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main.cpp@22:fd929620e873, 2021-06-07 (annotated)
- Committer:
- wuliqunyy
- Date:
- Mon Jun 07 12:42:37 2021 +0000
- Revision:
- 22:fd929620e873
- Parent:
- 21:928fbeda074f
- Child:
- 23:0237430bf3ec
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
wuliqunyy | 0:fe3c7dde9771 | 1 | #include "mbed.h" |
wuliqunyy | 5:daab0e0e67e2 | 2 | #include "main_init.h" |
wuliqunyy | 6:019ab407ac3c | 3 | #include "i2c_mbed_fpga.h" |
wuliqunyy | 16:a0bfe33f8a4a | 4 | #include "uart_mbed.h" |
wuliqunyy | 0:fe3c7dde9771 | 5 | |
wuliqunyy | 16:a0bfe33f8a4a | 6 | #define RAM_END_ADDR 0x4B |
wuliqunyy | 16:a0bfe33f8a4a | 7 | |
wuliqunyy | 19:55189aea8f38 | 8 | //#define CLIM_LEVEL 47 //1.5A |
wuliqunyy | 19:55189aea8f38 | 9 | //#define CLIM_LEVEL 57 //1.8A |
wuliqunyy | 19:55189aea8f38 | 10 | //#define CLIM_LEVEL 67 //2.1A |
wuliqunyy | 19:55189aea8f38 | 11 | //#define CLIM_LEVEL 76 //2.4A |
wuliqunyy | 19:55189aea8f38 | 12 | #define CLIM_LEVEL 86 //2.7A |
wuliqunyy | 19:55189aea8f38 | 13 | //#define CLIM_LEVEL 95 //3.0A Runda fan setting |
wuliqunyy | 19:55189aea8f38 | 14 | //#define CLIM_LEVEL 105 //3.3A |
wuliqunyy | 16:a0bfe33f8a4a | 15 | // I_LIM (A) = 4A * CLIM_LEVEL/127 |
wuliqunyy | 0:fe3c7dde9771 | 16 | |
wuliqunyy | 0:fe3c7dde9771 | 17 | /* Main function */ |
wuliqunyy | 0:fe3c7dde9771 | 18 | int main() { |
wuliqunyy | 16:a0bfe33f8a4a | 19 | char i2cBuffer[3]; |
wuliqunyy | 16:a0bfe33f8a4a | 20 | char i2cTestPassFlag = 0; |
wuliqunyy | 22:fd929620e873 | 21 | char i2cRamDumpFlag = 0; |
wuliqunyy | 22:fd929620e873 | 22 | char i2cTestPulseDebugFlag = 1; |
wuliqunyy | 6:019ab407ac3c | 23 | |
wuliqunyy | 6:019ab407ac3c | 24 | /*init funcitons*/ |
wuliqunyy | 5:daab0e0e67e2 | 25 | i2c_mbed_fpga i2c; |
wuliqunyy | 6:019ab407ac3c | 26 | main_init(); /*reset the FPGA!*/ |
wuliqunyy | 3:557d5725b1bb | 27 | |
wuliqunyy | 6:019ab407ac3c | 28 | /*control codes*/ |
wuliqunyy | 14:062850afdf38 | 29 | wait_ms(2000); /* keep FPGA in reset for 5s, to let motor stop*/ |
wuliqunyy | 14:062850afdf38 | 30 | enbale_fpga(); /* enable FPGA */ |
wuliqunyy | 20:26e934452728 | 31 | wait_ms(38); |
wuliqunyy | 20:26e934452728 | 32 | //*(i2cBuffer+0) = (char)(I2C_STATE)& 0xff; |
wuliqunyy | 20:26e934452728 | 33 | //i2c.i2c_word_read(i2cBuffer); |
wuliqunyy | 20:26e934452728 | 34 | //uart_print(i2cBuffer); |
wuliqunyy | 20:26e934452728 | 35 | //wait_ms(1); |
wuliqunyy | 16:a0bfe33f8a4a | 36 | i2c.i2c_config_mode_entry(); |
wuliqunyy | 14:062850afdf38 | 37 | wait_ms(1); |
wuliqunyy | 14:062850afdf38 | 38 | i2c.i2c_clear_spd_ctrl(); |
wuliqunyy | 14:062850afdf38 | 39 | wait_ms(1); |
wuliqunyy | 15:83bbc18cccbc | 40 | i2c.i2c_set_comm_i_thres(0x0fff,1); //note, 0fff is -1 signed |
wuliqunyy | 14:062850afdf38 | 41 | wait_ms(1); |
wuliqunyy | 14:062850afdf38 | 42 | i2c.i2c_set_comm_di_thres(0,1); |
wuliqunyy | 14:062850afdf38 | 43 | wait_ms(1); |
wuliqunyy | 14:062850afdf38 | 44 | i2c.i2c_set_fall_time_blank(4); |
wuliqunyy | 14:062850afdf38 | 45 | wait_ms(1); |
