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Dependencies:   mbed FreeRTOS

fpga.cpp@18:5aa48aec9cae, 2018-12-01 (annotated)

Committer:
takeru0x1103
Date:
Sat Dec 01 14:03:08 2018 +0000
Revision:
18:5aa48aec9cae
Parent:
17:f9610f3cfa1b
Child:
20:0394e15412c3
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 0:ecd925601fc6 1 #include "mbed.h"
takeru0x1103 0:ecd925601fc6 2 #include "fpga.h"
takeru0x1103 18:5aa48aec9cae 3 #include "globalFlags.h"
takeru0x1103 8:1ca49cb18290 4
takeru0x1103 8:1ca49cb18290 5 #define CLK_CYC 20.83 //FPGAのクロック周期
takeru0x1103 0:ecd925601fc6 6
takeru0x1103 8:1ca49cb18290 7 //-----------------------------
takeru0x1103 8:1ca49cb18290 8 //FPGAレジスタアドレスマップ
takeru0x1103 0:ecd925601fc6 9 #define ADR_TEST_REG 0x0 //テストレジスタ
takeru0x1103 0:ecd925601fc6 10 #define ADR_RPM_FLSB 0x1 //エンジン回転数 前 LSB
takeru0x1103 0:ecd925601fc6 11 #define ADR_RPM_FMSB 0x2 //エンジン回転数 前 MSB
takeru0x1103 0:ecd925601fc6 12 #define ADR_RPM_BLSB 0x3 //エンジン回転数 後ろ LSB
takeru0x1103 0:ecd925601fc6 13 #define ADR_RPM_BMSB 0x4 //エンジン回転数 後ろ MSB
takeru0x1103 0:ecd925601fc6 14
takeru0x1103 0:ecd925601fc6 15 #define ADR_SUB_FL_I 0x5 //前 ◀ in
takeru0x1103 0:ecd925601fc6 16 #define ADR_SUB_FL_O 0x6 //前 ◀ out
takeru0x1103 0:ecd925601fc6 17 #define ADR_SUB_FR_I 0x7 //前 ▶ in
takeru0x1103 0:ecd925601fc6 18 #define ADR_SUB_FR_O 0x8 //前 ▶ out
takeru0x1103 0:ecd925601fc6 19
takeru0x1103 0:ecd925601fc6 20 #define ADR_SUB_BL_I 0x9 //後ろ ◀ in
takeru0x1103 0:ecd925601fc6 21 #define ADR_SUB_BL_O 0xA //後ろ ◀ out
takeru0x1103 0:ecd925601fc6 22 #define ADR_SUB_BR_I 0xB //後ろ ▶ in
takeru0x1103 0:ecd925601fc6 23 #define ADR_SUB_BR_O 0xC //後ろ ▶ out
takeru0x1103 0:ecd925601fc6 24
takeru0x1103 0:ecd925601fc6 25 #define ADR_USER_SW 0xD //ユーザースイッチ
takeru0x1103 0:ecd925601fc6 26 #define ADR_ACCEL_F 0xE //アクセル前
takeru0x1103 0:ecd925601fc6 27 #define ADR_ACCEL_B 0xF //アクセル後ろ
takeru0x1103 8:1ca49cb18290 28 //-----------------------------
takeru0x1103 0:ecd925601fc6 29
takeru0x1103 0:ecd925601fc6 30 // ################################################################
takeru0x1103 0:ecd925601fc6 31 // SPI通信フォーマットに合わせた供用体定義
takeru0x1103 0:ecd925601fc6 32 // bit |15|14|13|12|11|10| 9| 8| 7| 6| 5| 4| 3| 2| 1| 0|
takeru0x1103 0:ecd925601fc6 33 // function | ID | Data |
takeru0x1103 0:ecd925601fc6 34 // ################################################################
takeru0x1103 0:ecd925601fc6 35 typedef union{
takeru0x1103 0:ecd925601fc6 36 UINT16 spiCmd;
takeru0x1103 0:ecd925601fc6 37 struct{
takeru0x1103 0:ecd925601fc6 38 UINT16 val : 12;//bit[11: 0] 書き込みデータ
takeru0x1103 0:ecd925601fc6 39 UINT16 id : 4 ;//bit[15:12] レジスタアドレス
takeru0x1103 0:ecd925601fc6 40 }bf;
takeru0x1103 0:ecd925601fc6 41 }SPI_CMD;
takeru0x1103 0:ecd925601fc6 42
takeru0x1103 0:ecd925601fc6 43 // ###############################################################
takeru0x1103 0:ecd925601fc6 44 // グローバル変数
