--- /dev/null
+/*
+ *
+ */
+
+#include <stdint.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <getopt.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/types.h>
+#include <linux/spi/spidev.h>
+
+#include "rp_spi.h" /*struct rpi_in */
+
+//#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
+#define ARRAY_SIZE 16
+static void pabort(const char *s)
+{
+ perror(s);
+ abort();
+}
+
+static const char *device = "/dev/spidev0.1";
+static uint8_t mode = 0;
+static uint8_t bits = 8;
+static uint32_t speed = 500000;
+static uint16_t delay = 0;
+static int fd;
+
+/**
+ * \brief Testovaci funkce. Odesle same nuly. Delka 64bit. Vysledek vypise.
+ */
+void transfer()
+{
+ int ret;
+ uint8_t tx[]={0,0,0,0,0,0,0,0} ;/*= {
+ 0x00, 0x00, 0x01, 0x23, 0x45, 0x67,
+ 0x89, 0xAB, 0xCD, 0xEF, 0x01, 0x23,
+ 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF,
+ 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB,
+ 0xCD, 0xEF
+ };/**/
+ printf("ARRAY_SIZE=%d\n",ARRAY_SIZE);
+ uint8_t rx[ARRAY_SIZE] = {0, }; /* inicializace vsech prvku na nulu? */
+ struct spi_ioc_transfer tr = {
+ .tx_buf = (unsigned long)tx,
+ .rx_buf = (unsigned long)rx,
+ .len = ARRAY_SIZE,
+ .delay_usecs = delay,
+ .speed_hz = speed,
+ .bits_per_word = bits,
+ };
+
+ ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
+ if (ret < 1)
+ pabort("can't send spi message");
+
+ for (ret = 0; ret < ARRAY_SIZE; ret++) {
+ if (!(ret % 6))
+ puts("");
+ printf("%.2X ", rx[ret]);
+ }
+ puts("");
+}
+struct rpi_in spi_read(uint8_t * tx)
+{
+ uint8_t *uint8_p;
+ uint16_t tmp;
+ int sign;
+ struct rpi_in in;
+ int ret;
+
+ uint8_t rx[ARRAY_SIZE] = {0, }; /* inicializace vsech prvku na nulu? */
+ struct spi_ioc_transfer tr = {
+ .tx_buf = (unsigned long)tx,
+ .rx_buf = (unsigned long)rx,
+ .len = ARRAY_SIZE,
+ .delay_usecs = delay,
+ .speed_hz = speed,
+ .bits_per_word = bits,
+ };
+
+ ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
+ /*vypisovani prichozich dat */
+ /*/
+ if (ret < 1)
+ pabort("can't send spi message");
+
+ for (ret = 0; ret < ARRAY_SIZE; ret++) {
+ if (!(ret % 6))
+ puts("");
+ printf("%.2X ", 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
+ */
+
+ /*uprava endianity pozice*/
+ uint8_p=(uint8_t*)&in.pozice;
+ /* 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
+ */
+ in.hal1=!!(0x80 & rx[4]);
+ in.hal2=!!(0x40 & rx[4]);
+ in.hal3=!!(0x20 & rx[4]);
+
+ /*pwm enable
+ * en1 - bit60
+ * en2 - bit59
+ * en2 - bit58
+ */
+ in.en1=!!(0x10 & rx[4]);
+ in.en2=!!(0x08 & rx[4]);
+ in.en3=!!(0x04 & rx[4]);
+
+ /*shutdown
+ * shdn1 - bit57
+ * shdn2 - bit56
+ * shdn3 - bit55
+ */
+ 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]);
+
+ /** 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
+ */
+
+ 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;
+
+ in.ch2=(0xF & rx[10]);
+ in.ch2<<=8;
+ in.ch2|=rx[11];
+
+
+ return in;
+
+
+}
+
+int spi_init()
+{
+ int ret = 0;
+
+ fd = open(device, O_RDWR);
+ if (fd < 0)
+ pabort("can't open device");
+ printf("device open\n");
+ /*
+ * spi mode
+ */
+ ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
+ if (ret == -1)
+ pabort("can't set spi mode");
+
+ ret = ioctl(fd, SPI_IOC_RD_MODE, &mode);
+ if (ret == -1)
+ pabort("can't get spi mode");
+
+ /*
+ * bits per word
+ */
+ ret = ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
+ if (ret == -1)
+ pabort("can't set bits per word");
+
+ ret = ioctl(fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
+ if (ret == -1)
+ pabort("can't get bits per word");
+
+ /*
+ * max speed hz
+ */
+ ret = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
+ if (ret == -1)
+ pabort("can't set max speed hz");
+
+ ret = ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
+ if (ret == -1)
+ pabort("can't get max speed hz");
+
+ printf("spi mode: %d\n", mode);
+ printf("bits per word: %d\n", bits);
+ printf("delay: %d\n", delay);
+ printf("max speed: %d Hz (%d KHz)\n", speed, speed/1000);
+
+
+ return ret;
+}
+
+void spi_disable(){
+ close(fd);
+
+}
projects / fpga / rpi-motor-control.git / blobdiff