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modified more locations with preprocessor directives

This commit is contained in:
Nicolas Trimborn 2021-09-07 17:28:15 +02:00
parent b4e74a5e72
commit a5a470eac5
4 changed files with 405 additions and 365 deletions
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2
2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/MSIF_slave.h
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@ -9,6 +9,8 @@
#ifndef MASTER_SLAVE_IF_H_
#define MASTER_SLAVE_IF_H_
#include "bldc.h"
#define SLAVE_BUFFER_SIZE_BYTES 64
#define SLAVE_BUFFER_SIZE_LONG SLAVE_BUFFER_SIZE_BYTES/4

6
2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/Two_Motor_D51.cproj
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@ -300,6 +300,7 @@
<ListValues>
<Value>C:\Users\ge37vez\Documents\Git Repos\bldc_control_thesis\bldc_firmware_thesis\2_Motor_Master_D51\Two_Motor_D51\Two_Motor_D51\cmsis</Value>
<Value>%24(ProjectDir)\Device_Startup</Value>
<Value>C:\Users\trim_ni\Documents\Git\bldc_control_thesis\bldc_firmware_thesis\2_Motor_Master_D51\Two_Motor_D51\Two_Motor_D51\cmsis</Value>
</ListValues>
</armgcc.linker.libraries.LibrarySearchPaths>
<armgcc.linker.optimization.GarbageCollectUnusedSections>True</armgcc.linker.optimization.GarbageCollectUnusedSections>
@ -364,7 +365,7 @@
<Value>%24(PackRepoDir)\atmel\SAMD51_DFP\1.2.139\samd51a\include</Value>
</ListValues>
</armgcc.preprocessingassembler.general.IncludePaths>
</ArmGcc>
</ArmGcc>
</ToolchainSettings>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
@ -427,6 +428,7 @@
<ListValues>
<Value>C:\Users\ge37vez\Documents\Git Repos\bldc_control_thesis\bldc_firmware_thesis\2_Motor_Master_D51\Two_Motor_D51\Two_Motor_D51\cmsis</Value>
<Value>%24(ProjectDir)\Device_Startup</Value>
<Value>C:\Users\trim_ni\Documents\Git\bldc_control_thesis\bldc_firmware_thesis\2_Motor_Master_D51\Two_Motor_D51\Two_Motor_D51\cmsis</Value>
</ListValues>
</armgcc.linker.libraries.LibrarySearchPaths>
<armgcc.linker.optimization.GarbageCollectUnusedSections>True</armgcc.linker.optimization.GarbageCollectUnusedSections>
@ -494,7 +496,7 @@
</ListValues>
</armgcc.preprocessingassembler.general.IncludePaths>
<armgcc.preprocessingassembler.debugging.DebugLevel>Default (-Wa,-g)</armgcc.preprocessingassembler.debugging.DebugLevel>
</ArmGcc>
</ArmGcc>
</ToolchainSettings>
</PropertyGroup>
<ItemGroup>

205
2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/configuration.h
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@ -8,17 +8,30 @@
#ifndef CONFIGURATION_H_
#define CONFIGURATION_H_
// Conditional Inclusion Only Select One
// ----------------------------------------------------------------------
// ----------------------------------------------------------------------
// ----------------------------------------------------------------------
