blmc setpwm communication

include/at91_twi.h

@@ -25,10 +25,38 @@
 //#define CMD_GET_INFO		0x10
 #define CMD_SET_PWM		0x21
 #define CMD_GET_STATUS		0x22
-//#define CMD_SET_PARAM		0x23
+#define CMD_SET_PARAM		0x23
-//#define CMD_GET_PARAM		0x24
+#define CMD_GET_PARAM		0x24
 #define CMD_BOOT_LOADER		0x2F
 
+struct blmc_status {
+	uint8_t pwm_ist;
+	uint8_t pwm_soll;
+
+	uint16_t rpm;
+	uint16_t current;
+	uint16_t voltage;
+} __attribute__ ((packed));
+
+struct blmc_param {
+	uint16_t spinup_ticks;
+
+	uint8_t spinup_tick;
+	uint8_t spinup_step;
+
+	uint8_t spinup_wait;
+	uint8_t spinup_pwm;
+
+	uint8_t pwm_min;
+	uint8_t pwm_max;
+
+	uint16_t current_limit;
+	uint16_t current_max;
+
+	uint16_t voltage_min;
+
+	uint16_t crc16;
+} __attribute__ ((packed));
 
 struct blmc_cmd {
 	uint32_t cmd;		/* cmd byte(s) */

main.c

@@ -49,6 +49,10 @@ static uint32_t pitc_test(struct pitc_timer *timer)
 
 	printf("\r");
 */
+
+	static uint8_t data[4] = { 0x0f, 0x0f, 0x0f, 0x0f };
+	twi_setpwm(data);
+
 	return PITC_RESTART_TIMER;
 }
 
@@ -77,9 +81,6 @@ int main(void)
 	at91_rttc_test_init();
 	at91_tc1_init();
 
-	/* adc, need timer */
-	at91_adc_test_init();
-
 	/* twi */
 	at91_twi_init();
 	at91_twi_test();
@@ -89,6 +90,9 @@ int main(void)
 
 	printf("static alloc: %5ld bytes\n\r", static_alloc_used());
 
+	/* adc, need timer */
+//	at91_adc_test_init();
+
 	pitc_schedule_timer(&pitc_test_timer);
 
 	while (1);

src/at91_adc.c

@@ -42,7 +42,7 @@ static uint32_t adc_trigger(struct pitc_timer *timer)
 {
 	uint32_t i;
 	for (i = 0; i < ARRAY_SIZE(adc_result); i++)
-		printf("0x%03x ", adc_result[i]);
+		printf("%+4d ", 0x200 - adc_result[i]);
 
 	printf("\n\r");
 
@@ -51,7 +51,7 @@ static uint32_t adc_trigger(struct pitc_timer *timer)
 }
 
 static struct pitc_timer adc_timer = {
-	.interval = 10,
+	.interval = 100,
 	.func = &adc_trigger,
 };
 
@@ -94,5 +94,5 @@ void at91_adc_test_init(void)
 	aic->AIC_SVR[AT91C_ID_ADC] = (uint32_t)at91_adc_isr;
 	aic->AIC_IECR = (1<<AT91C_ID_ADC);
 
-//	pitc_schedule_timer(&adc_timer);
+	pitc_schedule_timer(&adc_timer);
 }

src/at91_pitc.c

@@ -73,7 +73,7 @@ void at91_pitc_init(void)
 {
 	sysc_register_isr(AT91_SYSIRQ_PIT, &pitc_isr);
 
-	*AT91C_PITC_PIMR = (AT91C_PITC_PIV & HZ_TO_PIV(100)) |
+	*AT91C_PITC_PIMR = (AT91C_PITC_PIV & HZ_TO_PIV(1000)) |
 			   AT91C_PITC_PITEN |
 			   AT91C_PITC_PITIEN;
 }

src/at91_twi.c

@@ -95,19 +95,15 @@ static void twi_isr(void)
 
 	/* transfer really complete? */
 	if (status & AT91C_TWI_TXCOMP) {
+		uint32_t addr = (*AT91C_TWI_MMR >> 16) & 0x7F;
 
 		/* are we doing a blmc update? */
-		if (twi_state == TWI_BLMC_UPDATE) {
+		if (twi_state == TWI_BLMC_UPDATE && addr != TWI_ADDR_BL4) {
-			uint32_t addr = (*AT91C_TWI_MMR >> 16) & 0x7F;
+			/* increase address */
-			if (addr != TWI_ADDR_BL4) {
+			*AT91C_TWI_MMR += (1<<16);
-				/* increase address */
-				*AT91C_TWI_MMR += (1<<16);
 
-				/* send next value to next blmc */
+			/* send next value to next blmc */
-				*AT91C_TWI_THR = *twi_data++;
+			*AT91C_TWI_THR = *twi_data++;
-			} else {
-				// TODO:
-			}
 
