Attemp to solve bug. ADC channels association should be pwm1-ch0 pwm2-ch1 pwm3-ch2...
authorMartin Prudek <prudemar@fel.cvut.cz>
Thu, 16 Apr 2015 14:02:32 +0000 (16:02 +0200)
committerMartin Prudek <prudemar@fel.cvut.cz>
Thu, 16 Apr 2015 14:02:32 +0000 (16:02 +0200)
pmsm-control/adc_reader.vhdl
pmsm-control/rpi_pmsm_control.vhdl
pmsm-control/test_sw/main_pmsm.c
pmsm-control/test_sw/rp_spi.c
pmsm-control/test_sw/rp_spi.h

index 14b2faa..cda8cc7 100644 (file)
@@ -34,11 +34,11 @@ architecture behavioral of adc_reader is
        signal cumul_data: std_logic_vector(71 downto 0);       --unconsistent data, containing different amounts of measurments
        signal prepared_data: std_logic_vector(71 downto 0);    --consistent data, waiting for clk sync to propagate to output
        signal m_count_sig: std_logic_vector(8 downto 0);       --measurments count waiting for clk to propagate to output
+       signal first_pass: std_logic;
 begin
        
        
        process 
-               variable data_ready : std_logic;
                variable channel: channel_type;
                variable reset_re: std_logic:='0';
                variable reset_count: std_logic_vector (3 downto 0);
@@ -58,7 +58,7 @@ begin
                                reset_re:='0';                  --clear reset flag
                                adc_scs<='1';                   --active-low SS
                                adc_sclk<='0';                  --lower clock
-                               data_ready:='0';                --mark data as unprepared
+                               first_pass<='1';                --mark data as unprepared
                                channel:=ch0;                   --prepare channel0
                                adc_data<=(others=>'0');        --null working data
                                cumul_data<=(others=>'0');      --null working data
@@ -131,7 +131,7 @@ begin
                                state<=r7;
                        when r7=> --7th rising edge, data ready
                                adc_sclk<='1';
-                               if (data_ready='1') then
+                               if (first_pass='0') then
                                        --add the current current to sum and shift the register
                                        cumul_data(71 downto 0)<=
                                                std_logic_vector(unsigned(cumul_data(47 downto 24))
@@ -143,7 +143,7 @@ begin
                        when f8=> --8th falling edge
                                adc_sclk<='0';
                                adc_mosi<='0'; --PD0
-                               if (data_ready='1') then
+                               if (first_pass='0') then
                                        case channel is
                                                when ch0=>
                                                        adc_address<="101";     --ch1 address
@@ -152,18 +152,19 @@ begin
                                                        adc_address<="010";     --ch2 address
                                                        channel:=ch2;           --next channel code
                                                when ch2=>
+                                                       --data order schould be: ch2 downto ch0 downto ch1
                                                        prepared_data(71 downto 0)<=cumul_data(71 downto 0);
                                                        m_count_sig<=std_logic_vector(unsigned(m_count_sig)+1);
                                                        adc_address<="001";     --ch0 address
                                                        channel:=ch0;           --next channel code
                                        end case;
                                end if;
-                               data_ready:='1';
                                state<=r8;
                        when r8=> --8th rising edge (adc gets PD0), we propagate our results to output
                                adc_sclk<='1';
                                adc_channels <= prepared_data;          --data
                                measur_count <= m_count_sig;            --count of measurments
+                               first_pass<='0';                        --data in next cycle are usable
                                state<=f9;
                        when f9=> --9th falling edge busy state between conversion (we write nothing)
                                adc_sclk<='0';
index 47fd12c..52e362f 100644 (file)
@@ -296,8 +296,8 @@ begin
 
 
        pwm(1) <= pwm_sig(1) and dip_sw(1);
-       pwm(2) <= pwm_sig(2) and dip_sw(1);
-       pwm(3) <= pwm_sig(3) and dip_sw(1);
+       pwm(2) <= pwm_sig(2) and dip_sw(2);
+       pwm(3) <= pwm_sig(3) and dip_sw(3);
        
                
        
