All SPI stuff moved to rp_spi.c

[fpga/rpi-motor-control.git] / pmsm-control / test_sw / rp_spi.c

diff --git a/pmsm-control/test_sw/rp_spi.c b/pmsm-control/test_sw/rp_spi.c
index 6a51a316c55120347f0b8498406f0196ab9601a0..d02c1abe308f925840ea2ce5773c03425d31fa7a 100644 (file)
--- a/pmsm-control/test_sw/rp_spi.c
+++ b/pmsm-control/test_sw/rp_spi.c
@@ -14,6 +14,7 @@
 #include <string.h>
 
 #include "rp_spi.h" /*struct rpi_in */
 #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
 
 //#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
 #define ARRAY_SIZE 16


@@ -65,7 +66,7 @@ void transfer()
        }
        puts("");
 }
        }
        puts("");
 }

-struct rpi_in spi_read(uint8_t * tx)
+void spi_read(struct rpi_state* this)

 {
        uint8_t *uint8_p;
        uint16_t tmp;
 {
        uint8_t *uint8_p;
        uint16_t tmp;


@@ -73,7 +74,8 @@ struct rpi_in spi_read(uint8_t * tx)
        struct rpi_in in;
        int ret;
 
        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,
        struct spi_ioc_transfer tr = {
                .tx_buf = (unsigned long)tx,
                .rx_buf = (unsigned long)rx,


@@ -85,14 +87,75 @@ struct rpi_in spi_read(uint8_t * tx)
 
        memset(&in,0,sizeof(in));
 
 
        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);
        ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);

-       /*vypisovani prichozich dat */

 
 

-       if (ret < 1)
+
+       if (ret < 1){

                pabort("can't send spi message");
                pabort("can't send spi message");

+       }
+
+       /*-----------------------------------------*/
+

 
        for (ret = 0; ret < ARRAY_SIZE; ret++) {
 
        for (ret = 0; ret < ARRAY_SIZE; ret++) {

-               in.debug_rx[ret]=rx[ret];
+               this->spi_dat->debug_rx[ret]=rx[ret];

        }
 
        /*/
        }
 
        /*/


@@ -117,7 +180,7 @@ struct rpi_in spi_read(uint8_t * tx)
         */
 
        /*uprava endianity pozice*/
         */
 
        /*uprava endianity pozice*/

-       uint8_p=(uint8_t*)&in.pozice_raw;
+       uint8_p=(uint8_t*)&this->spi_dat->pozice_raw;

        /* x86 je Little-Endian */
        uint8_p[0]=rx[3]; /* LSB */
        uint8_p[1]=rx[2];
        /* x86 je Little-Endian */
        uint8_p[0]=rx[3]; /* LSB */
        uint8_p[1]=rx[2];


@@ -129,19 +192,19 @@ struct rpi_in spi_read(uint8_t * tx)
         * hal2 - bit94
         * hal3 - bit93
         */
         * hal2 - bit94
         * hal3 - bit93
         */

-       in.hal1=!!(0x80 & rx[4]);
-       in.hal2=!!(0x40 & rx[4]);
-       in.hal3=!!(0x20 & rx[4]);
+       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)
         */
 
        /* 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.index_position=0x1F & rx[4];
-       in.index_position<<=8;
-       in.index_position|=0xFE & rx[5];
-       in.index_position>>=1;
+       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
 
        /* current measurments count
         * bits 80 downto 72


@@ -149,9 +212,9 @@ struct rpi_in spi_read(uint8_t * tx)
         * bits 79..72 in rx[6]
         */
 
         * bits 79..72 in rx[6]
         */
 

-       in.adc_m_count=0x01 & rx[5];
-       in.adc_m_count<<=8;
-       in.adc_m_count|=rx[6];
+       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
 
 
        /** currents


@@ -169,26 +232,24 @@ struct rpi_in spi_read(uint8_t * tx)
         *      7..0 in rx[15] - all byte
         */
 
         *      7..0 in rx[15] - all byte
         */
 

-       in.ch2=rx[7];
-       in.ch2<<=8;
-       in.ch2|=rx[8];
-       in.ch2<<=8;
-       in.ch2|=rx[9];
-
-       in.ch0=rx[10];
-       in.ch0<<=8;
-       in.ch0|=rx[11];
-       in.ch0<<=8;
-       in.ch0|=rx[12];
+       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.ch1=rx[13];
-       in.ch1<<=8;
-       in.ch1|=rx[14];
-       in.ch1<<=8;
-       in.ch1|=rx[15];
+       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;

 
 
 }
 
 
 }