SHENG-HEN HSIEH
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A1333_A1339_spi_master
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main.cpp
00001 #include "mbed.h" 00002 #include "A1333_PoOPoO.h" 00003 00004 #define pi 3.141592f 00005 #define d2r 0.01745329f 00006 #define NN 1 00007 #define Rms 1000000 // TT rate 00008 00009 //choose if write in configurations 00010 #define WRCONFIG 1 // 1 to write in configurations 00011 00012 //choose if A1339 extended settings 00013 #define A1339EXT 0 // 1 to enable A1339 extended settings 00014 00015 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓GPIO registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// 00016 //~~~structure~~~// 00017 DigitalOut led(D13); //detection 00018 DigitalOut TT_ext(D12); 00019 00020 //~~~SPI~~~// 00021 DigitalOut spi_CS(D6,1); //low for ACC/MAG enable 00022 SPI spi(D4, D5, D3); //MOSI MISO SCLK 00023 00024 //~~~Serial~~~// 00025 Serial pc(D1, D0); //Serial reg(TX RX) 00026 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of GPIO registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// 00027 00028 00029 00030 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Varible registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// 00031 //~~~globle~~~// 00032 Ticker TT; //call a timer 00033 int Count = 0; //one second counter for extrenal led blink 00034 00035 //~~~A1333_data~~~// 00036 00037 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Varible registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// 00038 00039 00040 00041 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Function registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// 00042 void init_TIMER(); //set TT_main() rate 00043 void TT_main(); //timebase function rated by TT 00044 void init_IO(); //initialize IO state 00045 void A1333_init(); //initialize shit 00046 void A1333_reset(); //restart target 00047 void A1333_getstate(); //get current state & errors 00048 void A1333_ulkEEPROM(); //unlock protection of EEPROM 00049 void A1333_getEEP(int X_E); //read EEPROM of X_E 00050 void A1333_writeEEP(int X_E, int32_t DataH, int32_t DataL); //write EEPROM of X_E 00051 00052 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Function registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑// 00053 00054 00055 00056 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓main funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓// 00057 int main() 00058 { 00059 init_IO(); //initialized value 00060 A1333_init(); 00061 00062 pc.printf("\n\n"); 00063 pc.printf("Welcome to A1333/A1339 configurator\n"); 00064 pc.printf("Resetting target...\n"); 00065 A1333_reset(); 00066 wait_ms(200); 00067 00068 #if A1339EXT 00069 pc.printf("A1339 extended settings are enable!\n"); 00070 #endif 00071 00072 A1333_getstate(); 00073 pc.printf("\n"); 00074 00075 pc.printf("Read PWE_E\n"); //Doesnt matter for us 00076 A1333_getEEP(PWE_E); 00077 pc.printf("\n"); 00078 00079 pc.printf("Read ABI_E\n"); //Need to be set for application!! 