#include <sys/ioctl.h>
#include <linux/types.h>
#include <linux/spi/spidev.h>
+#include <string.h>
#include "rp_spi.h" /*struct rpi_in */
+#include "pmsm_state.h"
//#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
#define ARRAY_SIZE 16
}
puts("");
}
-struct rpi_in spi_read(uint8_t * tx)
+void spi_read(struct rpi_state* this)
{
uint8_t *uint8_p;
uint16_t tmp;
struct rpi_in in;
int ret;
- uint8_t rx[ARRAY_SIZE] = {0, }; /* inicializace vsech prvku na nulu? */
+ uint8_t rx[ARRAY_SIZE] = {0, }; /* inicializace vsech prvku na nulu */
+ uint8_t tx[ARRAY_SIZE] = {0, }; /* inicializace vsech prvku na nulu */
struct spi_ioc_transfer tr = {
.tx_buf = (unsigned long)tx,
.rx_buf = (unsigned long)rx,
.bits_per_word = bits,
};
+ memset(&in,0,sizeof(in));
+
+ /*Data format:
+ * tx[4] - bity 95 downto 88 - bits that are sent first
+ * tx[5] - bity 87 downto 80
+ * tx[6] - bity 79 downto 72
+ * tx[7] - bity 71 downto 64
+ * tx[8] - bity 63 downto 56
+ * tx[9] - bity 55 downto 48
+ * tx[10] - bity 47 downto 40
+ * tx[11] - bity 39 downto 32
+ * tx[12] - bity 31 downto 24
+ * tx[13] - bity 23 downto 16
+ * tx[14] - bity 15 downto 8
+ * tx[15] - bity 7 downto 0
+ *
+ * bit 95 - ADC reset
+ * bit 94 - enable PWM1
+ * bit 93 - enable PWM2
+ * bit 92 - enable PWM3
+ * bit 91 - shutdown1
+ * bit 90 - shutdown2
+ * bit 89 - shutdown3
+ * .
+ * .
+ * Unused
+ * .
+ * .
+ * bits 47 .. 32 - match PWM1
+ * bits 31 .. 16 - match PWM2
+ * bits 15 .. 0 - match PWM3
+ */
+
+
+
+ /* keep the 11-bit cap*/
+
+ if (this->pwm1>2047) this->pwm1=2047;
+ if (this->pwm2>2047) this->pwm2=2047;
+ if (this->pwm3>2047) this->pwm3=2047;
+
+ tx[0]=this->test; /*bit 94 - enable PWM1*/
+
+ /*now we have to switch the bytes due to endianess */
+ /* ARMv6 & ARMv7 instructions are little endian */
+ /*pwm1*/
+ tx[10]=((uint8_t*)&this->pwm1)[1]; /*MSB*/
+ tx[11]=((uint8_t*)&this->pwm1)[0]; /*LSB*/
+
+ /*pwm2*/
+ tx[12]=((uint8_t*)&this->pwm2)[1]; /*MSB*/
+ tx[13]=((uint8_t*)&this->pwm2)[0]; /*LSB*/
+
+ /*pwm3*/
+ tx[14]=((uint8_t*)&this->pwm3)[1]; /*MSB*/
+ tx[15]=((uint8_t*)&this->pwm3)[0]; /*LSB*/
+
+ /*----------------------------------------*/
+
ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
- /*vypisovani prichozich dat */
- /*/
- if (ret < 1)
+
+
+ if (ret < 1){
pabort("can't send spi message");
+ }
+
+ /*-----------------------------------------*/
+
for (ret = 0; ret < ARRAY_SIZE; ret++) {
- if (!(ret % 6))
- puts("");
- printf("%.2X ", rx[ret]);
+ this->spi_dat->debug_rx[ret]=rx[ret];
}
- puts("");
+
/*/
/*prichozi data:
- * rx[0] - bity 95 downto 88 - bits, that come first
- * rx[1] - bity 87 downto 80
- * rx[2] - bity 79 downto 72
- * rx[3] - bity 71 downto 64
- * rx[4] - bity 63 downto 56
- * rx[5] - bity 55 downto 48
- * rx[6] - bity 47 downto 40
- * rx[7] - bity 39 downto 32
- * rx[8] - bity 31 downto 24
- * rx[9] - bity 23 downto 16
- * rx[10] - bity 15 downto 8
- * rx[11] - bity 7 downto 0
+ * rx[0] - bity 127 downto 120 the first income bit..127
+ * rx[1] - bity 119 downto 112
+ * rx[2] - bity 111 downto 104
+ * rx[3] - bity 103 downto 96
+ * rx[4] - bity 95 downto 88
+ * rx[5] - bity 87 downto 80
+ * rx[6] - bity 79 downto 72
+ * rx[7] - bity 71 downto 64
+ * rx[8] - bity 63 downto 56
+ * rx[9] - bity 55 downto 48
+ * rx[10] - bity 47 downto 40
+ * rx[11] - bity 39 downto 32
+ * rx[12] - bity 31 downto 24
+ * rx[13] - bity 23 downto 16