// Configure System to be either Master or Slave. Set only one of these
// ----------------------------------------------------------------------
#define _MASTER
//#define _SLAVE
// ----------------------------------------------------------------------
// ----------------------------------------------------------------------
// ----------------------------------------------------------------------
// ----------------------------------------------------------------------
#ifdef _MASTER
#include "EtherCAT_QSPI.h"
#endif // MASTER
// ----------------------------------------------------------------------
// Header Files
// ----------------------------------------------------------------------
#ifdef _MASTER
#include "EtherCAT_QSPI.h"
#endif // MASTER
#ifdef _SLAVE
#include "MSIF_slave.h"
#endif // SLAVE
#include "atmel_start_pins.h"
#include "bldc.h"
#include "interrupts.h"
@ -38,6 +51,26 @@ extern DmacDescriptor _write_back_section[DMAC_CH_NUM];
// ----------------------------------------------------------------------
// DMA CHANNEL NUMBER CONFIGURATION
// ----------------------------------------------------------------------
/* MASTER
* CH0 - SERCOM1_RX(SPI1) - Master-Slave IF - Beat Transfer Event Drives CS Pin
* CH1 - SERCOM5_RX(SPI3) - Angle Sensor
* CH2 - SERCOM2_RX(SPI2) - Expansion IF (EMG) - Beat Transfer Event Drives CS Pin
* CH3 - ADC1 - Result Ready
* CH4 - ADC1 - Sequencer - Triggered by TCC0 overflow event
* CH5 - SERCOM2_TX(SPI2) - Expansion IF (EMG)
* CH6 - SERCOM5_TX(SPI3) - Angle Sensor
* CH7 - SERCOM1_TX(SPI1) - Master-Slave IF
SLAVE
* CH0 - SERCOM1_RX(SPI1) - Master-Slave IF - Beat Transfer Event Drives CS Pin
* CH1 - SERCOM5_RX(SPI3) - Angle Sensor
* CH2 - ADC0 - Result Ready
* CH3 - ADC1 - Result Ready
* CH4 - ADC1 - Sequencer - Triggered by TCC0 overflow event
* CH5 - ADC0 - Sequencer
* CH6 - SERCOM5_TX(SPI3) - Angle Sensor
* CH7 - SERCOM1_TX(SPI1) - Master-Slave IF
*/
#define CONF_SERCOM_1_SPI_DMA_RX_CHANNEL 0U
#define CONF_SERCOM_1_SPI_DMA_TX_CHANNEL 7U
#define CONF_ADC_1_ADC_RES_READY_CHANNEL 3U
@ -101,55 +134,108 @@ static void configure_tcc_pwm(void)
//pwm_register_callback(&PWM_0, PWM_PERIOD_CB, pwm_cb);
pwm_enable(&PWM_0);
pwm_enable(&PWM_1);
}
// ----------------------------------------------------------------------
// ADC DMA Initialization
// M1_IA=ADC1_AIN[9], M1_IB=ADC1_AIN[8], M2_IA=ADC1_AIN[7], M2_IB=ADC1_AIN[6]
// FSR1 =ADC0_AIN[0], FSR2 =ADC0_AIN[3], FSR3 =ADC0_AIN[7], FSR4 =ADC0_AIN[10], FSR5 =ADC0_AIN[11]
// ----------------------------------------------------------------------
const uint32_t adc0_seq_regs[4] = {0};
#define CURRENT_SENSOR_CHANNELS 4U
#define SENSOR_CHANNELS 5U
const uint32_t adc0_seq_regs[SENSOR_CHANNELS] = {0x1801, 0x1803, 0x1807, 0x180A, 0x180B }; /* Single Ended */
const uint32_t adc1_seq_regs[4] = {0x0089, 0x0088, 0x0087, 0x0086}; /* Differential */
