X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/d8beff6a4eec064294706dadba09ac1495aef235..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 ac3922d..bbe8225 100644
--- a/pmsm-control/test_sw/rp_spi.c
+++ b/pmsm-control/test_sw/rp_spi.c
@@ -84,16 +84,14 @@ struct rpi_in spi_read(uint8_t * tx)
 
 	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]);
+		in.debug_rx[ret]=rx[ret];
 	}
-	puts("");
+
 	/*/
 
 	/*prichozi data:
@@ -122,7 +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
@@ -133,23 +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
@@ -163,37 +152,37 @@ struct rpi_in spi_read(uint8_t * tx)
 
 
 	/** currents
-	 * ch0 - bits 71 downto 48
+	 * 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
-	 * ch1 - bits 47 downto 24
+	 * 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
-	 * ch2 - bits 23 downto 0
+	 * 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=rx[7];
+	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[8];
+	in.ch0|=rx[11];
 	in.ch0<<=8;
-	in.ch0|=rx[9];
+	in.ch0|=rx[12];
 
-	in.ch1=rx[10];
+	in.ch1=rx[13];
 	in.ch1<<=8;
-	in.ch1|=rx[11];
+	in.ch1|=rx[14];
 	in.ch1<<=8;
-	in.ch1|=rx[12];
-
-	in.ch2=rx[13];
-	in.ch2<<=8;
-	in.ch2|=rx[14];
-	in.ch2<<=8;
-	in.ch2|=rx[15];
+	in.ch1|=rx[15];
 
 
 	return in;