takeru0x1103 0:ecd925601fc6 45 // ###############################################################
takeru0x1103 0:ecd925601fc6 46 static SPI spi (p5,p6,p7) ;//SPI通信ポート定義： mosi, miso, clk
takeru0x1103 8:1ca49cb18290 47 static DigitalOut CS_n(p8) ;//SPIのチップセレクトピン
takeru0x1103 0:ecd925601fc6 48
takeru0x1103 8:1ca49cb18290 49 //-----------------------------------
takeru0x1103 0:ecd925601fc6 50 //SPIデータ送出
takeru0x1103 8:1ca49cb18290 51 //-----------------------------------
takeru0x1103 8:1ca49cb18290 52 static UINT16 xSpi16bitSend(UINT16 dat){
takeru0x1103 0:ecd925601fc6 53 unsigned int rtn;
takeru0x1103 0:ecd925601fc6 54
takeru0x1103 0:ecd925601fc6 55 CS_n= 0; //チップセレクトアサート
takeru0x1103 0:ecd925601fc6 56 rtn = spi.write(dat); //データ出力
takeru0x1103 0:ecd925601fc6 57 CS_n = 1; //チップセレクトネゲート
takeru0x1103 8:1ca49cb18290 58 return rtn; //SPIリードデータを返す
takeru0x1103 8:1ca49cb18290 59 }
takeru0x1103 8:1ca49cb18290 60 //-----------------------------------
takeru0x1103 8:1ca49cb18290 61 //SPI送出データの組み立てて通信
takeru0x1103 8:1ca49cb18290 62 //-----------------------------------
takeru0x1103 8:1ca49cb18290 63 static UINT16 xSpi(UCHAR id , UINT16 val){
takeru0x1103 8:1ca49cb18290 64 UINT16 spiRtn=0;
takeru0x1103 8:1ca49cb18290 65 SPI_CMD cmd;
takeru0x1103 8:1ca49cb18290 66
takeru0x1103 8:1ca49cb18290 67 //引数を送信するコマンドに成形
takeru0x1103 8:1ca49cb18290 68 cmd.bf.id = id;
takeru0x1103 8:1ca49cb18290 69 cmd.bf.val = val;
takeru0x1103 8:1ca49cb18290 70 //SPIデータ送出し読み出し値を取得
takeru0x1103 8:1ca49cb18290 71 spiRtn = xSpi16bitSend(cmd.spiCmd);
takeru0x1103 8:1ca49cb18290 72 //レジスタ読み出し値を返す
takeru0x1103 8:1ca49cb18290 73 return spiRtn;
takeru0x1103 0:ecd925601fc6 74 }
takeru0x1103 0:ecd925601fc6 75
takeru0x1103 0:ecd925601fc6 76 //================================================================
takeru0x1103 0:ecd925601fc6 77 //テストレジスタアクセス
takeru0x1103 0:ecd925601fc6 78 //================================================================
takeru0x1103 8:1ca49cb18290 79 UINT16 fpgaTest(UINT16 val){
takeru0x1103 8:1ca49cb18290 80 //SPI通信
takeru0x1103 8:1ca49cb18290 81 UINT16 spiRtn = xSpi(ADR_TEST_REG , val);
takeru0x1103 8:1ca49cb18290 82 //レジスタ読み出し値を返す
takeru0x1103 0:ecd925601fc6 83 return spiRtn;
takeru0x1103 0:ecd925601fc6 84 }
takeru0x1103 0:ecd925601fc6 85 //================================================================
takeru0x1103 0:ecd925601fc6 86 //エンジン回転数を取得
takeru0x1103 0:ecd925601fc6 87 //================================================================
takeru0x1103 0:ecd925601fc6 88 UINT16 fpgaGetRpm(bool frontFlg){
takeru0x1103 0:ecd925601fc6 89 UINT16 RpmMsb=0;
takeru0x1103 0:ecd925601fc6 90 UINT16 RpmLsb=0;
takeru0x1103 0:ecd925601fc6 91 UINT32 Rpm=0;
takeru0x1103 0:ecd925601fc6 92 double clc;
takeru0x1103 0:ecd925601fc6 93
takeru0x1103 8:1ca49cb18290 94 RpmLsb = xSpi((frontFlg==true) ? ADR_RPM_FLSB : ADR_RPM_BLSB , 0);//下位12bit読み出し