00080 A1333_getEEP(ABI_E); 00081 pc.printf("\n"); 00082 00083 pc.printf("Read MSK_E\n"); //Doesnt matter for us 00084 A1333_getEEP(MSK_E); 00085 pc.printf("\n"); 00086 00087 pc.printf("Read PWI_E\n"); //Doesnt matter for us 00088 A1333_getEEP(PWI_E); 00089 pc.printf("\n"); 00090 00091 pc.printf("Read ANG_E\n"); 00092 A1333_getEEP(ANG_E); 00093 pc.printf("\n"); 00094 00095 pc.printf("Read LPC_E\n"); 00096 A1333_getEEP(LPC_E); 00097 pc.printf("\n"); 00098 00099 pc.printf("Read COM_E\n"); 00100 A1333_getEEP(COM_E); 00101 pc.printf("\n"); 00102 00103 // A1333/A1339 require unlock before eeprom access 00104 A1333_ulkEEPROM(); 00105 pc.printf("\n"); 00106 00107 #if WRCONFIG 00108 pc.printf("Start writting configurations!\n"); 00109 00110 /* Configuration sectionfor ABI_EEPROM settings "A1333/A1339" 00111 ABI_SLEW_TIME, INV, AHE, INDEX_MODE, WDH, PLH, IOE, UVW, RESOLUTION_PAIRS, 00112 [21:16], [15], [12], [9:8], [7], [6], [5], [4], [3:0], 00113 00000001, 0, 1, 0, 1, 1, 1, 0, 0100, 00114 250ns no, yes, 0+R, yes, yes, yes, ABI, 1024pulse/mechRev,(Notice ABx4 res is *4 at last) 00115 result to 0x0001, 0x10E4 00116 Run follow to write in */ 00117 A1333_writeEEP(ABI_E, 0x01, 0x10E4); 00118 pc.printf("ABI_E write done\n"); 00119 pc.printf("\n"); 00120 00121 /* Configuration sectionfor PWI_EEPROM settings "A1333/A1339" 00122 PEN, BAND, FREQ, PHE, PEO, PES, DM, S17, SC, 00123 [23], [22:20], [19:16], [14], [13], [12], [3], [1], [0], 00124 1, 0, 0, 0, 0, 0, 0, 0, 0, 00125 yes, 3125Hz, no, no, no, no, no, no, 00126 result to 0x0080, 0x0000 00127 Run follow to write in */ 00128 A1333_writeEEP(PWI_E, 0x80, 0x0000); 00129 pc.printf("PWI_E write done\n"); 00130 pc.printf("\n"); 00131 00132 /* Configuration sectionfor ANG_EEPROM settings "A1333/A1339" 00133 ORATE, RD, RO, HYSTERESIS, ZERO_OFFSET, 00134 [23:20], [19], [18], [17:12], [11:0], 00135 0000, 0, 0, 101000, 0x000-0x3FF, 00136 1us, no, direction, 20/16383rev, Calibrate in DSM instead, 00137 result to 0x0002, 0x8000 00138 Run follow to write in */ 00139 A1333_writeEEP(ANG_E, 0x02, 0x8000); 00140 pc.printf("ANG_E write done\n"); 00141 pc.printf("\n"); 00142 00143 #if A1339EXT 00144 /* Configuration sectionfor LPC_EEPROM settings "A1339 only" 00145 T45, TPMD, LPMD, LPM_CYCLE_TIME, LPM_WAKE_THRESHOLD, 00146 [23], [21], [20], [17:12], [10:0], 00147 1, 1, 1, 001011, 01010011111, 00148 default, no, no, default, default, 00149 result to 0x00B0, 0xB29F 00150 Run follow to write in */ 00151 A1333_writeEEP(LPC_E, 0xB0, 0xB29F); //A1339 only 00152 pc.printf("LPC_E write done\n"); 00153 pc.printf("\n"); 00154 #endif //A1339EXT 00155 00156 /* Configuration sectionfor COM_EEPROM settings "A1333/A1339" 00157 LOCK, LBE, CSE, DST, DHR, MAG_THRES_HI, MAG_THRES_LO, 00158 [23:20], [19], [18], [13], [12], [11:6], [5:0], 00159 0000, 1, 1, 0, 0, 100101, 001101, 00160 no, yes, yes, no, no, default, default, 00161 result to 0x000C, 0x094D 