euint8 if_spi_readbuf(hwInterface *iface, euint8 *buf, euint16 len)
{
alt_u8 status;
alt_u16 i;
/* Set the SSO bit (force chipselect) */
IOWR_ALTERA_AVALON_SPI_CONTROL(SPI_0_BASE, 0x400);
/* Clear RX reg*/
buf[0] = IORD_ALTERA_AVALON_SPI_RXDATA(SPI_0_BASE);
/* wait till transmit and ready ok */
do{
status = IORD_ALTERA_AVALON_SPI_STATUS(SPI_0_BASE);//get status
}while ((status & ALTERA_AVALON_SPI_STATUS_TRDY_MSK) == 0 );
for(i=0;i<len;i++)
{
IOWR_ALTERA_AVALON_SPI_TXDATA(SPI_0_BASE, DUMMY);
/* Wait until the interface has finished transmitting */
while ((IORD_ALTERA_AVALON_SPI_STATUS(SPI_0_BASE) & ALTERA_AVALON_SPI_STATUS_RRDY_MSK) == 0);
/* reciver ready */
buf[i] = IORD_ALTERA_AVALON_SPI_RXDATA(SPI_0_BASE);
}
IOWR_ALTERA_AVALON_SPI_CONTROL(SPI_0_BASE, 0);
return (0);
}
bool SPI_read16(alt_u16 * data)
{
int cnt = 0;
while (( IORD_ALTERA_AVALON_SPI_STATUS(SPI_ADC_BASE) & ALTERA_AVALON_SPI_STATUS_RRDY_MSK ) == 0)
{
cnt++;
usleep(LONG_DELAY);
if (cnt >= 3) //give it three chances
return false ; // signify error
}
*(data) = IORD_ALTERA_AVALON_SPI_RXDATA(SPI_ADC_BASE); // read rxdata
return true; //successful read
}
int initLIS2DH12(void)
{
int i;
alt_u16 reg_read=0xA000;
alt_u16 reg_data[2];
IOWR_ALTERA_AVALON_SPI_CONTROL(SPI_GSENSOR_BASE,0x00); //Initialize the spi control reg
IOWR_ALTERA_AVALON_SPI_TXDATA(SPI_GSENSOR_BASE, 0x2097); //setup data rate and enable x,y,z axes
usleep(100*2000);
IOWR_ALTERA_AVALON_SPI_TXDATA(SPI_GSENSOR_BASE, 0x23b8); //full scale, high resolution
usleep(100*2000);
// Read the Device ID register
IOWR_ALTERA_AVALON_SPI_TXDATA(SPI_GSENSOR_BASE, (0x8F00)); // setup address to read from (0x0F), MSbit is R/Wn
usleep(100*2000);
if((IORD_ALTERA_AVALON_SPI_RXDATA(SPI_GSENSOR_BASE))!=0x33) // verify the device id matches (0x33)
return -1;
return 1; // success
}
void lis2dh12Read(alt_u16 *data_x, alt_u16 *data_y, alt_u16 *data_z)
{
int i;
alt_u8 data[6];
for(i=0;i<6;i++){
IOWR_ALTERA_AVALON_SPI_TXDATA(SPI_GSENSOR_BASE, rdata[i]);
usleep(100*200);
data[i] = IORD_ALTERA_AVALON_SPI_RXDATA(SPI_GSENSOR_BASE);
}
//raw data values
*data_x = ((data[1]<<8)|data[0]);
*data_y = ((data[3]<<8)|data[2]);
*data_z = ((data[5]<<8)|data[4]);
// actual g values, unused:
// x = (float)(data_x/16.0)*12.0;
// y = (float)(data_y/16.0)*12.0;
// z = (float)(data_z/16.0)*12.0;
}
euint8 if_spiSend(hwInterface *iface, euint8 outgoing)
{
euint8 incoming=0;
alt_u8 SD_Data=0,status;
/* Set the SSO bit (force chipselect) */
IOWR_ALTERA_AVALON_SPI_CONTROL(SPI_0_BASE, 0x400);
do{
status = IORD_ALTERA_AVALON_SPI_STATUS(SPI_0_BASE);//get status
}while (((status & ALTERA_AVALON_SPI_STATUS_TRDY_MSK) == 0 ) &&
(status & ALTERA_AVALON_SPI_STATUS_RRDY_MSK) == 0);
/* wait till transmit and ready ok */
IOWR_ALTERA_AVALON_SPI_TXDATA(SPI_0_BASE, outgoing);
/* Wait until the interface has finished transmitting */
do{status = IORD_ALTERA_AVALON_SPI_STATUS(SPI_0_BASE);}
while ((status & ALTERA_AVALON_SPI_STATUS_TMT_MSK) == 0);
/* reciver ready */
if (((status & 0x80) != 0) ){
SD_Data = IORD_ALTERA_AVALON_SPI_RXDATA(SPI_0_BASE);
}
else{
printf("\n no recive after transmit");
}
IOWR_ALTERA_AVALON_SPI_SLAVE_SEL(SPI_0_BASE, 1);
IOWR_ALTERA_AVALON_SPI_CONTROL(SPI_0_BASE, 0);
if( (status & 0x100) !=0)
printf("\n error in spi error in spi");
return (SD_Data);
}
int alt_avalon_spi_command(alt_u32 base, alt_u32 slave,
alt_u32 write_length, const alt_u8 * write_data,
alt_u32 read_length, alt_u8 * read_data,
alt_u32 flags)
{
const alt_u8 * write_end = write_data + write_length;
alt_u8 * read_end = read_data + read_length;
alt_u32 write_zeros = read_length;
alt_u32 read_ignore = write_length;
alt_u32 status;
/* We must not send more than two bytes to the target before it has
* returned any as otherwise it will overflow. */
/* Unfortunately the hardware does not seem to work with credits > 1,
* leave it at 1 for now. */
alt_32 credits = 1;
/* Warning: this function is not currently safe if called in a multi-threaded
* environment, something above must perform locking to make it safe if more
* than one thread intends to use it.
