X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/8945272802e6d9bdd317bced4aba96d7ca442e9b..c4cdcbe5bfaecb9024e4fe41be29a4541653b8ef:/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 056cb5d..bbe8225 100644
--- a/pmsm-control/test_sw/rp_spi.c
+++ b/pmsm-control/test_sw/rp_spi.c
@@ -120,7 +120,6 @@ struct rpi_in spi_read(uint8_t * tx)
 	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 - bit95
@@ -131,23 +130,15 @@ struct rpi_in spi_read(uint8_t * tx)
 	in.hal2=!!(0x40 & rx[4]);
 	in.hal3=!!(0x20 & rx[4]);
 
-	/*pwm enable
-	 * en1 - bit92
-	 * en2 - bit91
-	 * en2 - bit90
+	/* 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 - bit89
-	 * shdn2 - bit88
-	 * shdn3 - bit87
-	 */
-	in.shdn1=!!(0x02 & rx[4]);
-	in.shdn2=!!(0x01 & rx[4]);
-	in.shdn3=!!(0x80 & rx[5]);
+	in.index_position=0x1F & rx[4];
+	in.index_position<<=8;
+	in.index_position|=0xFE & rx[5];
+	in.index_position>>=1;
 
 	/* current measurments count
 	 * bits 80 downto 72