Bavo Van Achte
Fork
Diff: main.cpp
- Revision:
- 3:557d5725b1bb
- Parent:
- 2:9bdcd2c966de
- Child:
- 4:8d7322108eb7
--- a/main.cpp Tue Dec 08 13:53:10 2020 +0000
+++ b/main.cpp Fri Dec 18 10:25:46 2020 +0000
@@ -10,15 +10,15 @@
DigitalOut fpga_rstb(p21); //p21 of MBED is connectted to p4 of the FPGA CMOD for 90415FPGA_EVB2
/*Creat serial port to coummunicate with pc*/
-Serial pc(USBTX, USBRX);
+//Serial pc(USBTX, USBRX);
///*Creat I2C master*/
I2C i2c_master(p9, p10);
-void serial_init(){
- pc.format(8, SerialBase::None, 1);
- pc.baud(38400);
-}
+//void serial_init(){
+// pc.format(8, SerialBase::None, 1);
+// pc.baud(38400);
+//}
void i2c_init(){
i2c_master.frequency(35000);
@@ -33,48 +33,141 @@
fpga_rstb = 0;
i2c_init();
- serial_init();
-
- i2c_master.start();
-
- pc.printf("Mbed is ready!");
+ //serial_init();
+
+ //pc.printf("Mbed is ready!");
}
/* Main function */
int main() {
- char i2cWriteTest[4] = {0x13, 0x8a, 0xac, 0x35};
- char i2cReadTest[4] = {0x13, 0x8a, 0x00, 0x00};
- char i2cStartMotor[4] = {0x13, 0xa4, 0xca, 0xfe}; //Start motor to skip the 1s
- char i2cPositionPulseSetup[4] = {0x13, 0x82, 0xc6, 0x00}; //Start motor to skip the 1s
- char i2cStartUpRead[4] = {0x13, 0x84, 0x00, 0x00}; //Start motor to skip the 1s
+ //char i2cWriteTest[4] = {0x13, 0x8a, 0xac, 0x35};
+ //char i2cReadTest[4] = {0x13, 0x8a, 0x00, 0x00};
+
+ //NV_POSITION
+ #define NV_POSITION_DUTY (14 - 8)
+ #define NV_POSITION_PULSE_TIME (9 - 8)
+ #define NV_POSI_MAJO_VOTE (8 - 8)
+ #define NV_ANTI_COG 7
+ #define NV_FIRST_NON_FLAT_TIME 0
+
+ #define OTP_I2C_POSITIONPULSE_DATA_H (0x03 << NV_POSITION_DUTY) | (0x09 << NV_POSITION_PULSE_TIME) | (0x00 << NV_POSI_MAJO_VOTE)
+ #define OTP_I2C_POSITIONPULSE_DATA_L (0x00 << NV_ANTI_COG) | (0x2c << NV_FIRST_NON_FLAT_TIME)
+
+ #define OTP_I2C_POSITIONPULSE_ADDR_H 0x13
+ #define OTP_I2C_POSITIONPULSE_ADDR_L 0x82
+ char i2cPositionPulseSetup[4] = {OTP_I2C_POSITIONPULSE_ADDR_H, OTP_I2C_POSITIONPULSE_ADDR_L, OTP_I2C_POSITIONPULSE_DATA_H,OTP_I2C_POSITIONPULSE_DATA_L};
+
+ //NV_START_UP
+ #define NV_LONG_START (14 - 8)
+ #define NV_SOFT_START (13 - 8)
+ #define NV_COMM_START_NUM (11 - 8)
+ #define NV_START_DUTY (9 - 8)
+ #define NV_SOFT_STEP_SIZE 6
+ #define NV_START_UP_TIME 0
+
+ #define OTP_I2C_STARTUP_DATA_H (0x00 << NV_SOFT_START) | (0x00 << NV_LONG_START) | (0x03 << NV_COMM_START_NUM) | (0x03 << NV_START_DUTY)
+ #define OTP_I2C_STARTUP_DATA_L (0x03 << NV_SOFT_STEP_SIZE) | (0x24 << NV_START_UP_TIME)
+
+ #define OTP_I2C_STARTUP_ADDR_H 0x13
+ #define OTP_I2C_STARTUP_ADDR_L 0x84
+
+ char i2cStartUpSetup[4] = {OTP_I2C_STARTUP_ADDR_H, OTP_I2C_STARTUP_ADDR_L, OTP_I2C_STARTUP_DATA_H, OTP_I2C_STARTUP_DATA_L};
