jim herd / FPGA_bus

Comms between MAX 10 FPGA and ST uP

FPGA_bus.h@7:c0bef9c1f5d5, 2020-04-13 (annotated)

Committer:
jimherd
Date:
Mon Apr 13 16:10:23 2020 +0000
Revision:
7:c0bef9c1f5d5
Parent:
6:e68defb7b775
Child:
12:b9b4ff729fef
Change to remove default constructor error with Arm V6 compiler.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jimherd 0:9600ed6fd725 1 /*
jimherd 0:9600ed6fd725 2 * FPGA_bus : 8-bit bi-directional bus between uP and FPGA
jimherd 0:9600ed6fd725 3 *
jimherd 0:9600ed6fd725 4 * Author : Jim Herd
jimherd 0:9600ed6fd725 5 *
jimherd 0:9600ed6fd725 6 * Version 0.1 : initial release
jimherd 0:9600ed6fd725 7 */
jimherd 0:9600ed6fd725 8 #include "mbed.h"
jimherd 0:9600ed6fd725 9
jimherd 0:9600ed6fd725 10 #ifndef FPGA_bus_H
jimherd 0:9600ed6fd725 11 #define FPGA_bus_H
jimherd 0:9600ed6fd725 12
jimherd 0:9600ed6fd725 13 //
jimherd 0:9600ed6fd725 14 // Pin definitions
jimherd 0:9600ed6fd725 15
jimherd 0:9600ed6fd725 16 #define ASYNC_UP_RW_PIN PB_0
jimherd 0:9600ed6fd725 17 #define ASYNC_UP_HANDSHAKE_1_PIN PB_1
jimherd 0:9600ed6fd725 18 #define ASYNC_UP_HANDSHAKE_2_PIN PB_2
jimherd 0:9600ed6fd725 19 #define ASYNC_UP_START_PIN PB_3
jimherd 0:9600ed6fd725 20 #define ASYNC_UP_ACK_PIN PB_4
jimherd 0:9600ed6fd725 21 #define ASYNC_UP_RESET_PIN PB_5
jimherd 0:9600ed6fd725 22
jimherd 0:9600ed6fd725 23 //
jimherd 0:9600ed6fd725 24 //
jimherd 0:9600ed6fd725 25 #define PWM_BASE 1
jimherd 0:9600ed6fd725 26 #define NOS_PWM_REGISTERS 4
jimherd 0:9600ed6fd725 27 #define NOS_PWM_CHANNELS 4
jimherd 0:9600ed6fd725 28
jimherd 0:9600ed6fd725 29 #define QE_BASE ((NOS_PWM_REGISTERS * NOS_PWM_CHANNELS) + PWM_BASE)
jimherd 0:9600ed6fd725 30 #define NOS_QE_REGISTERS 7
jimherd 0:9600ed6fd725 31 #define NOS_QE_CHANNELS 4
jimherd 0:9600ed6fd725 32
jimherd 4:e5d36eee9245 33 #define QE_SPEED_CALC_ENABLE 0x00010000
jimherd 4:e5d36eee9245 34 #define QE_SPEED_CALC_DISABLE 0x00000000
jimherd 4:e5d36eee9245 35
jimherd 0:9600ed6fd725 36 #define RC_BASE ((NOS_QE_REGISTERS * NOS_QE_CHANNELS) + QE_BASE)
jimherd 0:9600ed6fd725 37 #define NOS_RC_CHANNELS 8
jimherd 2:fd5c862b86db 38 #define GLOBAL_RC_ENABLE 0x80000000
jimherd 0:9600ed6fd725 39
jimherd 0:9600ed6fd725 40 #define PWM_ch0 (PWM_BASE + (0 * NOS_PWM_REGISTERS))
jimherd 0:9600ed6fd725 41 #define PWM_ch1 (PWM_BASE + (1 * NOS_PWM_REGISTERS))
jimherd 0:9600ed6fd725 42 #define PWM_ch3 (PWM_BASE + (3 * NOS_PWM_REGISTERS))
jimherd 0:9600ed6fd725 43
jimherd 0:9600ed6fd725 44 #define RC_0 RC_BASE
jimherd 0:9600ed6fd725 45
jimherd 0:9600ed6fd725 46 #define NOS_RECEIVED_PACKET_WORDS 2