00162 Run follow to write in */ 00163 A1333_writeEEP(COM_E, 0x0C, 0x094D); 00164 pc.printf("COM_E write done\n"); 00165 pc.printf("\n"); 00166 00167 #endif //WRCONFIG 00168 00169 pc.printf("End of A1333/A1339 configurator\n"); 00170 00171 init_TIMER(); //start TT_main 00172 00173 while(1) { //main() loop 00174 if(Count >= NN) { //check if main working 00175 Count=0; 00176 led = !led; 00177 } 00178 } 00179 } 00180 00181 00182 void init_TIMER() //set TT_main{} rate 00183 { 00184 TT.attach_us(&TT_main, Rms); 00185 } 00186 00187 00188 void TT_main() //interrupt function by TT 00189 { 00190 TT_ext = !TT_ext; //indicate TT_main() function working 00191 Count = Count+1; //one second counter 00192 } 00193 00194 00195 void init_IO(void) //initialize 00196 { 00197 pc.baud(115200); //set baud rate 00198 TT_ext = 0; 00199 led = 1; 00200 } 00201 00202 00203 void A1333_init(void) //initialize 00204 { 00205 //gloable config 00206 spi_CS = 1; //high as init for disable SPI 00207 00208 spi.format(16, 3); //byte width, spi mode 00209 spi.frequency(1000000); //8MHz 00210 } 00211 00212 void A1333_reset(void) //restart target 00213 { 00214 // write in special 00215 spi_CS = 0; 00216 spi.write( (((CTRL|WMASK)<<8U)&0xFF00) | 0b111 ); //CTRL.SPECIAL <= 0b111 00217 spi_CS = 1; 00218 // write in INITIATE_SPECIAL 00219 spi_CS = 0; 00220 spi.write( ((((CTRL+1U)|WMASK)<<8U)&0xFF00) | 0x5A ); //CTRL.INITIATE_SPECIAL <= 0x5A 00221 spi_CS = 1; 00222 } 00223 00224 void A1333_writeEEP(int X_E, int32_t DataH, int32_t DataL) 00225 { 00226 uint16_t tmp; 00227 00228 //Read EEPROM of X_E 00229 //Prepare eeprom 00230 spi_CS = 0; 00231 spi.write( ((((EWA+1U)|WMASK)<<8U)&0xFF00) | X_E ); 00232 spi_CS = 1; 00233 //Push in data 00234 spi_CS = 0; 00235 spi.write( (((EWDH|WMASK)<<8U)&0xFF00) | ((DataH>>8U)&0xFF) ); 00236 spi_CS = 1; 00237 spi_CS = 0; 00238 spi.write( ((((EWDH+1U)|WMASK)<<8U)&0xFF00) | (DataH&0xFF) ); 00239 spi_CS = 1; 00240 spi_CS = 0; 00241 spi.write( (((EWDL|WMASK)<<8U)&0xFF00) | ((DataL>>8U)&0xFF) ); 00242 spi_CS = 1; 00243 spi_CS = 0; 00244 spi.write( ((((EWDL+1U)|WMASK)<<8U)&0xFF00) | (DataL&0xFF) ); 00245 spi_CS = 1; 00246 00247 //Start EEP writing 00248 spi_CS = 0; 00249 spi.write( (((EWCS|WMASK)<<8U)&0xFF00) | 0x80 ); 00250 spi_CS = 1; 00251 tmp = 0x0000; 00252 while((tmp & 0x0001) != 0x0001) { 00253 spi_CS = 0; 00254 spi.write( (EWCS << 8U) & 0xFF00 ); 00255 spi_CS = 1; 00256 spi_CS = 0; 00257 tmp = spi.write(0x0000); 00258 spi_CS = 1; 00259 } 00260 } 00261 00262 void A1333_getstate(void) //read IMU data give raw data 00263 { 00264 uint16_t tmp; 00265 00266 //Read temperature as state check 00267 spi_CS = 0; //start spi talking 00268 spi.write( (TSEN << 8U) & 0xFF00 ); //read mask: RMASK = 0, no need 00269 spi_CS = 1; 00270 spi_CS = 0; 00271 tmp = spi.write(0x0000); 00272 spi_CS = 1; //end spi talking 00273 if ((tmp & 0xF000) != 0xF000) { 00274 pc.printf("Temperature read id mismatch\n"); 00275 } else { 00276 pc.printf("TSEN is: %04X\n", tmp); 