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Dependencies:   mbed FreeRTOS

fpga.cpp@48:71aec693a7dc, 2019-02-24 (annotated)

Committer:
MasashiNomura
Date:
Sun Feb 24 10:33:34 2019 +0000
Revision:
48:71aec693a7dc
Parent:
45:3b51dd26b579 
20190224 add cmd pid mode etc.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MasashiNomura 45:3b51dd26b579 1 /**
MasashiNomura 45:3b51dd26b579 2 * @file fpga.cpp
MasashiNomura 45:3b51dd26b579 3 * @brief FPGAにSPI通信でやり取りするための関数群
MasashiNomura 45:3b51dd26b579 4 * @author Shirota
MasashiNomura 45:3b51dd26b579 5 * @date 2018/10/01 ?
MasashiNomura 45:3b51dd26b579 6 */
MasashiNomura 45:3b51dd26b579 7
takeru0x1103 0:ecd925601fc6 8 #include "mbed.h"
takeru0x1103 0:ecd925601fc6 9 #include "fpga.h"
takeru0x1103 18:5aa48aec9cae 10 #include "globalFlags.h"
takeru0x1103 8:1ca49cb18290 11
takeru0x1103 8:1ca49cb18290 12 #define CLK_CYC 20.83 //FPGAのクロック周期
takeru0x1103 0:ecd925601fc6 13
takeru0x1103 8:1ca49cb18290 14 //-----------------------------
takeru0x1103 8:1ca49cb18290 15 //FPGAレジスタアドレスマップ
takeru0x1103 0:ecd925601fc6 16 #define ADR_TEST_REG 0x0 //テストレジスタ
takeru0x1103 0:ecd925601fc6 17 #define ADR_RPM_FLSB 0x1 //エンジン回転数 前 LSB
takeru0x1103 0:ecd925601fc6 18 #define ADR_RPM_FMSB 0x2 //エンジン回転数 前 MSB
takeru0x1103 0:ecd925601fc6 19 #define ADR_RPM_BLSB 0x3 //エンジン回転数 後ろ LSB
takeru0x1103 0:ecd925601fc6 20 #define ADR_RPM_BMSB 0x4 //エンジン回転数 後ろ MSB
takeru0x1103 0:ecd925601fc6 21
takeru0x1103 0:ecd925601fc6 22 #define ADR_SUB_FL_I 0x5 //前 ◀ in
takeru0x1103 0:ecd925601fc6 23 #define ADR_SUB_FL_O 0x6 //前 ◀ out
takeru0x1103 0:ecd925601fc6 24 #define ADR_SUB_FR_I 0x7 //前 ▶ in
takeru0x1103 0:ecd925601fc6 25 #define ADR_SUB_FR_O 0x8 //前 ▶ out
takeru0x1103 0:ecd925601fc6 26
takeru0x1103 0:ecd925601fc6 27 #define ADR_SUB_BL_I 0x9 //後ろ ◀ in
takeru0x1103 0:ecd925601fc6 28 #define ADR_SUB_BL_O 0xA //後ろ ◀ out
takeru0x1103 0:ecd925601fc6 29 #define ADR_SUB_BR_I 0xB //後ろ ▶ in
takeru0x1103 0:ecd925601fc6 30 #define ADR_SUB_BR_O 0xC //後ろ ▶ out
takeru0x1103 0:ecd925601fc6 31
takeru0x1103 0:ecd925601fc6 32 #define ADR_USER_SW 0xD //ユーザースイッチ
takeru0x1103 0:ecd925601fc6 33 #define ADR_ACCEL_F 0xE //アクセル前
takeru0x1103 0:ecd925601fc6 34 #define ADR_ACCEL_B 0xF //アクセル後ろ
takeru0x1103 8:1ca49cb18290 35 //-----------------------------
takeru0x1103 0:ecd925601fc6 36
takeru0x1103 0:ecd925601fc6 37 // ################################################################
takeru0x1103 0:ecd925601fc6 38 // SPI通信フォーマットに合わせた供用体定義
takeru0x1103 0:ecd925601fc6 39 // bit |15|14|13|12|11|10| 9| 8| 7| 6| 5| 4| 3| 2| 1| 0|
takeru0x1103 0:ecd925601fc6 40 // function | ID | Data |
takeru0x1103 0:ecd925601fc6 41 // ################################################################
takeru0x1103 0:ecd925601fc6 42 typedef union{
takeru0x1103 0:ecd925601fc6 43 UINT16 spiCmd;
takeru0x1103 0:ecd925601fc6 44 struct{
takeru0x1103 0:ecd925601fc6 45 UINT16 val : 12;//bit[11: 0] 書き込みデータ