jimherd 0:9600ed6fd725 47
jimherd 0:9600ed6fd725 48 #define SET_BUS_INPUT (GPIOC->MODER = (GPIOC->MODER & 0xFFFF0000))
jimherd 0:9600ed6fd725 49 #define SET_BUS_OUTPUT (GPIOC->MODER = ((GPIOC->MODER & 0xFFFF0000) | 0x00005555))
jimherd 0:9600ed6fd725 50 #define OUTPUT_BYTE_TO_BUS(value) (GPIOC->ODR = ((GPIOC->ODR & 0x0000FF00) | (value & 0x000000FF)))
jimherd 0:9600ed6fd725 51 #define INPUT_BYTE_FROM_BUS (GPIOC->IDR & 0x000000FF)
jimherd 0:9600ed6fd725 52 #define ENABLE_GPIO_SUBSYSTEM (RCC->AHBENR |= RCC_AHBENR_GPIOCEN)
jimherd 0:9600ed6fd725 53
jimherd 1:b819a72b3b5d 54 //
jimherd 1:b819a72b3b5d 55 // FPGA constants
jimherd 1:b819a72b3b5d 56
jimherd 1:b819a72b3b5d 57 #define nS_IN_uS 1000
jimherd 1:b819a72b3b5d 58 #define FPGA_CLOCK_PERIOD_nS 20
jimherd 1:b819a72b3b5d 59
jimherd 1:b819a72b3b5d 60 //
jimherd 1:b819a72b3b5d 61 // error codes
jimherd 1:b819a72b3b5d 62
jimherd 1:b819a72b3b5d 63 #define NO_ERROR 0
jimherd 1:b819a72b3b5d 64
jimherd 0:9600ed6fd725 65 #define LOOP_HERE for(;;)
jimherd 0:9600ed6fd725 66
jimherd 0:9600ed6fd725 67 typedef struct {
jimherd 0:9600ed6fd725 68 uint8_t command;
jimherd 0:9600ed6fd725 69 uint8_t register_no;
jimherd 0:9600ed6fd725 70 uint32_t cmd_data;
jimherd 0:9600ed6fd725 71 uint32_t reply_data;
jimherd 0:9600ed6fd725 72 uint32_t reply_status;
jimherd 0:9600ed6fd725 73 } FPGA_packet_t;
jimherd 0:9600ed6fd725 74
jimherd 0:9600ed6fd725 75 typedef union {
jimherd 0:9600ed6fd725 76 uint32_t word_data[NOS_RECEIVED_PACKET_WORDS];
jimherd 0:9600ed6fd725 77 uint8_t byte_data[NOS_RECEIVED_PACKET_WORDS << 2];
jimherd 0:9600ed6fd725 78 } received_packet_t;
jimherd 0:9600ed6fd725 79
jimherd 0:9600ed6fd725 80 enum {READ_REGISTER_CMD=0, WRITE_REGISTER_CMD=1};
jimherd 0:9600ed6fd725 81 enum {READ_BUS=0, WRITE_BUS=1};
jimherd 0:9600ed6fd725 82 enum {LOW=0, HIGH=1};
jimherd 4:e5d36eee9245 83
jimherd 6:e68defb7b775 84 //
jimherd 6:e68defb7b775 85 // SYS_data registers
jimherd 6:e68defb7b775 86
jimherd 6:e68defb7b775 87 enum {SYS_DATA_REG_ADDR=0};
jimherd 6:e68defb7b775 88
jimherd 4:e5d36eee9245 89 // PWM registers
jimherd 4:e5d36eee9245 90 //
jimherd 0:9600ed6fd725 91 enum {PWM_PERIOD=0, PWM_ON_TIME=1, PWM_CONFIG=2, PWM_STATUS=3};
jimherd 0:9600ed6fd725 92
jimherd 4:e5d36eee9245 93 // QE registers
jimherd 4:e5d36eee9245 94 //
jimherd 4:e5d36eee9245 95 enum {QE_COUNT_BUFFER=0, QE_TURN_BUFFER=1, QE_SPEED_BUFFER=2, QE_SIM_PHASE_TIME=3,
jimherd 4:e5d36eee9245 96 QE_COUNTS_PER_REV=4, QE_CONFIG=5, QE_STATUS=6};
jimherd 4:e5d36eee9245 97
jimherd 4:e5d36eee9245 98 // RC servo registers