wuliqunyy | 13:1faffc2dc651 | 46 | i2c.i2c_set_50k_pwm(1); |
wuliqunyy | 14:062850afdf38 | 47 | wait_ms(1); |
wuliqunyy | 22:fd929620e873 | 48 | //i2c.i2c_set_position_pulse_width(3,5); /* Runda unsigned int mantisaa_2b, unsigned int exponent_3b*/ |
wuliqunyy | 22:fd929620e873 | 49 | i2c.i2c_set_position_pulse_width(2,4); /* VGA unsigned int mantisaa_2b, unsigned int exponent_3b */ |
wuliqunyy | 14:062850afdf38 | 50 | wait_ms(1); |
wuliqunyy | 20:26e934452728 | 51 | i2c.i2c_set_position_flat(3,7); |
wuliqunyy | 20:26e934452728 | 52 | wait_ms(1); |
wuliqunyy | 12:9f8c7f4da5f6 | 53 | // i2c.i2c_set_position_duty(3); |
wuliqunyy | 12:9f8c7f4da5f6 | 54 | // wait_ms(10); |
wuliqunyy | 12:9f8c7f4da5f6 | 55 | // i2c.i2c_set_position_anti_cog(0); |
wuliqunyy | 12:9f8c7f4da5f6 | 56 | // wait_ms(10); |
wuliqunyy | 12:9f8c7f4da5f6 | 57 | // i2c.i2c_set_start_up_duty(3); |
wuliqunyy | 12:9f8c7f4da5f6 | 58 | // wait_ms(10); |
wuliqunyy | 22:fd929620e873 | 59 | //i2c.i2c_set_start_up_pulse_width(5,6); /*Runda(unsigned int mantisaa_3b, unsigned int exponent_3b*/ |
wuliqunyy | 22:fd929620e873 | 60 | i2c.i2c_set_start_up_pulse_width(3,5); /* VGA (unsigned int mantisaa_3b, unsigned int exponent_3b*/ |
wuliqunyy | 14:062850afdf38 | 61 | wait_ms(1); |
wuliqunyy | 22:fd929620e873 | 62 | //i2c.i2c_set_start_up_flat(5,6); /*Runda(unsigned int mantisaa_3b, unsigned int exponent_3b*/ |
wuliqunyy | 22:fd929620e873 | 63 | i2c.i2c_set_start_up_flat(3,6); /*VGA (unsigned int mantisaa_3b, unsigned int exponent_3b*/ |
wuliqunyy | 20:26e934452728 | 64 | wait_ms(1); |
wuliqunyy | 19:55189aea8f38 | 65 | i2c.i2c_set_start_up_num_comm(1); |
wuliqunyy | 12:9f8c7f4da5f6 | 66 | // wait_ms(10); |
wuliqunyy | 12:9f8c7f4da5f6 | 67 | // //led4 = i2c.i2c_set_soft_start_up(1, 1, 0, 1, 1); |
wuliqunyy | 12:9f8c7f4da5f6 | 68 | // wait_ms(10); |
wuliqunyy | 12:9f8c7f4da5f6 | 69 | // i2c.i2c_clear_spd_ctrl(); |
wuliqunyy | 14:062850afdf38 | 70 | wait_ms(1); |
wuliqunyy | 14:062850afdf38 | 71 | i2c.i2c_set_loop_mode(0); |
wuliqunyy | 14:062850afdf38 | 72 | wait_ms(1); |
wuliqunyy | 14:062850afdf38 | 73 | i2c.i2c_set_curve_type(3); |
wuliqunyy | 14:062850afdf38 | 74 | wait_ms(1); |
wuliqunyy | 14:062850afdf38 | 75 | i2c.i2c_set_dc_ini(2); |
wuliqunyy | 14:062850afdf38 | 76 | wait_ms(1); |
wuliqunyy | 14:062850afdf38 | 77 | i2c.i2c_set_dc_sr(0); |
wuliqunyy | 14:062850afdf38 | 78 | wait_ms(1); |
wuliqunyy | 19:55189aea8f38 | 79 | i2c.i2c_force_rough_reg(0); |
wuliqunyy | 19:55189aea8f38 | 80 | wait_ms(1); |
wuliqunyy | 12:9f8c7f4da5f6 | 81 | i2c.i2c_set_rough_gain(0); |
wuliqunyy | 14:062850afdf38 | 82 | wait_ms(1); |
wuliqunyy | 14:062850afdf38 | 83 | i2c.i2c_set_ehp_reg_gain(0); |
wuliqunyy | 14:062850afdf38 | 84 | wait_ms(1); |
wuliqunyy | 16:a0bfe33f8a4a | 85 | i2c.i2c_set_clim_start_up(CLIM_LEVEL); |
wuliqunyy | 16:a0bfe33f8a4a | 86 | wait_ms(1); |
wuliqunyy | 16:a0bfe33f8a4a | 87 | i2c.i2c_set_clim_brake(CLIM_LEVEL); |
wuliqunyy | 16:a0bfe33f8a4a | 88 | wait_ms(1); |
