*/
}
-/*
- * \brief
- * Pripravi psi buffer
- */
-void prepare_tx(uint8_t * tx){
-
- /*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
- */
-
-
- uint16_t tmp;
-
- /* keep the 11-bit cap*/
-
- if (rps.pwm1>2047) rps.pwm1=2047;
- if (rps.pwm2>2047) rps.pwm2=2047;
- if (rps.pwm3>2047) rps.pwm3=2047;
-
- tx[0]=rps.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*)&rps.pwm1)[1]; /*MSB*/
- tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
-
- /*pwm2*/
- tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
- tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
-
- /*pwm3*/
- tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
- tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
-}
-
/**
* \brief Signal handler pro Ctrl+C
rps.pwm1=0;
rps.pwm2=0;
rps.pwm3=0;
- prepare_tx(tx); /*save the data to send*/
- data=spi_read(tx);
+ spi_read(&rps);
spi_disable();
clk_disable();
rps.speed=(int32_t)spd;
}
+
+
/*
* \brief
* Feedback loop.
void * read_data(void* param){
int i;
struct rpi_in pocatek;
+ struct rpi_state poc={
+ .spi_dat=&pocatek,
+ .test=0,
+ .pwm1=0, .pwm1=0, .pwm3=0
+ };
struct timespec t;
int interval = 1000000; /* 1ms ~ 1kHz*/
- uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
char first=1;
uint16_t last_index; /*we have index up-to date*/
- pocatek = spi_read(tx);
+ spi_read(&poc); /*pocatecni informace*/
clock_gettime(CLOCK_MONOTONIC ,&t);
/* start after one second */
t.tv_sec++;
/*old positions*/
rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
- prepare_tx(tx); /*save the data to send*/
- data = spi_read(tx); /*exchange data*/
+ spi_read(&rps); /*exchange data*/
/*subtract initiate postion */
rps.tf_count++;
- substractOffset(&data,&pocatek);
+ substractOffset(&data,poc.spi_dat);
compSpeed(); /*spocita rychlost*/
if (!rps.index_ok){
#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
}
puts("");
}
-struct rpi_in spi_read(uint8_t * tx)
+void spi_read(struct rpi_state* this)
{
uint8_t *uint8_p;
uint16_t tmp;
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,
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];
}
/*/
*/
/*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];
* 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
* 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
* 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;
}
projects / fpga / rpi-motor-control.git / commitdiff