jimherd 4:e5d36eee9245 99 //
jimherd 0:9600ed6fd725 100 enum {RC_SERVO_PERIOD=0, RC_SERVO_CONFIG=1, RC_SERVO_STATUS=2, RC_SERVO_ON_TIME=3};
jimherd 0:9600ed6fd725 101
jimherd 0:9600ed6fd725 102 enum {PWM_OFF=0x0, PWM_ON=0x1};
jimherd 0:9600ed6fd725 103 enum {INT_H_BRIDGE_OFF=0x0, INT_H_BRIDGE_ON=0x10000};
jimherd 0:9600ed6fd725 104 enum {EXT_H_BRIDGE_OFF=0x0, EXT_H_BRIDGE_ON=0x20000};
jimherd 0:9600ed6fd725 105 enum {MOTOR_COAST=0x0, MOTOR_FORWARD=0x40000, MOTOR_BACKWARD=0x80000, MOTOR_BRAKE=0xC0000};
jimherd 0:9600ed6fd725 106 enum {MODE_PWM_CONTROL=0x0, MODE_DIR_CONTROL=0x200000};
jimherd 0:9600ed6fd725 107 enum {NO_SWAP=0x0, YES_SWAP=0x800000};
jimherd 0:9600ed6fd725 108 enum {PWM_BRAKE_DWELL=0x0, PWM_COAST_DWELL=0x1000000};
jimherd 0:9600ed6fd725 109 enum {NO_INVERT = 0x0, H_BRIDGE_1_INVERT=0x2000000, H_BRIDGE_2_INVERT=0x4000000, ALL_INVERT=0x6000000};
jimherd 0:9600ed6fd725 110 enum {BACKWARD, FORWARD};
jimherd 0:9600ed6fd725 111
jimherd 0:9600ed6fd725 112 //DigitalOut async_uP_start(ASYNC_UP_START_PIN, LOW);
jimherd 0:9600ed6fd725 113 //DigitalOut async_uP_handshake_1(ASYNC_UP_HANDSHAKE_1_PIN, LOW);
jimherd 0:9600ed6fd725 114 //DigitalOut async_uP_RW(ASYNC_UP_RW_PIN, LOW);
jimherd 0:9600ed6fd725 115 //DigitalOut async_uP_reset(ASYNC_UP_RESET_PIN, HIGH);
jimherd 0:9600ed6fd725 116 //DigitalIn uP_ack(ASYNC_UP_ACK_PIN, PullDown);
jimherd 0:9600ed6fd725 117 //DigitalIn uP_handshake_2(ASYNC_UP_HANDSHAKE_2_PIN);
jimherd 0:9600ed6fd725 118
jimherd 0:9600ed6fd725 119 class FPGA_bus {
jimherd 0:9600ed6fd725 120 public:
jimherd 7:c0bef9c1f5d5 121 // FPGA_bus(void); // constructor
jimherd 7:c0bef9c1f5d5 122 FPGA_bus(int nos_PWM = NOS_PWM_CHANNELS ,
jimherd 7:c0bef9c1f5d5 123 int nos_QE = NOS_QE_CHANNELS ,
jimherd 7:c0bef9c1f5d5 124 int nos_servo = NOS_RC_CHANNELS ); // constructor
jimherd 7:c0bef9c1f5d5 125
jimherd 0:9600ed6fd725 126
jimherd 0:9600ed6fd725 127 void initialise(void);
jimherd 0:9600ed6fd725 128 uint32_t do_command(FPGA_packet_t cmd_packet);
jimherd 1:b819a72b3b5d 129 void set_PWM_period(uint32_t channel, float frequency);
jimherd 1:b819a72b3b5d 130 void set_PWM_duty(uint32_t channel, float percentage);
jimherd 1:b819a72b3b5d 131 void PWM_enable(uint32_t channel);
jimherd 1:b819a72b3b5d 132 void PWM_config(uint32_t channel, uint32_t config_value);
jimherd 4:e5d36eee9245 133 void set_RC_period(void);
jimherd 4:e5d36eee9245 134 void set_RC_period(uint32_t duty_uS);
jimherd 1:b819a72b3b5d 135 void set_RC_pulse(uint32_t channel, uint32_t pulse_uS);
jimherd 1:b819a72b3b5d 136 void enable_RC_channel(uint32_t channel);