//const uint32_t adc1_seq_regs[4] = {0x1807, 0x1806, 0x1809, 0x1808}; /* Single Ended */
volatile int16_t adc0_res[4] = {0};
volatile int16_t adc1_res[4] = {0};
volatile int16_t adc1_res[CURRENT_SENSOR_CHANNELS] = {0};
struct _dma_resource *adc_sram_dma_resource;
struct _dma_resource *adc_dmac_sequence_resource;
struct _dma_resource *adc0_sram_dma_resource;
struct _dma_resource *adc1_sram_dma_resource;
static void adc_dmac_sequence_init()
#ifdef _SLAVE
static void adc0_dmac_sequence_init()
{
/* Configure the DMAC source address, destination address,
* next descriptor address, data count and Enable the DMAC Channel
*/
_dma_set_source_address(CONF_ADC_0_SEQUENCER_CHANNEL, (const void *)adc0_seq_regs);
_dma_set_destination_address(CONF_ADC_0_SEQUENCER_CHANNEL, (const void *)&ADC0->DSEQDATA.reg);
_dma_set_data_amount(CONF_ADC_0_SEQUENCER_CHANNEL, 4);
_dma_set_next_descriptor(CONF_ADC_0_SEQUENCER_CHANNEL, CONF_ADC_0_SEQUENCER_CHANNEL);
_dma_enable_transaction(CONF_ADC_0_SEQUENCER_CHANNEL, false);
hri_dmacchannel_set_CHCTRLB_CMD_bf(&DMAC->Channel[CONF_ADC_0_SEQUENCER_CHANNEL], 0x01); //Suspend
}
static void adc0_sram_dmac_init()
{
_dma_set_source_address(CONF_ADC_0_ADC_RES_READY_CHANNEL, (const void *)&ADC0->RESULT.reg);
_dma_set_destination_address(CONF_ADC_0_ADC_RES_READY_CHANNEL, (const void *)&FSR_CH1);
_dma_set_data_amount(CONF_ADC_0_ADC_RES_READY_CHANNEL, SENSOR_CHANNELS);
_dma_set_irq_state(CONF_ADC_0_ADC_RES_READY_CHANNEL, DMA_TRANSFER_COMPLETE_CB, true);
_dma_get_channel_resource(&adc1_sram_dma_resource, CONF_ADC_0_ADC_RES_READY_CHANNEL);
adc1_sram_dma_resource[0].dma_cb.transfer_done = adc_sram_dma_callback;
_dma_set_next_descriptor(CONF_ADC_0_ADC_RES_READY_CHANNEL, CONF_ADC_0_ADC_RES_READY_CHANNEL); /*?????*/
_dma_enable_transaction(CONF_ADC_0_ADC_RES_READY_CHANNEL, false);
}
#endif //SLAVE
static void adc1_dmac_sequence_init()
{
/* Configure the DMAC source address, destination address,
* next descriptor address, data count and Enable the DMAC Channel
*/
_dma_set_source_address(CONF_ADC_1_SEQUENCER_CHANNEL, (const void *)adc1_seq_regs);
_dma_set_destination_address(CONF_ADC_1_SEQUENCER_CHANNEL, (const void *)&ADC1->DSEQDATA.reg);
_dma_set_data_amount(CONF_ADC_1_SEQUENCER_CHANNEL, 4);
_dma_set_data_amount(CONF_ADC_1_SEQUENCER_CHANNEL, CURRENT_SENSOR_CHANNELS);
_dma_set_next_descriptor(CONF_ADC_1_SEQUENCER_CHANNEL, CONF_ADC_1_SEQUENCER_CHANNEL);
_dma_enable_transaction(CONF_ADC_1_SEQUENCER_CHANNEL, false);
hri_dmacchannel_set_CHCTRLB_CMD_bf(&DMAC->Channel[CONF_ADC_1_SEQUENCER_CHANNEL], 0x01); //Suspend
}
static void adc_sram_dmac_init()
static void adc1_sram_dmac_init()
{
_dma_set_source_address(CONF_ADC_1_ADC_RES_READY_CHANNEL, (const void *)&ADC1->RESULT.reg);
_dma_set_destination_address(CONF_ADC_1_ADC_RES_READY_CHANNEL, (const void *)adc1_res);
_dma_set_data_amount(CONF_ADC_1_ADC_RES_READY_CHANNEL, 4);
_dma_set_data_amount(CONF_ADC_1_ADC_RES_READY_CHANNEL, CURRENT_SENSOR_CHANNELS);