takeru0x1103 0:ecd925601fc6 46 UINT16 id : 4 ;//bit[15:12] レジスタアドレス
takeru0x1103 0:ecd925601fc6 47 }bf;
takeru0x1103 0:ecd925601fc6 48 }SPI_CMD;
takeru0x1103 0:ecd925601fc6 49
takeru0x1103 0:ecd925601fc6 50 // ###############################################################
takeru0x1103 0:ecd925601fc6 51 // グローバル変数
takeru0x1103 0:ecd925601fc6 52 // ###############################################################
takeru0x1103 0:ecd925601fc6 53 static SPI spi (p5,p6,p7) ;//SPI通信ポート定義： mosi, miso, clk
takeru0x1103 8:1ca49cb18290 54 static DigitalOut CS_n(p8) ;//SPIのチップセレクトピン
takeru0x1103 0:ecd925601fc6 55
takeru0x1103 8:1ca49cb18290 56 //-----------------------------------
takeru0x1103 0:ecd925601fc6 57 //SPIデータ送出
takeru0x1103 8:1ca49cb18290 58 //-----------------------------------
takeru0x1103 8:1ca49cb18290 59 static UINT16 xSpi16bitSend(UINT16 dat){
takeru0x1103 0:ecd925601fc6 60 unsigned int rtn;
takeru0x1103 0:ecd925601fc6 61
takeru0x1103 0:ecd925601fc6 62 CS_n= 0; //チップセレクトアサート
takeru0x1103 0:ecd925601fc6 63 rtn = spi.write(dat); //データ出力
takeru0x1103 0:ecd925601fc6 64 CS_n = 1; //チップセレクトネゲート
takeru0x1103 8:1ca49cb18290 65 return rtn; //SPIリードデータを返す
takeru0x1103 8:1ca49cb18290 66 }
takeru0x1103 8:1ca49cb18290 67 //-----------------------------------
takeru0x1103 8:1ca49cb18290 68 //SPI送出データの組み立てて通信
takeru0x1103 8:1ca49cb18290 69 //-----------------------------------
takeru0x1103 8:1ca49cb18290 70 static UINT16 xSpi(UCHAR id , UINT16 val){
takeru0x1103 8:1ca49cb18290 71 UINT16 spiRtn=0;
takeru0x1103 8:1ca49cb18290 72 SPI_CMD cmd;
takeru0x1103 8:1ca49cb18290 73
takeru0x1103 8:1ca49cb18290 74 //引数を送信するコマンドに成形
takeru0x1103 8:1ca49cb18290 75 cmd.bf.id = id;
takeru0x1103 8:1ca49cb18290 76 cmd.bf.val = val;
takeru0x1103 8:1ca49cb18290 77 //SPIデータ送出し読み出し値を取得
takeru0x1103 8:1ca49cb18290 78 spiRtn = xSpi16bitSend(cmd.spiCmd);
takeru0x1103 8:1ca49cb18290 79 //レジスタ読み出し値を返す
takeru0x1103 8:1ca49cb18290 80 return spiRtn;
takeru0x1103 0:ecd925601fc6 81 }
takeru0x1103 0:ecd925601fc6 82
takeru0x1103 0:ecd925601fc6 83 //================================================================
takeru0x1103 0:ecd925601fc6 84 //テストレジスタアクセス
takeru0x1103 0:ecd925601fc6 85 //================================================================
takeru0x1103 8:1ca49cb18290 86 UINT16 fpgaTest(UINT16 val){
takeru0x1103 8:1ca49cb18290 87 //SPI通信
takeru0x1103 8:1ca49cb18290 88 UINT16 spiRtn = xSpi(ADR_TEST_REG , val);
takeru0x1103 8:1ca49cb18290 89 //レジスタ読み出し値を返す
takeru0x1103 0:ecd925601fc6 90 return spiRtn;
takeru0x1103 0:ecd925601fc6 91 }
takeru0x1103 0:ecd925601fc6 92 //================================================================
takeru0x1103 0:ecd925601fc6 93 //エンジン回転数を取得
takeru0x1103 0:ecd925601fc6 94 //================================================================
takeru0x1103 0:ecd925601fc6 95 UINT16 fpgaGetRpm(bool frontFlg){