 		} else {
 			*AT91C_TWI_IDR = AT91C_TWI_TXCOMP | AT91C_TWI_RXRDY | AT91C_TWI_TXRDY | AT91C_TWI_NACK;
@@ -118,11 +114,14 @@ static void twi_isr(void)
 
 uint32_t twi_setpwm(uint8_t *values)
 {
+	if (twi_state == TWI_ERROR)
+		twi_state = TWI_IDLE;
+
 	if (twi_state != TWI_IDLE)
 		return 1;
 
 	twi_state = TWI_BLMC_UPDATE;
-	twi_data = values;		/* data is not copied! */
+	twi_data = values;
 	twi_size = 0;
 	twi_count = 0;
 
@@ -137,6 +136,9 @@ uint32_t twi_setpwm(uint8_t *values)
 
 uint32_t twi_cmd(uint8_t addr, struct blmc_cmd *cmd)
 {
+	if (twi_state == TWI_ERROR)
+		twi_state = TWI_IDLE;
+
 	if (twi_state != TWI_IDLE)
 		return 1;
 
@@ -189,42 +191,63 @@ void at91_twi_test(void)
 {
 	uint32_t i;
 	for (i = TWI_ADDR_BL1; i <= TWI_ADDR_BL4; i++) {
+		printf("twi[0x%02lx] ", i);
+
 		struct blmc_cmd cmd = {
 			.cmd = CMD_BOOT_LOADER,
 			.mode = BLMC_CMD_WRITE | BLMC_CMD_0_ARG,
 		};
-		uint32_t ret = twi_cmd(i, &cmd);
+		twi_cmd(i, &cmd);
-		printf("twi[0x%02lx](%ld) ", i, ret);
 
+		/* TODO: sleep */
 		volatile uint32_t x;
 		for (x = 0; x < 200000; x++);
 
 		uint8_t buf[16];
-		cmd.cmd = CMD_GET_INFO,
+		buf[0] = '\0';
-		cmd.mode = BLMC_CMD_READ | BLMC_CMD_0_ARG,
+		cmd.cmd = CMD_GET_INFO;
-		cmd.size = sizeof(buf),
+		cmd.mode = BLMC_CMD_READ | BLMC_CMD_0_ARG;
-		cmd.data = buf,
+		cmd.size = sizeof(buf);
-		ret = twi_cmd(i, &cmd);
+		cmd.data = buf;
-		printf("boot(%ld):'%s' ", ret, buf);
+		twi_cmd(i, &cmd);
+		printf("boot:'%s' ", buf);
+
+		/* TODO: single 32bit write */
+		buf[0] = 0xFF;
+		buf[1] = 0xFF;
+		buf[2] = 0xFF;
 
 		cmd.cmd = CMD_GET_SIGNATURE;
 		cmd.size = 4;
-		ret = twi_cmd(i, &cmd);
+		twi_cmd(i, &cmd);
-		printf("sig(%ld):0x%02x%02x%02x ", ret, buf[0], buf[1], buf[2]);
+		printf("sig:0x%02x%02x%02x\n\r", buf[0], buf[1], buf[2]);
 
 		cmd.cmd = CMD_BOOT_APPLICATION;
 		cmd.mode = BLMC_CMD_WRITE | BLMC_CMD_0_ARG;
 		cmd.size = 0;
-		ret = twi_cmd(i, &cmd);
+		twi_cmd(i, &cmd);
 
+		/* TODO: sleep */
 		for (x = 0; x < 200000; x++);
 
-		cmd.cmd = CMD_GET_INFO,
+		buf[0] = '\0';
-		cmd.mode = BLMC_CMD_READ | BLMC_CMD_0_ARG,
+		cmd.cmd = CMD_GET_INFO;
-		cmd.size = sizeof(buf),
+		cmd.mode = BLMC_CMD_READ | BLMC_CMD_0_ARG;
-		cmd.data = buf,
+		cmd.size = sizeof(buf);
-		ret = twi_cmd(i, &cmd);
+		cmd.data = buf;
-		printf("app(%ld):'%s'\n\r", ret, buf);
+		twi_cmd(i, &cmd);
+		printf("          app :'%s' ", buf);
+
+		struct blmc_param param;
+		cmd.cmd = CMD_GET_PARAM;
+		cmd.mode = BLMC_CMD_READ | BLMC_CMD_0_ARG;
+		cmd.size = sizeof(param);
+		cmd.data = (uint8_t *)&param;
+		twi_cmd(i, &cmd);
+
+		printf("pwm:0x%02x-0x%02x Ilimit:0x%03x Imax:0x%03x\n\r",
+			param.pwm_min, param.pwm_max,
+			param.current_limit, param.current_max);
 	}
 }