takeru0x1103 8:1ca49cb18290 95 RpmMsb = xSpi((frontFlg==true) ? ADR_RPM_FMSB : ADR_RPM_BMSB , 0);//上位12bit読み出し
takeru0x1103 0:ecd925601fc6 96
takeru0x1103 0:ecd925601fc6 97 //24bit連結:48MHzのクロックサイクル数換算
takeru0x1103 0:ecd925601fc6 98 Rpm = (RpmMsb << 12) | RpmLsb;
takeru0x1103 0:ecd925601fc6 99
takeru0x1103 0:ecd925601fc6 100 //RPM換算
takeru0x1103 0:ecd925601fc6 101 clc = (double)Rpm * CLK_CYC;
takeru0x1103 0:ecd925601fc6 102 clc = clc / 1000;
takeru0x1103 0:ecd925601fc6 103 clc = 30000000 / clc;
takeru0x1103 8:1ca49cb18290 104 //回転数rpmを返す
takeru0x1103 0:ecd925601fc6 105 return (UINT16)clc;
takeru0x1103 0:ecd925601fc6 106 }
takeru0x1103 0:ecd925601fc6 107 //================================================================
takeru0x1103 8:1ca49cb18290 108 //サブプロペラ設定 　　　位置 0:前左 1:前右 2:後左 3:後右
takeru0x1103 0:ecd925601fc6 109 //================================================================
takeru0x1103 18:5aa48aec9cae 110 bool fpgaSubProp(UCHAR iPos,INT16 iVal){
takeru0x1103 18:5aa48aec9cae 111 UCHAR regAdr[1];
takeru0x1103 18:5aa48aec9cae 112 UINT16 regVal;
takeru0x1103 0:ecd925601fc6 113
takeru0x1103 0:ecd925601fc6 114 switch (iPos){
takeru0x1103 0:ecd925601fc6 115 case 0x0://
takeru0x1103 18:5aa48aec9cae 116 regAdr[0] = ADR_SUB_FL_I;
takeru0x1103 18:5aa48aec9cae 117 regAdr[1] = ADR_SUB_FL_O;
takeru0x1103 0:ecd925601fc6 118 break;
takeru0x1103 0:ecd925601fc6 119 case 0x1://
takeru0x1103 18:5aa48aec9cae 120 regAdr[0] = ADR_SUB_FR_I;
takeru0x1103 18:5aa48aec9cae 121 regAdr[1] = ADR_SUB_FR_O;
takeru0x1103 0:ecd925601fc6 122 break;
takeru0x1103 0:ecd925601fc6 123 case 0x2://
takeru0x1103 18:5aa48aec9cae 124 regAdr[0] = ADR_SUB_BL_I;
takeru0x1103 18:5aa48aec9cae 125 regAdr[1] = ADR_SUB_BL_O;
takeru0x1103 0:ecd925601fc6 126 break;
takeru0x1103 0:ecd925601fc6 127 case 0x3://
takeru0x1103 18:5aa48aec9cae 128 regAdr[0] = ADR_SUB_BR_I;
takeru0x1103 18:5aa48aec9cae 129 regAdr[1] = ADR_SUB_BR_O;
takeru0x1103 0:ecd925601fc6 130 break;
takeru0x1103 0:ecd925601fc6 131 default:
takeru0x1103 8:1ca49cb18290 132 return false;//何もしないで終わる
takeru0x1103 0:ecd925601fc6 133 }
takeru0x1103 18:5aa48aec9cae 134
takeru0x1103 18:5aa48aec9cae 135 //レジスタ設定範囲内にリミット
takeru0x1103 18:5aa48aec9cae 136 if(iVal<0){
takeru0x1103 18:5aa48aec9cae 137 regVal = 0;
takeru0x1103 18:5aa48aec9cae 138 }else if(iVal>4095){
takeru0x1103 18:5aa48aec9cae 139 regVal = 4095;
takeru0x1103 18:5aa48aec9cae 140 }else{
takeru0x1103 18:5aa48aec9cae 141 regVal = iVal;
takeru0x1103 18:5aa48aec9cae 142 }
takeru0x1103 18:5aa48aec9cae 143
takeru0x1103 18:5aa48aec9cae 144 xSpi(regAdr[0] , regVal);//吸気側
takeru0x1103 18:5aa48aec9cae 145 xSpi(regAdr[1] , regVal);//排気側
takeru0x1103 8:1ca49cb18290 146
takeru0x1103 8:1ca49cb18290 147 //正常終了
takeru0x1103 8:1ca49cb18290 148 return true;
takeru0x1103 8:1ca49cb18290 149 }
takeru0x1103 8:1ca49cb18290 150