takeru0x1103 0:ecd925601fc6 96 UINT16 RpmMsb=0;
takeru0x1103 0:ecd925601fc6 97 UINT16 RpmLsb=0;
takeru0x1103 0:ecd925601fc6 98 UINT32 Rpm=0;
takeru0x1103 0:ecd925601fc6 99 double clc;
takeru0x1103 0:ecd925601fc6 100
takeru0x1103 8:1ca49cb18290 101 RpmLsb = xSpi((frontFlg==true) ? ADR_RPM_FLSB : ADR_RPM_BLSB , 0);//下位12bit読み出し
takeru0x1103 8:1ca49cb18290 102 RpmMsb = xSpi((frontFlg==true) ? ADR_RPM_FMSB : ADR_RPM_BMSB , 0);//上位12bit読み出し
takeru0x1103 0:ecd925601fc6 103
takeru0x1103 0:ecd925601fc6 104 //24bit連結:48MHzのクロックサイクル数換算
takeru0x1103 0:ecd925601fc6 105 Rpm = (RpmMsb << 12) | RpmLsb;
takeru0x1103 0:ecd925601fc6 106
takeru0x1103 0:ecd925601fc6 107 //RPM換算
takeru0x1103 0:ecd925601fc6 108 clc = (double)Rpm * CLK_CYC;
takeru0x1103 0:ecd925601fc6 109 clc = clc / 1000;
takeru0x1103 0:ecd925601fc6 110 clc = 30000000 / clc;
takeru0x1103 8:1ca49cb18290 111 //回転数rpmを返す
takeru0x1103 0:ecd925601fc6 112 return (UINT16)clc;
takeru0x1103 0:ecd925601fc6 113 }
takeru0x1103 0:ecd925601fc6 114 //================================================================
takeru0x1103 8:1ca49cb18290 115 //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 116 //================================================================
takeru0x1103 18:5aa48aec9cae 117 bool fpgaSubProp(UCHAR iPos,INT16 iVal){
takeru0x1103 18:5aa48aec9cae 118 UCHAR regAdr[1];
takeru0x1103 18:5aa48aec9cae 119 UINT16 regVal;
takeru0x1103 0:ecd925601fc6 120
takeru0x1103 0:ecd925601fc6 121 switch (iPos){
takeru0x1103 0:ecd925601fc6 122 case 0x0://
takeru0x1103 18:5aa48aec9cae 123 regAdr[0] = ADR_SUB_FL_I;
takeru0x1103 18:5aa48aec9cae 124 regAdr[1] = ADR_SUB_FL_O;
takeru0x1103 0:ecd925601fc6 125 break;
takeru0x1103 0:ecd925601fc6 126 case 0x1://
takeru0x1103 18:5aa48aec9cae 127 regAdr[0] = ADR_SUB_FR_I;
takeru0x1103 18:5aa48aec9cae 128 regAdr[1] = ADR_SUB_FR_O;
takeru0x1103 0:ecd925601fc6 129 break;
takeru0x1103 0:ecd925601fc6 130 case 0x2://
takeru0x1103 18:5aa48aec9cae 131 regAdr[0] = ADR_SUB_BL_I;
takeru0x1103 18:5aa48aec9cae 132 regAdr[1] = ADR_SUB_BL_O;
takeru0x1103 0:ecd925601fc6 133 break;
takeru0x1103 0:ecd925601fc6 134 case 0x3://
takeru0x1103 18:5aa48aec9cae 135 regAdr[0] = ADR_SUB_BR_I;
takeru0x1103 18:5aa48aec9cae 136 regAdr[1] = ADR_SUB_BR_O;
takeru0x1103 0:ecd925601fc6 137 break;
takeru0x1103 0:ecd925601fc6 138 default:
takeru0x1103 8:1ca49cb18290 139 return false;//何もしないで終わる
takeru0x1103 0:ecd925601fc6 140 }
takeru0x1103 18:5aa48aec9cae 141
takeru0x1103 18:5aa48aec9cae 142 //レジスタ設定範囲内にリミット
takeru0x1103 20:0394e15412c3 143 regVal = (iVal<0) ? 0 :(iVal>4095)? 4095 : iVal;
takeru0x1103 20:0394e15412c3 144 // if(iVal<0){
takeru0x1103 20:0394e15412c3 145 // regVal = 0;
takeru0x1103 20:0394e15412c3 146 // }else if(iVal>4095){
takeru0x1103 20:0394e15412c3 147 // regVal = 4095;
takeru0x1103 20:0394e15412c3 148 // }else{
takeru0x1103 20:0394e15412c3 149 // regVal = iVal;
takeru0x1103 20:0394e15412c3 150 // }
