORT, MAGPIN, MAGOFF);
}
/**Enables the electromagnet*/
void Enable_Magnet()
{
Pin_Set(MAGPORT, MAGPIN, MAGON);
}
void Pin_Enable(tPinName pin)
{
Pin_Set(pin, LOW);
}
void Pin_Disable(tPinName pin)
{
Pin_Set(pin, HiZ);
}
