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Dependencies:   mbed FreeRTOS

fpga.cpp@17:f9610f3cfa1b, 2018-11-30 (annotated)

Committer:
takeru0x1103
Date:
Fri Nov 30 05:24:27 2018 +0000
Revision:
17:f9610f3cfa1b
Parent:
8:1ca49cb18290
Child:
18:5aa48aec9cae
1130

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