Adding SPISettings

Arduino_AMT22_lib/AMT22_lib.cpp

@@ -6,10 +6,11 @@
 #include "AMT22_lib.h"
 
 
-AMT22::AMT22(uint8_t cs, uint8_t resolution) {
+AMT22::AMT22(uint8_t cs, uint8_t resolution, SPISettings settings) {
     digitalWrite(cs, HIGH);   //Get the CS line high which is the default inactive state
     _cs = cs;
     _resolution = resolution;
+    _settings = settings;
 }
 
 /*
@@ -62,9 +63,18 @@ uint8_t AMT22::spiWriteRead(uint8_t sendByte, uint8_t releaseLine){
     //There is a minimum time requirement after CS goes low before data can be clocked out of the encoder.
     delayMicroseconds(3);
 
+    if(!releaseLine){
+        SPI.beginTransaction(_settings);
+    }
+
     //send the command
     data = SPI.transfer(sendByte);
     delayMicroseconds(3); //There is also a minimum time after clocking that CS should remain asserted before we release it
+
+    if(releaseLine){
+        SPI.endTransaction();
+    }
+
     setCSLine(releaseLine); //if releaseLine is high set it high else it stays low
 
     return data;
@@ -111,6 +121,10 @@ void AMT22::setResolution(uint8_t resolution) {
     _resolution = resolution;
 }
 
+void AMT22::setSettings(SPISettings settings) {
+    _settings = settings;
+}
+
 /*
  * This function is not related to the AMT22 class. It allows to set up communication via SPI.
  * It must be performed in the setup section of the Arduino main.

Arduino_AMT22_lib/AMT22_lib.h

@@ -19,15 +19,17 @@
 class AMT22
 {
 public:
-    AMT22(uint8_t cs, uint8_t resolution);
+    AMT22(uint8_t cs, uint8_t resolution, SPISettings settings);
     uint16_t getPositionSPI();
     void setZeroSPI();
     void resetAMT22();
     void setResolution(uint8_t resolution);
+    void setSettings(SPISettings settings);
 
 
 private:
     uint8_t _cs, _resolution;
+    SPISettings _settings;
     uint8_t spiWriteRead(uint8_t sendByte, uint8_t releaseLine);
     void setCSLine (uint8_t csLine);
 

Arduino_AMT22_lib/examples/AMT22_Sample_Code.ino

@@ -50,14 +50,16 @@
 
 /*Object creation*/
 AMT22* Encoder;
+SPISettings settings = SPISettings(2000000, MSBFIRST, SPI_MODE0);
+
 
 void setup(){
   //Initialize the UART serial connection for debugging
   Serial.begin(BAUDRATE);
   //Initialize the SPI communication
   setUpSPI(SPI_MOSI, SPI_MISO, SPI_SCLK, SPI_CLOCK_DIV32); //This operation only needs to be done once, not once for each Encoder object.
   //Initialize the encoder object with necessary parameters 
-  Encoder = new AMT22(ENC,RES14);
+  Encoder = new AMT22(ENC,RES14, settings);
 }
 
 void loop() 

README.md

@@ -26,6 +26,7 @@ The public functions present are:
 * setZeroSPI()
 * resetAMT22()
 * setResolution(uint8 t resolution)
+* setSettings(SPISettings settings)
 
 The first function gets the absolute position from the AMT22 encoder using the SPI bus. The AMT22 position includes 2 checkbits to use for position verification. Both 12-bit and 14-bit possible encoders transfer position via two bytes, giving 16-bits regardless of resolution.
 For 12-bit encoders the position is left-shifted two bits, leaving the right two bits as zeros. This gives the impression that the encoder is actually sending 14-bits, when it is actually sending 12-bit values, where every number is multiplied by 4.