takeru0x1103 20:0394e15412c3 151
takeru0x1103 18:5aa48aec9cae 152 xSpi(regAdr[0] , regVal);//吸気側
takeru0x1103 18:5aa48aec9cae 153 xSpi(regAdr[1] , regVal);//排気側
takeru0x1103 8:1ca49cb18290 154
takeru0x1103 8:1ca49cb18290 155 //正常終了
takeru0x1103 8:1ca49cb18290 156 return true;
takeru0x1103 8:1ca49cb18290 157 }
takeru0x1103 8:1ca49cb18290 158
takeru0x1103 8:1ca49cb18290 159 //================================================================
takeru0x1103 20:0394e15412c3 160 //モーター個別設定
takeru0x1103 18:5aa48aec9cae 161 //================================================================
takeru0x1103 20:0394e15412c3 162 void fpgaMotor(UCHAR iPos,INT16 iVal){
takeru0x1103 20:0394e15412c3 163 UCHAR regAdr = ADR_SUB_FL_I;//モーターの先頭番地を指しておく
takeru0x1103 20:0394e15412c3 164 UINT16 regVal;
takeru0x1103 18:5aa48aec9cae 165
takeru0x1103 20:0394e15412c3 166 if( iPos<8){ regAdr += iPos; } //指定位置だけオフセットさせる
MasashiNomura 48:71aec693a7dc 167 // if(gf_Print.d1.bf.fb){
MasashiNomura 48:71aec693a7dc 168 // sp.printf("POS[%d] Val[%d]", iPos, iVal);
MasashiNomura 48:71aec693a7dc 169 // }
takeru0x1103 20:0394e15412c3 170 regVal = (iVal<0) ? 0 :(iVal>4095)? 4095 : iVal; //レジスタ設定範囲内にリミット
takeru0x1103 20:0394e15412c3 171 xSpi(regAdr , regVal);//
takeru0x1103 18:5aa48aec9cae 172 }
takeru0x1103 18:5aa48aec9cae 173
takeru0x1103 18:5aa48aec9cae 174 //================================================================
takeru0x1103 8:1ca49cb18290 175 //ユーザースイッチ読み取り
takeru0x1103 8:1ca49cb18290 176 //================================================================
takeru0x1103 8:1ca49cb18290 177 UINT16 fpgaGetUserSw(){
takeru0x1103 8:1ca49cb18290 178 //SPIデータ送出/読み出し
takeru0x1103 8:1ca49cb18290 179 UINT16 spiRtn = xSpi(ADR_USER_SW , 0);
takeru0x1103 8:1ca49cb18290 180 //戻り値
takeru0x1103 8:1ca49cb18290 181 return spiRtn;
takeru0x1103 8:1ca49cb18290 182 }
takeru0x1103 8:1ca49cb18290 183
takeru0x1103 8:1ca49cb18290 184 //================================================================
takeru0x1103 8:1ca49cb18290 185 //アクセル設定 　　　位置 0:前 1後
takeru0x1103 8:1ca49cb18290 186 //================================================================
takeru0x1103 17:f9610f3cfa1b 187 void fpgaEngine(UCHAR iID , UINT16 iSlotl){
takeru0x1103 17:f9610f3cfa1b 188 xSpi((iID==0)? ADR_ACCEL_F : ADR_ACCEL_B , iSlotl);
takeru0x1103 0:ecd925601fc6 189 }
takeru0x1103 0:ecd925601fc6 190
takeru0x1103 0:ecd925601fc6 191 //================================================================
takeru0x1103 0:ecd925601fc6 192 //FPGA初期化
takeru0x1103 0:ecd925601fc6 193 //================================================================
takeru0x1103 0:ecd925601fc6 194 void fpgaInit(){
takeru0x1103 0:ecd925601fc6 195 spi.format(16,3) ;//SPIのフォーマット指定（bit長、極性）
takeru0x1103 0:ecd925601fc6 196 spi.frequency(500000) ;//クロック周波数
takeru0x1103 0:ecd925601fc6 197 CS_n =1 ;//Low有意なのでHighにしておく
takeru0x1103 20:0394e15412c3 198 }