takeru0x1103 8:1ca49cb18290 151 //================================================================
takeru0x1103 18:5aa48aec9cae 152 //モーター個別
takeru0x1103 18:5aa48aec9cae 153 //================================================================
takeru0x1103 18:5aa48aec9cae 154 void fpgaMotorChk(){
takeru0x1103 18:5aa48aec9cae 155 UCHAR id;
takeru0x1103 18:5aa48aec9cae 156 UINT16 val;
takeru0x1103 18:5aa48aec9cae 157
takeru0x1103 18:5aa48aec9cae 158 sp.printf("Motor check start!!\r\n");
takeru0x1103 18:5aa48aec9cae 159
takeru0x1103 18:5aa48aec9cae 160 for(id=0; id<8; id++){
takeru0x1103 18:5aa48aec9cae 161 sp.printf("Motor[%d] check!!\r\n",id);
takeru0x1103 18:5aa48aec9cae 162 for(val=0; val<500; val=val+4){
takeru0x1103 18:5aa48aec9cae 163 xSpi(ADR_SUB_FL_I + id , val);//
takeru0x1103 18:5aa48aec9cae 164 wait(0.01);
takeru0x1103 18:5aa48aec9cae 165 }
takeru0x1103 18:5aa48aec9cae 166 for(val=500; val>10; val=val-4){
takeru0x1103 18:5aa48aec9cae 167 xSpi(ADR_SUB_FL_I + id , val);//
takeru0x1103 18:5aa48aec9cae 168 wait(0.01);
takeru0x1103 18:5aa48aec9cae 169 }
takeru0x1103 18:5aa48aec9cae 170 xSpi(ADR_SUB_FL_I + id , 0);
takeru0x1103 18:5aa48aec9cae 171 }
takeru0x1103 18:5aa48aec9cae 172 gf_Chk.bf.mot = false;
takeru0x1103 18:5aa48aec9cae 173
takeru0x1103 18:5aa48aec9cae 174 }
takeru0x1103 18:5aa48aec9cae 175
takeru0x1103 18:5aa48aec9cae 176 //================================================================
takeru0x1103 8:1ca49cb18290 177 //ユーザースイッチ読み取り
takeru0x1103 8:1ca49cb18290 178 //================================================================
takeru0x1103 8:1ca49cb18290 179 UINT16 fpgaGetUserSw(){
takeru0x1103 8:1ca49cb18290 180 //SPIデータ送出/読み出し
takeru0x1103 8:1ca49cb18290 181 UINT16 spiRtn = xSpi(ADR_USER_SW , 0);
takeru0x1103 8:1ca49cb18290 182 //戻り値
takeru0x1103 8:1ca49cb18290 183 return spiRtn;
takeru0x1103 8:1ca49cb18290 184 }
takeru0x1103 8:1ca49cb18290 185
takeru0x1103 8:1ca49cb18290 186 //================================================================
takeru0x1103 8:1ca49cb18290 187 //アクセル設定 　　　位置 0:前 1後
takeru0x1103 8:1ca49cb18290 188 //================================================================
takeru0x1103 17:f9610f3cfa1b 189 void fpgaEngine(UCHAR iID , UINT16 iSlotl){
takeru0x1103 17:f9610f3cfa1b 190 xSpi((iID==0)? ADR_ACCEL_F : ADR_ACCEL_B , iSlotl);
takeru0x1103 0:ecd925601fc6 191 }
takeru0x1103 0:ecd925601fc6 192
takeru0x1103 0:ecd925601fc6 193 //================================================================
takeru0x1103 0:ecd925601fc6 194 //FPGA初期化
takeru0x1103 0:ecd925601fc6 195 //================================================================
takeru0x1103 0:ecd925601fc6 196 void fpgaInit(){
takeru0x1103 0:ecd925601fc6 197 spi.format(16,3) ;//SPIのフォーマット指定（bit長、極性）
takeru0x1103 0:ecd925601fc6 198 spi.frequency(500000) ;//クロック周波数
takeru0x1103 0:ecd925601fc6 199 CS_n =1 ;//Low有意なのでHighにしておく
takeru0x1103 0:ecd925601fc6 200 }