00277 int16_t tmps = tmp<<4; 00278 float tmpf = tmps/64.0f + 25.0f; 00279 pc.printf("Temperature is: %.2f\n", tmpf); 00280 } 00281 00282 //Read error check 00283 spi_CS = 0; //start spi talking Wx 00284 spi.write( (ERR << 8U) & 0xFF00 ); 00285 spi_CS = 1; 00286 spi_CS = 0; 00287 tmp = spi.write(0x0000); 00288 spi_CS = 1; //end spi talking 00289 if ((tmp & 0xF000) != 0xA000) { 00290 pc.printf("Error read id mismatch\n"); 00291 } else { 00292 pc.printf("ERR is: %04X\n", tmp); 00293 } 00294 00295 //Read status check 00296 spi_CS = 0; //start spi talking Wx 00297 spi.write( (STA << 8U) & 0xFF00 ); 00298 spi_CS = 1; 00299 spi_CS = 0; 00300 tmp = spi.write(0x0000); 00301 spi_CS = 1; //end spi talking 00302 if ((tmp & 0xF000) != 0x8000) { 00303 pc.printf("State read id mismatch\n"); 00304 } else { 00305 pc.printf("STA is: %04X\n", tmp); 00306 } 00307 } 00308 00309 void A1333_ulkEEPROM(void) 00310 { 00311 uint16_t tmp; 00312 00313 //read key lock 00314 spi_CS = 0; //start spi talking Wx 00315 spi.write( (IKEY << 8U) & 0xFF00 ); 00316 spi_CS = 1; 00317 spi_CS = 0; 00318 tmp = spi.write(0x0000); 00319 spi_CS = 1; 00320 pc.printf("IKEY before unlock is: %04X\n", tmp); 00321 00322 //Now try to unlock EEPROM write 00323 //write in key 00324 spi_CS = 0; 00325 spi.write( (((IKEY|WMASK)<<8U)&0xFF00) | 0x00 ); 00326 spi_CS = 1; 00327 spi_CS = 0; 00328 spi.write( (((IKEY|WMASK)<<8U)&0xFF00) | 0x27 ); 00329 spi_CS = 1; 00330 spi_CS = 0; 00331 spi.write( (((IKEY|WMASK)<<8U)&0xFF00) | 0x81 ); 00332 spi_CS = 1; 00333 spi_CS = 0; 00334 spi.write( (((IKEY|WMASK)<<8U)&0xFF00) | 0x1F ); 00335 spi_CS = 1; 00336 spi_CS = 0; 00337 spi.write( (((IKEY|WMASK)<<8U)&0xFF00) | 0x77 ); 00338 spi_CS = 1; 00339 00340 //read key lock again after unlock 00341 spi_CS = 0; //start spi talking Wx 00342 spi.write( (IKEY << 8U) & 0xFF00 ); 00343 spi_CS = 1; 00344 spi_CS = 0; 00345 tmp = spi.write(0x0000); 00346 spi_CS = 1; 00347 pc.printf("IKEY is: %04X\n", tmp); 00348 if ((tmp & 0x00FF) != 0x0001) { 00349 pc.printf("Device fail to unlock\n"); 00350 } else { 00351 pc.printf("Device unlocked\n"); 00352 } 00353 } 00354 00355 void A1333_getEEP(int X_E) 00356 { 00357 uint16_t tmp; 00358 00359 //Read eeprom 00360 spi_CS = 0; 00361 spi.write( ((((ERA+1U)|WMASK)<<8U)&0xFF00) | X_E ); 00362 spi_CS = 1; 00363 spi_CS = 0; 00364 spi.write( (((ERCS|WMASK)<<8U)&0xFF00) | 0x80 ); 00365 spi_CS = 1; 00366 tmp = 0x0000; 00367 while((tmp & 0x0001) != 0x0001) { 00368 spi_CS = 0; 00369 spi.write( (ERCS << 8U) & 0xFF00 ); 00370 spi_CS = 1; 00371 spi_CS = 0; 00372 tmp = spi.write(0x0000); 00373 spi_CS = 1; 00374 } 00375 spi_CS = 0; 00376 spi.write( (ERDH << 8U) & 0xFF00 ); 00377 spi_CS = 1; 00378 spi_CS = 0; 00379 tmp = spi.write( (ERDL << 8U) & 0xFF00 ) & 0xFF; 00380 spi_CS = 1; 00381 pc.printf("ERDH/ERDL: %02X", tmp); 00382 00383 spi_CS = 0; 00384 tmp = spi.write(0x0000); 00385 spi_CS = 1; 00386 pc.printf("%04X\n", tmp); 00387 }
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