Revision 1:ec8b98cf0bed, committed 2021-05-18

Comitter:

open4416

Date:

Tue May 18 15:35:19 2021 +0000

Parent:

0:d35231825f42

Commit message:

Change shits for newer A1333 sensor and add macro handling A1333/A1339 difference

Changed in this revision

--- a/main.cpp	Fri Dec 27 14:43:04 2019 +0000
+++ b/main.cpp	Tue May 18 15:35:19 2021 +0000
@@ -4,7 +4,13 @@
 #define pi 3.141592f
 #define d2r 0.01745329f
 #define NN  1
-#define Rms 1000000                //TT rate
+#define Rms 1000000             // TT rate
+
+//choose if write in configurations
+#define WRCONFIG    1           // 1 to write in configurations
+
+//choose if A1339 extended settings
+#define A1339EXT    0           // 1 to enable A1339 extended settings
 
 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓GPIO registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
 //~~~structure~~~//
@@ -27,10 +33,7 @@
 int Count = 0;                      //one second counter for extrenal led blink
 
 //~~~A1333_data~~~//
-uint16_t Buff = 0x00;
-uint16_t Buff2 = 0x00;
 
-float temp = 0.0f;
 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Varible registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
 
 
@@ -39,7 +42,8 @@
 void    init_TIMER();           //set TT_main() rate
 void    TT_main();              //timebase function rated by TT
 void    init_IO();              //initialize IO state
-void    A1333_init();           //initialize IMU
+void    A1333_init();           //initialize shit
+void    A1333_reset();          //restart target
 void    A1333_getstate();       //get current state & errors
 void    A1333_ulkEEPROM();      //unlock protection of EEPROM
 void    A1333_getEEP(int X_E);  //read EEPROM of X_E
@@ -54,10 +58,16 @@
 {
     init_IO();                  //initialized value
     A1333_init();
-    wait_ms(100);
+
+    pc.printf("\n\n");
     pc.printf("Welcome to A1333/A1339 configurator\n");
+    pc.printf("Resetting target...\n");
+    A1333_reset();
+    wait_ms(200);
 
-    init_TIMER();               //start TT_main
+#if A1339EXT
+    pc.printf("A1339 extended settings are enable!\n");
+#endif
 
     A1333_getstate();
     pc.printf("\n");
@@ -94,16 +104,30 @@
     A1333_ulkEEPROM();
     pc.printf("\n");
 
+#if WRCONFIG
+    pc.printf("Start writting configurations!\n");
+
     /* Configuration sectionfor ABI_EEPROM settings "A1333/A1339"
     ABI_SLEW_TIME, INV,  AHE,  INDEX_MODE, WDH, PLH, IOE, UVW, RESOLUTION_PAIRS,
     [21:16],       [15], [12], [9:8],      [7], [6], [5], [4], [3:0],
-    00000010,      0,    1,    0,          1,   0,   1,   0,   0100,
-    500ns          no,   yes,  0+R,        yes, no,  yes, ABI, 1024pulse/Rev,
-    result to 0x0001, 0x10A4
+    00000001,      0,    1,    0,          1,   1,   1,   0,   0100,
+    250ns          no,   yes,  0+R,        yes, yes, yes, ABI, 1024pulse/mechRev,(Notice ABx4 res is *4 at last)
+    result to 0x0001, 0x10E4
     Run follow to write in */
-//    A1333_writeEEP(ABI_E, 0x0001, 0x10A4);
-//    pc.printf("ABI_E write done\n");
-//    pc.printf("\n");
+    A1333_writeEEP(ABI_E, 0x01, 0x10E4);
+    pc.printf("ABI_E write done\n");
+    pc.printf("\n");
+
+    /* Configuration sectionfor PWI_EEPROM settings "A1333/A1339"
+    PEN,  BAND,    FREQ,    PHE,  PEO,  PES,  DM,  S17, SC,
+    [23], [22:20], [19:16], [14], [13], [12], [3], [1], [0],
+    1,    0,       0,       0,    0,    0,    0,   0,   0,
+    yes,  3125Hz,           no,   no,   no,   no,  no,  no,
+    result to 0x0080, 0x0000
+    Run follow to write in */
+    A1333_writeEEP(PWI_E, 0x80, 0x0000);
+    pc.printf("PWI_E write done\n");
+    pc.printf("\n");
 
