SPI slave program to enable communication between the FPGA and the STM32L432 board.
Diff: main.cpp
- Revision:
- 9:9ed9dffd602a
- Parent:
- 8:e87027349167
- Child:
- 10:5b96211275d4
--- a/main.cpp Wed Feb 27 23:35:51 2019 +0000
+++ b/main.cpp Thu Mar 07 01:16:48 2019 +0000
@@ -5,7 +5,7 @@
#include "Quaternions.h"
#include "DMA_SPI.h"
-DigitalOut myled(LED1);
+//DigitalOut myled(LED1);
Serial pc(USBTX, USBRX);
int masterRx = 0;
@@ -51,10 +51,19 @@
void calibrateOffset();
-float xx;
-float yy;
-float zz;
-
+int stateRXNE = 0;
+int stateTXE = 0;
+int stateBSY = 0;
+int DMA1_CH2_Transfer_Complete_Flag = 0;
+int DMA1_CH3_Transfer_Complete_Flag = 0;
+int DMA1_CH2_Transfer_Error_Flag = 0;
+int DMA1_CH3_Transfer_Error_Flag = 0;
+int stateDMAch2interrupt = 0;
+int stateDMAch3interrupt = 0;
+int flag = 0;
+int flag2 = 0;
+int rx_data = 0;
+int16_t rxx;
/*
@@ -71,7 +80,7 @@
//------------------Printing-All-values----------------------//
//-------------Testing-Variables-Remove-Later----------------//
-int blinkCounter = 0;
+//int blinkCounter = 0;
//-------------Testing-Variables-Remove-Later----------------//
int main() {
@@ -89,9 +98,9 @@
IDarray[10] = 19;
IDarray[11] = 18;
- init_spi1();
+ //init_spi1();
t.start();
-
+ SPI_DMA_init();
gyroQ.w = 1;
gyroQ.x = 0.0001;
gyroQ.y = 0.0001;
@@ -102,65 +111,117 @@
CF.y = 0.0001;
CF.z = 0.0001;
-
gyroQ = normaliseQuaternion(gyroQ);
CF = normaliseQuaternion(CF);
vertical.x = 0.0f;
vertical.y = 0.0f;
vertical.z = 1.0f;
+
+
+ data_to_transmit[0] = 1;
+ data_to_transmit[1] = 2;
+ data_to_transmit[2] = 3;
+ data_to_transmit[3] = 4;
+ data_to_transmit[4] = 5;
+ data_to_transmit[5] = 6;
+ data_to_transmit[6] = 7;
+ data_to_transmit[7] = 8;
+ data_to_transmit[8] = 9;
+ data_to_transmit[9] = 10;
+ data_to_transmit[10] = 11;
+ data_to_transmit[11] = 16;
+ data_to_transmit[12] = 13;
- pc.printf("Begin \n\r");
-
+
while(1) {
- if(i == 1) {
- for(int x = 1; x < 128; x *= 2) {
- slaveRx = transfer_spi_slave(x);
- //pc.putc(slaveRx);
- pc.printf("%d \n\r",slaveRx);
+
+
+
+ stateRXNE = SPI1->SR&0x01;
+ stateTXE = SPI1->SR&0x02;
+ stateBSY = SPI1->SR&(1u<<7);
+
+ DMA1_CH2_Transfer_Complete_Flag = DMA1->ISR&(1u<<5);
+ DMA1_CH3_Transfer_Complete_Flag = DMA1->ISR&(1u<<9);
+ DMA1_CH2_Transfer_Error_Flag = DMA1->ISR&(1u<<7);
+ DMA1_CH3_Transfer_Error_Flag = DMA1->ISR&(1u<<11);
+
+ pc.printf("RXNE: %d, TXE: %d, BSY: %d, CH2 Transfer Complete: %d, CH2 Transfer Complete: %d, CH2 Transfer Error: %d, CH3 Transfer Error: %d\n\r",stateRXNE, stateTXE, stateBSY, DMA1_CH2_Transfer_Complete_Flag, DMA1_CH3_Transfer_Complete_Flag, DMA1_CH2_Transfer_Error_Flag, DMA1_CH3_Transfer_Error_Flag);
+
+ if(DMA1->ISR&(1u<<5)) { //Check whether data read transfer is complete
+ for(int x = 0; x <= 11; x++) {
+ data_to_transmit[x] = x;
}
- for(int x = 128; x > 1; x /= 2) {
- slaveRx = transfer_spi_slave(x);
- //pc.putc(slaveRx);
- pc.printf("%d \n\r",slaveRx);
- }
- }//if(i == 1)
-
-
+ CLEAR_DMA1_CH2_IFCR_GFLAG(); //Clear global channel interrupt flag for channel 2
