X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/f747a68dd84aab260a8553829ae5da1ee4bf321a..b4d468f4be4d8e91bbd775b5b37f0ae431ae6648:/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 6a51a31..d02c1ab 100644
--- 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 "pmsm_state.h"
 
 //#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
 #define ARRAY_SIZE 16
@@ -65,7 +66,7 @@ void transfer()
 	}
 	puts("");
 }
-struct rpi_in spi_read(uint8_t * tx)
+void spi_read(struct rpi_state* this)
 {
 	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;
 
-	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,
@@ -85,14 +87,75 @@ struct rpi_in spi_read(uint8_t * tx)
 
 	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++) {
-		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*/
-	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];
@@ -129,19 +192,19 @@ struct rpi_in spi_read(uint8_t * tx)
 	 * 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)
 	 */
-	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
@@ -149,9 +212,9 @@ struct rpi_in spi_read(uint8_t * tx)
 	 * 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
@@ -169,26 +232,24 @@ struct rpi_in spi_read(uint8_t * tx)
 	 * 	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;
 
 
 }