     /* Configuration sectionfor ANG_EEPROM settings "A1333/A1339"
     ORATE,   RD,   RO,        HYSTERESIS,  ZERO_OFFSET,
@@ -112,10 +136,11 @@
     1us,     no,   direction, 20/16383rev, Calibrate in DSM instead,
     result to 0x0002, 0x8000
     Run follow to write in */
-//    A1333_writeEEP(ANG_E, 0x0002, 0x8000);
-//    pc.printf("ANG_E write done\n");
-//    pc.printf("\n");
+    A1333_writeEEP(ANG_E, 0x02, 0x8000);
+    pc.printf("ANG_E write done\n");
+    pc.printf("\n");
 
+#if A1339EXT
     /* Configuration sectionfor LPC_EEPROM settings "A1339 only"
     T45,     TPMD, LPMD, LPM_CYCLE_TIME, LPM_WAKE_THRESHOLD,
     [23],    [21], [20], [17:12],        [10:0],
@@ -123,9 +148,10 @@
     default, no,   no,   default,        default,
     result to 0x00B0, 0xB29F
     Run follow to write in */
-//    A1333_writeEEP(LPC_E, 0x00B0, 0xB29F);    //A1339 only
-//    pc.printf("LPC_E write done\n");
-//    pc.printf("\n");
+    A1333_writeEEP(LPC_E, 0xB0, 0xB29F);    //A1339 only
+    pc.printf("LPC_E write done\n");
+    pc.printf("\n");
+#endif  //A1339EXT
 
     /* Configuration sectionfor COM_EEPROM settings "A1333/A1339"
     LOCK,    LBE,  CSE,  DST,  DHR,  MAG_THRES_HI, MAG_THRES_LO,
@@ -134,12 +160,16 @@
     no,      yes,  yes,  no,   no,   default,      default,
     result to 0x000C, 0x094D
     Run follow to write in */
-//    A1333_writeEEP(COM_E, 0x000C, 0x094D);
-//    pc.printf("COM_E write done\n");
-//    pc.printf("\n");
+    A1333_writeEEP(COM_E, 0x0C, 0x094D);
+    pc.printf("COM_E write done\n");
+    pc.printf("\n");
+
+#endif  //WRCONFIG
 
     pc.printf("End of A1333/A1339 configurator\n");
 
+    init_TIMER();               //start TT_main
+
     while(1) {                  //main() loop
         if(Count >= NN) {       //check if main working
             Count=0;
@@ -170,7 +200,7 @@
 }
 
 
-void A1333_init(void)                 //initialize
+void A1333_init(void)               //initialize
 {
     //gloable config
     spi_CS = 1;                     //high as init for disable SPI
@@ -179,8 +209,22 @@
     spi.frequency(1000000);         //8MHz
 }
 
+void A1333_reset(void)              //restart target
+{
+    // write in special
+    spi_CS = 0;
+    spi.write( (((CTRL|WMASK)<<8U)&0xFF00) | 0b111 );   //CTRL.SPECIAL <= 0b111
+    spi_CS = 1;
+    // write in INITIATE_SPECIAL
+    spi_CS = 0;
+    spi.write( ((((CTRL+1U)|WMASK)<<8U)&0xFF00) | 0x5A );   //CTRL.INITIATE_SPECIAL <= 0x5A
+    spi_CS = 1;
+}
+
 void A1333_writeEEP(int X_E, int32_t DataH, int32_t DataL)
 {
+    uint16_t tmp;
+
 //Read EEPROM of X_E
     //Prepare eeprom
     spi_CS = 0;
@@ -204,31 +248,35 @@
     spi_CS = 0;
     spi.write( (((EWCS|WMASK)<<8U)&0xFF00) | 0x80 );
     spi_CS = 1;
-    Buff = 0x0000;
-    while((Buff & 0x0001) != 0x0001) {
+    tmp = 0x0000;
+    while((tmp & 0x0001) != 0x0001) {
         spi_CS = 0;
         spi.write( (EWCS << 8U) & 0xFF00 );
         spi_CS = 1;
         spi_CS = 0;
-        Buff = spi.write(0x0000);
+        tmp = spi.write(0x0000);
         spi_CS = 1;
     }
 }
 
 void A1333_getstate(void)               //read IMU data give raw data
 {
+    uint16_t tmp;
+
     //Read temperature as state check
     spi_CS = 0;                         //start spi talking
     spi.write( (TSEN << 8U) & 0xFF00 ); //read mask: RMASK = 0, no need
     spi_CS = 1;
     spi_CS = 0;
-    Buff = spi.write(0x0000);
+    tmp = spi.write(0x0000);
     spi_CS = 1;                         //end spi talking
-    if ((Buff & 0xF000) != 0xF000) {
-        pc.printf("Temperature read id mismatch");
+    if ((tmp & 0xF000) != 0xF000) {
+        pc.printf("Temperature read id mismatch\n");
     } else {
-        temp = ((float)(Buff & 0x0FFF)/8.0f) + 25.0f;
-        pc.printf("Temperature is now: %.2f\n", temp);
+        pc.printf("TSEN is: %04X\n", tmp);
+        int16_t tmps = tmp<<4;
+        float tmpf = tmps/64.0f + 25.0f;
+        pc.printf("Temperature is: %.2f\n", tmpf);
     }
 