_dma_set_irq_state(CONF_ADC_1_ADC_RES_READY_CHANNEL, DMA_TRANSFER_COMPLETE_CB, true);
_dma_get_channel_resource(&adc_sram_dma_resource, CONF_ADC_1_ADC_RES_READY_CHANNEL);
adc_sram_dma_resource[0].dma_cb.transfer_done = adc_sram_dma_callback;
_dma_get_channel_resource(&adc1_sram_dma_resource, CONF_ADC_1_ADC_RES_READY_CHANNEL);
adc1_sram_dma_resource[0].dma_cb.transfer_done = adc_sram_dma_callback;
_dma_set_next_descriptor(CONF_ADC_1_ADC_RES_READY_CHANNEL, CONF_ADC_1_ADC_RES_READY_CHANNEL); /*?????*/
_dma_enable_transaction(CONF_ADC_1_ADC_RES_READY_CHANNEL, false);
}
// ----------------------------------------------------------------------
// ADC Initialization
// ----------------------------------------------------------------------
static void adc1_init_dma_descriptors(void)
#ifdef _SLAVE
static void adc0_dma_init(void)
{
adc_sram_dmac_init();
adc_dmac_sequence_init();
// Disable digital pin circuitry
gpio_set_pin_direction(GPIO(GPIO_PORTA, 2), GPIO_DIRECTION_OFF);
gpio_set_pin_function(GPIO(GPIO_PORTA, 2), PINMUX_PA02B_ADC0_AIN0);
// Disable digital pin circuitry
gpio_set_pin_direction(GPIO(GPIO_PORTB, 9), GPIO_DIRECTION_OFF);
gpio_set_pin_function(GPIO(GPIO_PORTB, 9), PINMUX_PB09B_ADC0_AIN3);
// Disable digital pin circuitry
gpio_set_pin_direction(GPIO(GPIO_PORTA, 7), GPIO_DIRECTION_OFF);
gpio_set_pin_function(GPIO(GPIO_PORTA, 7), PINMUX_PA07B_ADC0_AIN7);
// Disable digital pin circuitry
gpio_set_pin_direction(GPIO(GPIO_PORTA, 10), GPIO_DIRECTION_OFF);
gpio_set_pin_function(GPIO(GPIO_PORTA, 10), PINMUX_PA10B_ADC0_AIN10);
// Disable digital pin circuitry
gpio_set_pin_direction(GPIO(GPIO_PORTA, 11), GPIO_DIRECTION_OFF);
gpio_set_pin_function(GPIO(GPIO_PORTA, 11), PINMUX_PA11B_ADC0_AIN11);
adc0_sram_dmac_init();
adc0_dmac_sequence_init();
hri_adc_set_DSEQCTRL_INPUTCTRL_bit(ADC0);
hri_adc_set_DSEQCTRL_AUTOSTART_bit(ADC0);
}
#endif //SLAVE
static void adc1_dma_init(void)
{
adc1_sram_dmac_init();
adc1_dmac_sequence_init();
hri_adc_set_DSEQCTRL_INPUTCTRL_bit(ADC1);
hri_adc_set_DSEQCTRL_AUTOSTART_bit(ADC1);
}
@ -195,60 +281,33 @@ static void boardToBoardTransferInit(void)
#endif //SLAVE
}
#ifdef _SLAVE
void SPI_1_MSIF_Slave_PORT_init(void)
{
// Set pin direction to input
gpio_set_pin_direction(SPI1_MOSI, GPIO_DIRECTION_IN);
gpio_set_pin_pull_mode(SPI1_MOSI,
// <y> Pull configuration
// <id> pad_pull_config
// <GPIO_PULL_OFF"> Off
// <GPIO_PULL_UP"> Pull-up
// <GPIO_PULL_DOWN"> Pull-down
GPIO_PULL_OFF);
gpio_set_pin_pull_mode(SPI1_MOSI, GPIO_PULL_OFF);
gpio_set_pin_function(SPI1_MOSI, PINMUX_PA00D_SERCOM1_PAD0);
gpio_set_pin_level(SPI1_SCK,
// <y> Initial level
// <id> pad_initial_level
// <false"> Low
// <true"> High
false);
gpio_set_pin_level(SPI1_SCK, false);
// Set pin direction to output
gpio_set_pin_direction(SPI1_SCK, GPIO_DIRECTION_OUT);
gpio_set_pin_function(SPI1_SCK, PINMUX_PA01D_SERCOM1_PAD1);