+ * rx[14] - bity 15 downto 8
+ * rx[15] - bity 7 downto 0 the last income bit..0
*/
/*uprava endianity pozice*/
- uint8_p=(uint8_t*)&in.pozice;
+ uint8_p=(uint8_t*)&this->spi_dat->pozice_raw;
/* x86 je Little-Endian */
uint8_p[0]=rx[3]; /* LSB */
uint8_p[1]=rx[2];
uint8_p[2]=rx[1];
uint8_p[3]=rx[0]; /*MSB*/ /*with sign bit*/
- uint8_p[4]=uint8_p[5]=uint8_p[6]=uint8_p[7]=0;
/*halove sondy
- * hal1 - bit63
- * hal2 - bit62
- * hal3 - bit61
+ * hal1 - bit95
+ * hal2 - bit94
+ * hal3 - bit93
*/
- in.hal1=!!(0x80 & rx[4]);
- in.hal2=!!(0x40 & rx[4]);
- in.hal3=!!(0x20 & rx[4]);
-
- /*pwm enable
- * en1 - bit60
- * en2 - bit59
- * en2 - bit58
+ this->spi_dat->hal1=!!(0x80 & rx[4]);
+ this->spi_dat->hal2=!!(0x40 & rx[4]);
+ this->spi_dat->hal3=!!(0x20 & rx[4]);
+
+ /* index position
+ * bits 92 downto 81
+ * 92..88 in rx[4] last 5 bits (from left)
+ * 87..81 in rx[5] first 7 bits (from left)
*/
- in.en1=!!(0x10 & rx[4]);
- in.en2=!!(0x08 & rx[4]);
- in.en3=!!(0x04 & rx[4]);
-
- /*shutdown
- * shdn1 - bit57
- * shdn2 - bit56
- * shdn3 - bit55
+ this->spi_dat->index_position=0x1F & rx[4];
+ this->spi_dat->index_position<<=8;
+ this->spi_dat->index_position|=0xFE & rx[5];
+ this->spi_dat->index_position>>=1;
+
+ /* current measurments count
+ * bits 80 downto 72
+ * bit 80 in rx[5]
+ * bits 79..72 in rx[6]
*/
- in.shdn1=!!(0x02 & rx[4]);
- in.shdn2=!!(0x01 & rx[4]);
- in.shdn3=!!(0x80 & rx[5]);
- /*debug bits
- *
- */
- in.b54=!!(0x40 & rx[5]);
- in.b53=!!(0x20 & rx[5]);
- in.b52=!!(0x10 & rx[5]);
- in.b51=!!(0x08 & rx[5]);
- in.b50=!!(0x04 & rx[5]);
- in.b49=!!(0x02 & rx[5]);
- in.b48=!!(0x01 & rx[5]);
- in.b47=!!(0x80 & rx[6]);
- in.b46=!!(0x40 & rx[6]);
- in.b45=!!(0x20 & rx[6]);
- in.b44=!!(0x10 & rx[6]);
- in.b43=!!(0x08 & rx[6]);
- in.b42=!!(0x04 & rx[6]);
- in.b41=!!(0x02 & rx[6]);
- in.b40=!!(0x01 & rx[6]);
- in.b39=!!(0x80 & rx[7]);
- in.b38=!!(0x40 & rx[7]);
- in.b37=!!(0x20 & rx[7]);
- in.b36=!!(0x10 & rx[7]);
+ this->spi_dat->adc_m_count=0x01 & rx[5];
+ this->spi_dat->adc_m_count<<=8;
+ this->spi_dat->adc_m_count|=rx[6];
+
/** currents
- * ch0 - bits 35 downto 24
- * 35..32 in rx[7] - last 4
- * 31..24 in rx[8] - all bytte
- * ch1 - bits 23 downto 12
- * 23..16 in rx[9] - all byte
- * 15..12 in rx[10] - first 4
- * ch2 - bits 11 downto 0
- * 11..8 in rx[10] - last 4
- * 7..0 in rx[11] - all byte
+ * ch2 - bits 71 downto 48
+ * 71..64 in rx[7] - all byte
+ * 63..56 in rx[8] - all byte
+ * 55..48 in rx[9] - all byte
+ * ch0 - bits 47 downto 24
+ * 47..40 in rx[10] - all byte
+ * 39..32 in rx[11] - all byte
+ * 31..24 in rx[12] - all byte
+ * ch1 - bits 23 downto 0
+ * 23..16 in rx[13] - all byte
+ * 15..8 in rx[14] - all byte
+ * 7..0 in rx[15] - all byte
*/
- in.ch0=0x0F & rx[7];
- in.ch0<<=8;
- in.ch0|=rx[8];
-
- in.ch1= rx[9];
- in.ch1<<=8;
- in.ch1|=(rx[10] & 0xF0);
- in.ch1>>=4;
+ this->spi_dat->ch2=rx[7];
+ this->spi_dat->ch2<<=8;
+ this->spi_dat->ch2|=rx[8];
+ this->spi_dat->ch2<<=8;
+ this->spi_dat->ch2|=rx[9];
- in.ch2=(0xF & rx[10]);
- in.ch2<<=8;
- in.ch2|=rx[11];
+ this->spi_dat->ch0=rx[10];
+ this->spi_dat->ch0<<=8;
+ this->spi_dat->ch0|=rx[11];
+ this->spi_dat->ch0<<=8;
+ this->spi_dat->ch0|=rx[12];
+ this->spi_dat->ch1=rx[13];
+ this->spi_dat->ch1<<=8;
+ this->spi_dat->ch1|=rx[14];
+ this->spi_dat->ch1<<=8;
+ this->spi_dat->ch1|=rx[15];
- return in;
}
projects / fpga / rpi-motor-control.git / blobdiff