+
+ //Start Motor
+ #define OTP_MOTOR_START_ADDR_H 0x13
+ #define OTP_MOTOR_START_ADDR_L 0xa4
+ #define OTP_MOTOR_START_DATA_H 0xca
+ #define OTP_MOTOR_START_DATA_L 0xfe
+
+ char i2cMotorStartSetup[4] = {OTP_MOTOR_START_ADDR_H, \
+ OTP_MOTOR_START_ADDR_L, \
+ OTP_MOTOR_START_DATA_H, \
+ OTP_MOTOR_START_DATA_L};
- int ack;
-
+ int ack;
main_init();
+ wait_ms(2000); //reset the FPGA for 2s
+ fpga_rstb = 1; //enable FPGA
+ wait_ms(1);
+/*
+ //Postion Test Pulse setting
+ char i2cPositionPulseRead[4] = {OTP_I2C_POSITIONPULSE_ADDR_H, \
+ OTP_I2C_POSITIONPULSE_ADDR_L, \
+ 0x00, \
+ 0x00};
+ int i = 3;
+ while (i > 0) {
+ wait_ms(1);
+ ack+=i2c_word_write(i2c_master,i2cPositionPulseSetup);
+ wait_ms(1);
+ ack+=i2c_word_read(i2c_master,i2cPositionPulseRead);
+ if( (i2cPositionPulseRead[1] == OTP_I2C_POSITIONPULSE_DATA_H) && (i2cPositionPulseRead[0] == OTP_I2C_POSITIONPULSE_DATA_L) ){
+ i=0;
+ led1 = 1;
+ led2 = 0;
+ }
+ else{
+ i--;
+ led1 = 0;
+ led2 = 1;
+ fpga_rstb = 0; //disable FPGA
+ };
+ }
+*/
+
+/*
+
+ //Start Up setting
+ char i2cStartUpPulseRead[4] = {OTP_MOTOR_START_ADDR_H, \
+ OTP_MOTOR_START_ADDR_L, \
+ 0x00, \
+ 0x00};
+ i = 3;
+ while (i > 0) {
+ wait_ms(1);
+ ack+=i2c_word_write(i2c_master,i2cStartUpSetup);
+ wait_ms(1);
+ ack+=i2c_word_read(i2c_master,i2cStartUpPulseRead);
+ if( (i2cStartUpPulseRead[1] == OTP_I2C_STARTUP_DATA_H) && (i2cStartUpPulseRead[0] == OTP_I2C_STARTUP_DATA_L) ){
+ i=0;
+ led3 = 1;
+ led4 = 0;
+ }
+ else{
+ i--;
+ led3 = 0;
+ led4 = 1;
+ fpga_rstb = 0; //disable FPGA
+ };
+ }
+*/
+
+ //ack+=i2c_word_write(i2c_master,i2cMotorStartSetup);
while (1) {
- char c = pc.getc();
- if(c=='s'){
- fpga_rstb = 0; //reset FPGA
- wait_ms(100);
- fpga_rstb = 1; //enable FPGA
- wait_ms(10);
+ //char c = pc.getc();
+ //if(c=='s'){
+ //fpga_rstb = 0; //reset FPGA
+ //wait_ms(3000);
+ //fpga_rstb = 1; //enable FPGA
+ //wait_ms(10);
//i2c_keyEntry(i2c_master);
- ack+=i2c_word_write(i2c_master,i2cPositionPulseSetup);
- wait_ms(10);
- ack+=i2c_word_write(i2c_master,i2cStartMotor);
- wait_ms(10);
+ //ack+=i2c_word_write(i2c_master,i2cPositionPulseSetup);
+ //wait_us(100);
+ //ack+=i2c_word_read(i2c_master,i2cPositionPulseSetup);
+ //ack+=i2c_word_write(i2c_master,i2cStartMotor);
+ //wait_ms(10);
//ack+=i2c_word_read(i2c_master,i2cStartUpRead);
- led1 = ack;
+ //led1 = ack;
//pc.printf("d[0]=%2d\n",i2cStartUpRead[3]);
//pc.printf("d[1]=%2d\n",i2cStartUpRead[2]);
- }
- if(c=='t'){
- fpga_rstb = 0; //disable FPGA
- led1 = 0;
+ //}
+ //if(c=='t'){
+ // fpga_rstb = 0; //disable FPGA
+ // led1 = 0;
- }
+ //}
}