// Set pin direction to input
gpio_set_pin_direction(SPI1_CS, GPIO_DIRECTION_IN);
gpio_set_pin_pull_mode(SPI1_CS,
// <y> Pull configuration
// <id> pad_pull_config
// <GPIO_PULL_OFF"> Off
// <GPIO_PULL_UP"> Pull-up
// <GPIO_PULL_DOWN"> Pull-down
GPIO_PULL_OFF);
gpio_set_pin_pull_mode(SPI1_CS, GPIO_PULL_OFF);
gpio_set_pin_function(SPI1_CS, PINMUX_PB22C_SERCOM1_PAD2);
gpio_set_pin_level(SPI1_MISO,
// <y> Initial level
// <id> pad_initial_level
// <false"> Low
// <true"> High
false);
gpio_set_pin_level(SPI1_MISO, false);
// Set pin direction to output
gpio_set_pin_direction(SPI1_MISO, GPIO_DIRECTION_OUT);
gpio_set_pin_function(SPI1_MISO, PINMUX_PB23C_SERCOM1_PAD3);
}
#endif //SLAVE
static void spi_master_slave_if_dma_descriptor_init()
{
@ -280,17 +339,16 @@ static void spi_master_slave_if_dma_descriptor_init()
/* Enable DMA transfer complete interrupt */
//_dma_set_irq_state(DMAC_CHANNEL_CONF_SERCOM_1_RECEIVE, DMA_TRANSFER_COMPLETE_CB, true);
#endif //MASTER
#ifdef _SLAVE
#endif //SLAVE
}
#ifdef _MASTER
/* 219 Bites total
* Number format is 24 bit
* 7 (uint_32) - 24 bits
*/
extern volatile uint32_t ads1299_buffer[ADS_BUFFER_SIZE];
//
static void spi_ads1299_init_dma_descriptors()
{
_dma_set_source_address(CONF_SERCOM_2_SPI_DMA_RX_CHANNEL,
@ -329,38 +387,17 @@ static void spi_ads1299_init_dma_descriptors()
// ----------------------------------------------------------------------
// Overall DMA Init
// ----------------------------------------------------------------------
/* MASTER
* CH0 - SERCOM1_RX(SPI1) - Master-Slave IF - Beat Transfer Event Drives CS Pin
* CH1 - SERCOM5_RX(SPI3) - Angle Sensor
* CH2 - SERCOM2_RX(SPI2) - Expansion IF (EMG) - Beat Transfer Event Drives CS Pin
* CH3 - ADC1 - Result Ready
* CH4 - ADC1 - Sequencer - Triggered by TCC0 overflow event
* CH5 - SERCOM2_TX(SPI2) - Expansion IF (EMG)
* CH6 - SERCOM5_TX(SPI3) - Angle Sensor
* CH7 - SERCOM1_TX(SPI1) - Master-Slave IF
*/
/* SLAVE
* CH0 - SERCOM1_RX(SPI1) - Master-Slave IF - Beat Transfer Event Drives CS Pin
* CH1 - SERCOM5_RX(SPI3) - Angle Sensor
* CH2 - ADC0 - Result Ready
* CH3 - ADC1 - Result Ready
* CH4 - ADC1 - Sequencer - Triggered by TCC0 overflow event
* CH5 - ADC0 - Sequencer
* CH6 - SERCOM5_TX(SPI3) - Angle Sensor
* CH7 - SERCOM1_TX(SPI1) - Master-Slave IF
*/
static void init_dma(void)
{
spi_master_slave_if_dma_descriptor_init();
adc1_init_dma_descriptors();
adc1_dma_init();
#ifdef _MASTER
spi_ads1299_init_dma_descriptors();
#endif // _MASTER
#else
adc0_dma_init();
#endif //MASTER
}
// ----------------------------------------------------------------------
// Overall DMA Init
// ----------------------------------------------------------------------

1
2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/main.c
View File

@ -23,7 +23,6 @@
#endif // SLAVE
void process_currents()
{
Motor1.timerflags.adc_readings_ready_tic = false;