wuliqunyy | 16:a0bfe33f8a4a | 89 | i2c.i2c_set_clim_run_time(CLIM_LEVEL); |
wuliqunyy | 16:a0bfe33f8a4a | 90 | wait_ms(1); |
wuliqunyy | 15:83bbc18cccbc | 91 | i2c.i2c_skip_app_copy(); |
wuliqunyy | 15:83bbc18cccbc | 92 | wait_ms(1); |
wuliqunyy | 16:a0bfe33f8a4a | 93 | |
wuliqunyy | 16:a0bfe33f8a4a | 94 | if(i2cRamDumpFlag == 1){ |
wuliqunyy | 16:a0bfe33f8a4a | 95 | /*dump calibration data start*/ |
wuliqunyy | 16:a0bfe33f8a4a | 96 | i2c.i2c_mlx_mode_entry(); |
wuliqunyy | 16:a0bfe33f8a4a | 97 | wait_ms(1); |
wuliqunyy | 16:a0bfe33f8a4a | 98 | *(i2cBuffer+0) = (char)(I2C_STATUS)& 0xff; |
wuliqunyy | 16:a0bfe33f8a4a | 99 | i2c.i2c_word_read(i2cBuffer); |
wuliqunyy | 16:a0bfe33f8a4a | 100 | uart_print(i2cBuffer); |
wuliqunyy | 16:a0bfe33f8a4a | 101 | |
wuliqunyy | 21:928fbeda074f | 102 | if( i2cBuffer[2] == 0x0C ){ |
wuliqunyy | 16:a0bfe33f8a4a | 103 | uart_I2C_test_pass(); |
wuliqunyy | 16:a0bfe33f8a4a | 104 | i2cTestPassFlag = 1; |
wuliqunyy | 16:a0bfe33f8a4a | 105 | led4 = 0; |
wuliqunyy | 16:a0bfe33f8a4a | 106 | } |
wuliqunyy | 16:a0bfe33f8a4a | 107 | else { |
wuliqunyy | 16:a0bfe33f8a4a | 108 | uart_I2C_test_fail(); |
wuliqunyy | 16:a0bfe33f8a4a | 109 | i2cTestPassFlag = 0; |
wuliqunyy | 16:a0bfe33f8a4a | 110 | led4 = 1; |
wuliqunyy | 16:a0bfe33f8a4a | 111 | } |
wuliqunyy | 16:a0bfe33f8a4a | 112 | |
wuliqunyy | 16:a0bfe33f8a4a | 113 | if(i2cTestPassFlag == 1){ |
wuliqunyy | 16:a0bfe33f8a4a | 114 | char i; |
wuliqunyy | 16:a0bfe33f8a4a | 115 | for(i=0;i<=RAM_END_ADDR;i++) { |
wuliqunyy | 16:a0bfe33f8a4a | 116 | *(i2cBuffer+0) = i; |
wuliqunyy | 16:a0bfe33f8a4a | 117 | i2c.i2c_word_read(i2cBuffer); |
wuliqunyy | 16:a0bfe33f8a4a | 118 | uart_print(i2cBuffer); |
wuliqunyy | 16:a0bfe33f8a4a | 119 | wait_ms(300); |
wuliqunyy | 16:a0bfe33f8a4a | 120 | } |
wuliqunyy | 16:a0bfe33f8a4a | 121 | uart_ram_dump_finish(); |
wuliqunyy | 16:a0bfe33f8a4a | 122 | } |
wuliqunyy | 16:a0bfe33f8a4a | 123 | } |
wuliqunyy | 16:a0bfe33f8a4a | 124 | |
wuliqunyy | 16:a0bfe33f8a4a | 125 | |
wuliqunyy | 16:a0bfe33f8a4a | 126 | wait_ms(1); |
wuliqunyy | 22:fd929620e873 | 127 | |
wuliqunyy | 22:fd929620e873 | 128 | if(i2cTestPulseDebugFlag == 1) { |
wuliqunyy | 22:fd929620e873 | 129 | i2c.i2c_mlx_mode_entry(); |
wuliqunyy | 22:fd929620e873 | 130 | wait_ms(1); |
wuliqunyy | 22:fd929620e873 | 131 | i2c.i2c_enable_pules_debug_mode(i2cTestPulseDebugFlag); |
wuliqunyy | 22:fd929620e873 | 132 | } |
wuliqunyy | 22:fd929620e873 | 133 | |
wuliqunyy | 22:fd929620e873 | 134 | wait_ms(1); |
wuliqunyy | 16:a0bfe33f8a4a | 135 | i2c.i2c_soft_reset(); |
wuliqunyy | 15:83bbc18cccbc | 136 | wait_ms(40); |
wuliqunyy | 20:26e934452728 | 137 | i2c.i2c_set_open_loop_duty(0xffff); /*100%*/ |
wuliqunyy | 20:26e934452728 | 138 | //i2c.i2c_set_open_loop_duty(0xf850); /*97%*/ |
wuliqunyy | 6:019ab407ac3c | 139 | |
wuliqunyy | 6:019ab407ac3c | 140 | /*enter infinite loop, motor should be running*/ |
wuliqunyy | 5:daab0e0e67e2 | 141 | while (1) {} |
wuliqunyy | 0:fe3c7dde9771 | 142 | |
wuliqunyy | 0:fe3c7dde9771 | 143 | } |