+ }
+
+ if(DMA1->ISR&(1u<<9)) { //Check whteher data transmit transfer is complete
+ //Read data from the array that stores received data
+ for(int x = 0; x <= 11; x++) {
+ IMUarray[x] = received_data[x];
+ }
+ CLEAR_DMA1_CH3_IFCR_GFLAG(); //Clear global channel interrupt flag for channel 3
+ }
+ /*
+ if(DMA1->ISR&(1u<<11) && flag == 0) {
+ if(SPI1->SR&(1u<<7) == 0) { //Check whether SPI is busy before disabling
+ SPI1->CR1 &= ~SPI_CR1_SPE; //Disable the SPI
+ DMA1->IFCR |= (1u << (4*(C3S - 1)));
+ DMA1_Channel3->CCR |= (0x01<<CCR_EN);
+ SPI1->CR1 |= SPI_CR1_SPE; //Enable SPI
+ flag = 1;
+ }
+ }
+
+ if(DMA1->ISR&(1u<<7) && flag2 == 0) {
+ DMA1->IFCR |= (15u << (4*(C2S - 1)));
+ flag2 = 1;
+ }
+
+ if(DMA1->ISR&(1u<<9) && flag == 0) {
+ DMA1->IFCR |= (1u << (4*(C3S - 1)));
-//------------------------------------------------------------------------------
- if(i == 0) {
- slaveRx = transfer_spi_slave(10);
- countx++;
- if(countx == 1) {
- k = slaveRx;
- k &= ~(255 << 8);
- k = k << 8;
- // if(k == 19) {
- zgHigher = k;
- //zgHigher = zgHigher << 8;
- //}//if(k == 19)
- }//if(count == 11)
-
-
- else if(countx == 2) {
- k = slaveRx;
- k &= ~(255 << 8);
- //k = k << 8;
- //if(k == 18) {
- zgLower = k;
- //zgLower = zgLower << 8;
- zGyro = zgHigher + zgLower;
- pc.printf("%+d \n\r",zGyro);
- //}//if(k == 19)
- countx = 0;
- }//else if(count == 12)
-
- }//if(i == 0)
+ }
+
+ if(DMA1->ISR&(1u<<5) && flag2 == 0) {
+ DMA1->IFCR |= (15u << (4*(C2S - 1)));
+ for(int x = 0; x <= 10; x++) {
+ rxx = received_data[x];
+ }
+ }
+
+*/
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
//------------------------------------------------------------------------------
-
+ /*
if(i == 2) {
- slaveRx = transfer_spi_slave(10); //get IMU data
+ //slaveRx = transfer_spi_slave(10); //get IMU data
id = slaveRx; //Save sample to id for id extraction
@@ -178,7 +239,6 @@
//reset idx and dataCount
dataCount = 0;
idx = 0;
- //ProcessAndPrint();
//calibrateOffset();
//IMU0.concatenateData(IMUarray);
Datt = IMU0.CalculateQCFAngles(IMUarray);
@@ -193,13 +253,13 @@
else {
//-----Code-Used-For-Testing-----//
//pc.printf("Failed at: %d \n\r", dataCount); //Print an error if there is one
- if(blinkCounter == 10) { //Slow the blinking down to make it visible if there are errors
- myled = !myled; //Change state of the LED if error occurs
- blinkCounter = 0; //Reset Blink counter
- }
- else {
- blinkCounter++;
- }
+ // if(blinkCounter == 10) { //Slow the blinking down to make it visible if there are errors
+ // myled = !myled; //Change state of the LED if error occurs
+ // blinkCounter = 0; //Reset Blink counter
+ // }
+ // else {
+ // blinkCounter++;
+ //}
//-----Code-Used-For-Testing-----//
dataCount = 0; //ID sequence is worng so reset the counter
@@ -207,7 +267,7 @@
}
}//if(i == 2)
-
+ */
}
}
@@ -215,133 +275,10 @@
-/*
- -The purpose of this function
-*/
-void ProcessAndPrint() {
- int16_t MSB = 0; //Store Most Significant Byte of data piece in this variable for processing
