Added reading of irc_index position.
authorMartin Prudek <prudemar@fel.cvut.cz>
Thu, 16 Apr 2015 17:25:43 +0000 (19:25 +0200)
committerMartin Prudek <prudemar@fel.cvut.cz>
Thu, 16 Apr 2015 17:25:43 +0000 (19:25 +0200)
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 52e362f..45ea914 100644 (file)
@@ -165,6 +165,7 @@ architecture behavioral of rpi_mc_simple_dc is
        signal gpio_clk: std_logic;
        signal dat_reg : STD_LOGIC_VECTOR (127 downto 0); --shift register for spi
        signal position: std_logic_vector(31 downto 0); --pozice z qcounteru
+       signal index_position: std_logic_vector(11 downto 0);           --pozice irc_i
        signal ce0_old: std_logic_vector(1 downto 0);
        
        --pwm signals
@@ -300,6 +301,11 @@ begin
        pwm(3) <= pwm_sig(3) and dip_sw(3);
        
                
+       process
+       begin
+               wait until (irc_i'event and irc_i='1');
+               index_position(11 downto 0)<=position(11 downto 0);
+       end process;
        
        process
        begin
@@ -345,9 +351,7 @@ begin
                        income_data_valid<='0';
                        dat_reg(127 downto 96) <= position(31 downto 0); --pozice
                        dat_reg(95 downto 93) <= hal_in(1 to 3); --halovy sondy
-                       dat_reg(92 downto 90) <= pwm_en_p(1 to 3); --enable positive
-                       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(92 downto 81) <= index_position(11 downto 0);   --position of irc_i
                        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
index 6219d69..7d707da 100644 (file)
@@ -67,6 +67,7 @@ void sighnd_fnc(){
 }
 
 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
+       data->pozice_raw=data->pozice;
        data->pozice-=offset->pozice;
        return;
 }
@@ -100,6 +101,9 @@ void printData(struct rpi_in data){
        }
        puts("");
        printf("\npozice=%d\n",(int32_t)data.pozice);
+       printf("raw_pozice=%d\n",(int32_t)data.pozice_raw);
+       printf("raw_pozice last11=%u\n",(data.pozice_raw&0x7FF));
+       printf("index position=%d\n",(int16_t)data.index_position);
        printf("hal1=%d, hal2=%d, hal3=%d\n",data.hal1,data.hal2,data.hal3);
        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));
index 056cb5d..bbe8225 100644 (file)
@@ -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
index 7d2dd7f..d286fa2 100644 (file)
@@ -8,7 +8,8 @@
  * \brief Struktura pro prichozi data z fpga.
  */
 struct rpi_in{
-       uint64_t pozice;                /*use twice the origin size to avoid underflow when sunstracting offset*/
+       uint32_t pozice;                /*continue with normal size and test it..*/
+       uint32_t pozice_raw;            /*with offset*/
        uint32_t ch0, ch1, ch2;
        int8_t hal1,hal2,hal3;          /* bool values */
        int8_t en1, en2, en3;           /*(bool)last read pwm-enable values - !they are changed after reading ! */
@@ -16,6 +17,7 @@ struct rpi_in{
        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];
+       uint16_t index_position;        /* raw position of irc_i */
 };
 
 /**