jimherd 2:fd5c862b86db 137 void disable_RC_channel(uint32_t channel);
jimherd 4:e5d36eee9245 138 void enable_speed_measure(uint32_t channel);
jimherd 5:64c677e9995c 139 uint32_t read_speed_measure(uint32_t channel);
jimherd 1:b819a72b3b5d 140
jimherd 6:e68defb7b775 141 uint32_t get_SYS_data(void);
jimherd 6:e68defb7b775 142
jimherd 1:b819a72b3b5d 143 int32_t global_FPGA_unit_error_flag;
jimherd 0:9600ed6fd725 144
jimherd 0:9600ed6fd725 145 protected:
jimherd 0:9600ed6fd725 146 uint32_t _nos_PWM_units;
jimherd 0:9600ed6fd725 147 uint32_t _nos_QE_units;
jimherd 0:9600ed6fd725 148 uint32_t _nos_servo_units;
jimherd 0:9600ed6fd725 149
jimherd 0:9600ed6fd725 150 private:
jimherd 0:9600ed6fd725 151 uint32_t data, status, tmp_config;
jimherd 0:9600ed6fd725 152 received_packet_t in_pkt;
jimherd 0:9600ed6fd725 153
jimherd 0:9600ed6fd725 154 void do_start(void);
jimherd 0:9600ed6fd725 155 void do_end(void);
jimherd 0:9600ed6fd725 156 void write_byte(uint32_t byte_value);
jimherd 0:9600ed6fd725 157 uint32_t read_byte(void);
jimherd 0:9600ed6fd725 158 void do_write( uint32_t command,
jimherd 0:9600ed6fd725 159 uint32_t register_address,
jimherd 0:9600ed6fd725 160 uint32_t register_data);
jimherd 0:9600ed6fd725 161 void do_read(received_packet_t *buffer);
jimherd 0:9600ed6fd725 162 void do_transaction(uint32_t command,
jimherd 0:9600ed6fd725 163 uint32_t register_address,
jimherd 0:9600ed6fd725 164 uint32_t register_data,
jimherd 0:9600ed6fd725 165 uint32_t *data,
jimherd 0:9600ed6fd725 166 uint32_t *status);
jimherd 0:9600ed6fd725 167
jimherd 0:9600ed6fd725 168 DigitalOut async_uP_start;
jimherd 0:9600ed6fd725 169 DigitalOut async_uP_handshake_1;
jimherd 0:9600ed6fd725 170 DigitalOut async_uP_RW;
jimherd 0:9600ed6fd725 171 DigitalOut async_uP_reset;
jimherd 0:9600ed6fd725 172 DigitalIn uP_ack;
jimherd 0:9600ed6fd725 173 DigitalIn uP_handshake_2;
jimherd 0:9600ed6fd725 174
jimherd 0:9600ed6fd725 175 struct SYS_data {
jimherd 6:e68defb7b775 176 uint8_t major_version;
jimherd 6:e68defb7b775 177 uint8_t minor_version;
jimherd 6:e68defb7b775 178 uint8_t number_of_PWM_channels;
jimherd 6:e68defb7b775 179 uint8_t number_of_QE_channels;
jimherd 6:e68defb7b775 180 uint8_t number_of_RC_channels;
jimherd 6:e68defb7b775 181 uint8_t PWM_period_value[NOS_PWM_CHANNELS];
jimherd 6:e68defb7b775 182 uint8_t PWM_duty_value[NOS_PWM_CHANNELS];
jimherd 6:e68defb7b775 183 uint8_t pad1;
jimherd 0:9600ed6fd725 184 } sys_data;
jimherd 0:9600ed6fd725 185 };
jimherd 0:9600ed6fd725 186
jimherd 0:9600ed6fd725 187 #endif
jimherd 0:9600ed6fd725 188