     //Read error check
@@ -236,30 +284,40 @@
     spi.write( (ERR << 8U) & 0xFF00 );
     spi_CS = 1;
     spi_CS = 0;
-    Buff = spi.write(0x0000);
+    tmp = spi.write(0x0000);
     spi_CS = 1;                         //end spi talking
-    pc.printf("Error is: %04X\n", Buff);
+    if ((tmp & 0xF000) != 0xA000) {
+        pc.printf("Error read id mismatch\n");
+    } else {
+        pc.printf("ERR is: %04X\n", tmp);
+    }
 
     //Read status check
     spi_CS = 0;                    //start spi talking Wx
     spi.write( (STA << 8U) & 0xFF00 );
     spi_CS = 1;
     spi_CS = 0;
-    Buff = spi.write(0x0000);
+    tmp = spi.write(0x0000);
     spi_CS = 1;                    //end spi talking
-    pc.printf("State is: %04X\n", Buff);
+    if ((tmp & 0xF000) != 0x8000) {
+        pc.printf("State read id mismatch\n");
+    } else {
+        pc.printf("STA is: %04X\n", tmp);
+    }
 }
 
 void A1333_ulkEEPROM(void)
 {
+    uint16_t tmp;
+
     //read key lock
     spi_CS = 0;                    //start spi talking Wx
     spi.write( (IKEY << 8U) & 0xFF00 );
     spi_CS = 1;
     spi_CS = 0;
-    Buff = spi.write(0x0000);
+    tmp = spi.write(0x0000);
     spi_CS = 1;
-    pc.printf("IKEY before unlock is: %04X\n", Buff);
+    pc.printf("IKEY before unlock is: %04X\n", tmp);
 
     //Now try to unlock EEPROM write
     //write in key
@@ -284,10 +342,10 @@
     spi.write( (IKEY << 8U) & 0xFF00 );
     spi_CS = 1;
     spi_CS = 0;
-    Buff = spi.write(0x0000);
+    tmp = spi.write(0x0000);
     spi_CS = 1;
-    pc.printf("IKEY is: %04X\n", Buff);
-    if ((Buff & 0x0001) != 0x0001) {
+    pc.printf("IKEY is: %04X\n", tmp);
+    if ((tmp & 0x00FF) != 0x0001) {
         pc.printf("Device fail to unlock\n");
     } else {
         pc.printf("Device unlocked\n");
@@ -296,6 +354,8 @@
 
 void A1333_getEEP(int X_E)
 {
+    uint16_t tmp;
+
     //Read eeprom
     spi_CS = 0;
     spi.write( ((((ERA+1U)|WMASK)<<8U)&0xFF00) | X_E );
@@ -303,25 +363,25 @@
     spi_CS = 0;
     spi.write( (((ERCS|WMASK)<<8U)&0xFF00) | 0x80 );
     spi_CS = 1;
-    Buff = 0x0000;
-    while((Buff & 0x0001) != 0x0001) {
+    tmp = 0x0000;
+    while((tmp & 0x0001) != 0x0001) {
         spi_CS = 0;
         spi.write( (ERCS << 8U) & 0xFF00 );
         spi_CS = 1;
         spi_CS = 0;
-        Buff = spi.write(0x0000);
+        tmp = spi.write(0x0000);
         spi_CS = 1;
     }
     spi_CS = 0;
     spi.write( (ERDH << 8U) & 0xFF00 );
     spi_CS = 1;
     spi_CS = 0;
-    Buff = spi.write( (ERDL << 8U) & 0xFF00 );
+    tmp = spi.write( (ERDL << 8U) & 0xFF00 ) & 0xFF;
     spi_CS = 1;
-    pc.printf("ERDH: %04X\n", Buff);
+    pc.printf("ERDH/ERDL: %02X", tmp);
 
     spi_CS = 0;
-    Buff2 = spi.write(0x0000);
+    tmp = spi.write(0x0000);
     spi_CS = 1;
-    pc.printf("ERDL: %04X\n", Buff2);
+    pc.printf("%04X\n", tmp);
 }
\ No newline at end of file