- int16_t LSB = 0; //Store Least Significant Byte of data piece in this variable for processing
- char arrPointer = 0; //Array Pointer
-
-//-----------Concatentated-Data-Pieces------------------------------------------
- int16_t gyroX = 0;
- int16_t gyroY = 0;
- int16_t gyroZ = 0;
-
- int16_t accelX = 0;
- int16_t accelY = 0;
- int16_t accelZ = 0;
-
- float faccelX = 0.0f;
- float faccelY = 0.0f;
- float faccelZ = 0.0f;
-
- float fgyroX = 0.0f;
- float fgyroY = 0.0f;
- float fgyroZ = 0.0f;
-
-//-----------Concatentated-Data-Pieces------------------------------------------
- for(char x = 0; x <= 5; x++) {
- MSB = IMUarray[arrPointer]; //Odd data pieces are MSBs
- MSB &= ~(255<<8); //Mask the MSB bits as they are not part of data
- MSB = MSB << 8; //Shift the Value as its the MSB of the data piece
- arrPointer++; //Increment array pointer
- LSB = IMUarray[arrPointer]; //Even data pieces are LSBs
- LSB &= ~(255 << 8); //Mask the MSB bits as they are not part of data
- arrPointer++; //Increment array pointer
-
- switch(x) {
- case 0:
- accelX = (MSB + LSB) + OffsetXA; //Combine Accelerometer x-axis data
- faccelX = (float)accelX * 0.00006103515625f; //Multiply the acceleration by sensitivity scale factor to get it into g 1/16,384
- break;
- case 1:
- accelY = (MSB + LSB) + OffsetYA; //Combine Accelerometer y-axis data
- faccelY = (float)accelY * 0.00006103515625f; //Multiply the acceleration by sensitivity scale factor to get it into g 1/16,384
- break;
- case 2:
- accelZ = (MSB + LSB) + OffsetZA; //Combine Accelerometer z-axis data
- faccelZ = (float)accelZ * 0.00006103515625f; //Multiply the acceleration by sensitivity scale factor to get it into g 1/16,384
- break;
- case 3:
- gyroX = (MSB + LSB) + OffsetX; //Combine Gyroscope x-axis data
- fgyroX = (float)gyroX * SSF; //Multiply the sample by sensitivity scale factor to get it into degress per second 1/16.4
-
- break;
- case 4:
- gyroY = (MSB + LSB) + OffsetY; //Combine Gyroscope y-axis data
- fgyroY = (float)gyroY * SSF; //Multiply the sample by sensitivity scale factor to get it into degress per second 1/16.4
-
- break;
- case 5:
- gyroZ = (MSB + LSB) + OffsetZ; //Combine Gyroscope z-axis data
- fgyroZ = (float)gyroZ * SSF; //Multiply the sample by sensitivity scale factor to get it into degress per second 1/16.4
- break;
- default:
- break;
- }//switch(x)
- }//for(char x = 0; x <= 5; x++)
-
-//Quaternion-Gyro-Integration--------------------------------------------------------------
- //Get the Gyro and Accel values--------------------------------------------------------
- //Convert these vales to radians per second and store them in the vector
- GyroVals.x = fgyroX * 0.0174533f;
- GyroVals.y = fgyroY * 0.0174533f;
- GyroVals.z = fgyroZ * 0.0174533f;
-
- intGyro.x = (fgyroX * dTime);
- intGyro.y = (fgyroY * dTime);
- intGyro.z = (fgyroZ * dTime);
-
- AccelVals.x = faccelX;
- AccelVals.y = faccelY;
- AccelVals.z = faccelZ;