@@ -349,6 +349,7 @@ begin
                        dat_reg(89 downto 87) <= pwm_en_n(1 to 3); --shutdown
                        dat_reg(86 downto 81) <= (others=>'0');--pwm_match(1)(10 downto 5); --6 MSb of PWM1
                        dat_reg(80 downto 72) <=adc_m_count(8 downto 0);        --count of measurments
+                       --data order schould be: ch2 downto ch0 downto ch1
                        dat_reg(71 downto 0) <= adc_channels(71 downto 0);      --current mesurments
                        adc_reset<='0'; --remove reset flag, and wait on its rising edge
                elsif (ce0_old = "01") then --rising edge of SS, we should read the data
index 45f98bc..6219d69 100644 (file)
@@ -87,39 +87,46 @@ float diff_s(float value){
  */
 void printData(struct rpi_in data){
        float cur0, cur1, cur2;
+       int i;
        if (data.adc_m_count){
                cur0=data.ch0/data.adc_m_count;
                cur1=data.ch1/data.adc_m_count;
                cur2=data.ch2/data.adc_m_count;
        }
+       for (i = 0; i < 16; i++) {
+                       if (!(i % 6))
+                               puts("");
+                       printf("%.2X ", data.debug_rx[i]);
+       }
+       puts("");
        printf("\npozice=%d\n",(int32_t)data.pozice);
        printf("hal1=%d, hal2=%d, hal3=%d\n",data.hal1,data.hal2,data.hal3);
-       //printf("en1=%d, en2=%d, en3=%d (Predchozi hodnoty)\n",data.en1,data.en2,data.en3);
-       //printf("shdn1=%d, shdn2=%d, shdn3=%d (P.h.)\n",data.shdn1,data.shdn2,data.shdn3);
-       //printf("PWM1(10d5)b54=%d %d %d %d %d %d=b49(P.h.)\n",data.b54,data.b53,data.b52,data.b51,data.b50,data.b49);
-       //printf("PWM2(10d4)b48=%d %d %d %d %d %d %d=b42(P.h.)\n",data.b48,data.b47,data.b46,data.b45,data.b44,data.b43,data.b42);
-       //printf("PWM3(10d5)b41=%d %d %d %d %d %d=b36(P.h.)\n",data.b41,data.b40,data.b39,data.b38,data.b37,data.b36);
+       printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&test),!!(0x20&test),!!(0x10&test));
+       printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&test),!!(0x04&test),!!(0x02&test));
+       printf("PWM1=%u(L.s.)\n",pwm1);
+       printf("PWM2=%u(L.s.)\n",pwm2);
+       printf("PWM3=%u(L.s.)\n",pwm3);
        printf("Pocet namerenych proudu=%u\n",data.adc_m_count);
-       printf("(pwm1)proud1 (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data.ch1,cur1,diff_p(cur1));
-       printf("(pwm2)proud2 (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch2,cur2,diff_p(cur2));
-       printf("(pwm3)proud3 (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch0,cur0,diff_p(cur0));
+       printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data.ch1,cur1,diff_p(cur1));
+       printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch2,cur2,diff_p(cur2));
+       printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch0,cur0,diff_p(cur0));
        printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
 }
 void prepare_tx(uint8_t * tx){
 
        /*Data format:
-        * tx[0] - bity 95 downto 88 - bits that are sent first
-        * tx[1] - bity 87 downto 80
-        * tx[2] - bity 79 downto 72
-        * tx[3] - bity 71 downto 64
-        * tx[4] - bity 63 downto 56
-        * tx[5] - bity 55 downto 48
-        * tx[6] - bity 47 downto 40
-        * tx[7] - bity 39 downto 32
-        * tx[8] - bity 31 downto 24
-        * tx[9] - bity 23 downto 16
-        * tx[10] - bity 15 downto 8
-        * tx[11] - bity 7 downto 0
+        * 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
@@ -131,10 +138,10 @@ void prepare_tx(uint8_t * tx){
         *      .
         *      .
         *      .
-        * bits 34 .. 24 - match PWM1
-        * bits 23 .. 13 - match PWM2
+        * bits 66 .. 56 - match PWM1
+        * bits 55 .. 45 - match PWM2
         * bit 11,12 - Unused
-        * bits 10 .. 0  - match PWM3
+        * bits 42 .. 32  - match PWM3
         */
 
 
index ac3922d..056cb5d 100644 (file)
@@ -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:
@@ -163,37 +161,37 @@ 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;
index 4486791..7d2dd7f 100644 (file)
@@ -15,6 +15,7 @@ struct rpi_in{
        int8_t shdn1,shdn2,shdn3;       /*(bool)last read shutdown values - !they are changed after reading ! */
        int8_t b54, b53, b52, b51, b50, b49, b48, b47, b46, b45, b44, b43, b42, b41, b40, b39, b38, b37, b36; /*bits for debug*/
        uint16_t adc_m_count;           /*current measurments count*/
+       uint8_t debug_rx[16];
 };
 
 /**