From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Thu, 16 Apr 2015 17:25:43 +0000 (+0200)
Subject: Added reading of irc_index position.
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/commitdiff_plain/c4cdcbe5bfaecb9024e4fe41be29a4541653b8ef

Added reading of irc_index position.
---

diff --git a/pmsm-control/rpi_pmsm_control.vhdl b/pmsm-control/rpi_pmsm_control.vhdl
index 52e362f..45ea914 100644
--- a/pmsm-control/rpi_pmsm_control.vhdl
+++ b/pmsm-control/rpi_pmsm_control.vhdl
@@ -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
diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 6219d69..7d707da 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -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));
diff --git a/pmsm-control/test_sw/rp_spi.c b/pmsm-control/test_sw/rp_spi.c
index 056cb5d..bbe8225 100644
--- a/pmsm-control/test_sw/rp_spi.c
+++ b/pmsm-control/test_sw/rp_spi.c
@@ -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
diff --git a/pmsm-control/test_sw/rp_spi.h b/pmsm-control/test_sw/rp_spi.h
index 7d2dd7f..d286fa2 100644
--- a/pmsm-control/test_sw/rp_spi.h
+++ b/pmsm-control/test_sw/rp_spi.h
@@ -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 */
 };
 
 /**