- //Get the Gyro and Accel values--------------------------------------------------------
-
- //CF = updateQuaternion(CF, GyroVals, dTime);
- //CF = normaliseQuaternion(CF);
- //Eangles = eulerA(CF);
-//Quaternion-Gyro-Integration--------------------------------------------------------------
-
-
-//Angle-Calculations-Based-on-Accalerometer------------------------------------------------
- //https://www.dfrobot.com/wiki/index.php/How_to_Use_a_Three-Axis_Accelerometer_for_Tilt_Sensing
-
- accelTilt.x = (atan2f(AccelVals.y, AccelVals.z) * 57.29577951f);
- accelTilt.y = (atan2f((-AccelVals.x), sqrt(pow(AccelVals.y, 2) + pow(AccelVals.z, 2) )) * 57.29577951f);
- //pc.printf("%+6f, %+6f ", accelTilt.x, accelTilt.y);
- //Canntot calculate accel tilt for Z. Gyro date in combination with magnetometer have to be used to obtain reliable z-axis tilt.
-//Angle-Calculations-Based-on-Accalerometer------------------------------------------------
- //pc.printf("%+6f, %+6f, %+6f ", CF.x, CF.y, CF.z);
-
-
-//Complementary-Filter---------------------------------------------------------------------
- //CF.x = 0.98f*(Eangles.x) + 0.02f*accelTilt.x;
- //CF.y = 0.98f*(Eangles.y) + 0.02f*accelTilt.y;
- //CF.z = 0.98f*(Eangles.z) + 0.02f*accelTilt.z;
-
- CF.x = 0.98f*(CF.x + intGyro.x) + 0.02f*accelTilt.x;
- CF.y = 0.98f*(CF.y + intGyro.y) + 0.02f*accelTilt.y;
- CF.z = 0.98f*(CF.z + intGyro.z) + 0.02f*accelTilt.z;
-//Complementary-Filter---------------------------------------------------------------------
-
- //Add the correction to gyro readings and update the quaternion------------------------
- //pc.printf("%+6f, %+6f, %+6f %+6f\n\r ", xx, yy, zz, dTime);
- //pc.printf("%+6f, %+6f, %+6f, %+6f, %+6f, %+6f, %+6f\n\r ", gyroQ.w, gyroQ.x, gyroQ.y, gyroQ.z, CF.x, CF.y, Eangles.z);
- //pc.printf("%+6f, %+6f, %+6f \n\r", CF.x, CF.y, CF.z);
- //CF.x *= 0.0174533f;
- //CF.y *= 0.0174533f;
- // CF.z *= 0.0174533f;
- //CF = euler2Quaternion(CF);
- //CF = normaliseQuaternion(CF);
- //pc.printf("%+6f, %+6f, %+6f\n\r ",Eangles.x, Eangles.y, Eangles.z);
- pc.printf("Accel X: %+6f, Accel Y: %+6f, Accel Z: %+6f, Gyro X: %+6f, Gyro Y: %+6f, Gyro Z: %+6f\n\r", faccelX, faccelY, faccelZ, fgyroX, fgyroY, fgyroZ);
- //pc.printf("Accel X: %+6f, Accel Y: %+6f, Accel Z: %+6f, Gyro X: %+6d, Gyro Y: %+6d, Gyro Z: %+6d\n\r", faccelX, faccelY, faccelZ, gyroX, gyroY, gyroZ);
-
-}//void ProcessAndPrint()
+//---------------------------------------------------------------------------OFFSET-CALIBRATION--------------------------------------------------------------------
void calibrateOffset() {
int16_t MSB = 0; //Store Most Significant Byte of data piece in this variable for processing
@@ -460,7 +397,7 @@
sampleCounter++;
//Print Messages-------------------------------------------------------------------------------
}
-
+//---------------------------------------------------------------------------OFFSET-CALIBRATION--------------------------------------------------------------------