*/
IOWR_ALTERA_AVALON_SPI_SLAVE_SEL(base, 1 << slave);
/* Set the SSO bit (force chipselect) only if the toggle flag is not set */
if ((flags & ALT_AVALON_SPI_COMMAND_TOGGLE_SS_N) == 0) {
IOWR_ALTERA_AVALON_SPI_CONTROL(base, ALTERA_AVALON_SPI_CONTROL_SSO_MSK);
}
/*
* Discard any stale data present in the RXDATA register, in case
* previous communication was interrupted and stale data was left
* behind.
*/
IORD_ALTERA_AVALON_SPI_RXDATA(base);
/* Keep clocking until all the data has been processed. */
for ( ; ; )
{
do
{
status = IORD_ALTERA_AVALON_SPI_STATUS(base);
}
while (((status & ALTERA_AVALON_SPI_STATUS_TRDY_MSK) == 0 || credits == 0) &&
(status & ALTERA_AVALON_SPI_STATUS_RRDY_MSK) == 0);
if ((status & ALTERA_AVALON_SPI_STATUS_TRDY_MSK) != 0 && credits > 0)
{
credits--;
if (write_data < write_end)
IOWR_ALTERA_AVALON_SPI_TXDATA(base, *write_data++);
else if (write_zeros > 0)
{
write_zeros--;
IOWR_ALTERA_AVALON_SPI_TXDATA(base, 0);
}
else
credits = -1024;
};
if ((status & ALTERA_AVALON_SPI_STATUS_RRDY_MSK) != 0)
{
alt_u32 rxdata = IORD_ALTERA_AVALON_SPI_RXDATA(base);
if (read_ignore > 0)
read_ignore--;
else
*read_data++ = (alt_u8)rxdata;
credits++;
if (read_ignore == 0 && read_data == read_end)
break;
}
}
/* Wait until the interface has finished transmitting */
do
{
status = IORD_ALTERA_AVALON_SPI_STATUS(base);
}
while ((status & ALTERA_AVALON_SPI_STATUS_TMT_MSK) == 0);
/* Clear SSO (release chipselect) unless the caller is going to
* keep using this chip
*/
if ((flags & ALT_AVALON_SPI_COMMAND_MERGE) == 0)
IOWR_ALTERA_AVALON_SPI_CONTROL(base, 0);
return read_length;
}
int openPowerlink(void)
{
const BYTE abMacAddr[] = {MAC_ADDR};
static tEplApiInitParam EplApiInitParam = {0};
// needed for process var
tEplObdSize ObdSize;
tEplKernel EplRet;
unsigned int uiVarEntries;
fShutdown_l = FALSE;
////////////////////////
// setup th EPL Stack //
////////////////////////
// set EPL init parameters
EplApiInitParam.m_uiSizeOfStruct = sizeof (EplApiInitParam);
#ifdef NODESWITCH_SPI_BASE
// read node-ID from hex switch on baseboard, which is connected via SPI shift register
IOWR_ALTERA_AVALON_SPI_TXDATA(NODESWITCH_SPI_BASE, 0xFF); // generate pulse for latching inputs
while ((IORD_ALTERA_AVALON_SPI_STATUS(NODESWITCH_SPI_BASE) & ALTERA_AVALON_SPI_STATUS_RRDY_MSK) == 0)
{ // wait
}
EplApiInitParam.m_uiNodeId = IORD_ALTERA_AVALON_SPI_RXDATA(NODESWITCH_SPI_BASE);
#endif
#ifdef NODESWITCH_PIO_BASE
EplApiInitParam.m_uiNodeId = IORD_ALTERA_AVALON_PIO_DATA(NODESWITCH_PIO_BASE);
#endif
if (EplApiInitParam.m_uiNodeId == EPL_C_ADR_INVALID)
{
EplApiInitParam.m_uiNodeId = NODEID; // defined at the top of this file!
}
EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr, sizeof(EplApiInitParam.m_abMacAddress));
EplApiInitParam.m_abMacAddress[5] = (BYTE) EplApiInitParam.m_uiNodeId;
// calculate IP address
EplApiInitParam.m_dwIpAddress = (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId;
EplApiInitParam.m_uiIsochrTxMaxPayload = 256;
EplApiInitParam.m_uiIsochrRxMaxPayload = 256;
EplApiInitParam.m_dwPresMaxLatency = 2000;
EplApiInitParam.m_dwAsndMaxLatency = 2000;
EplApiInitParam.m_fAsyncOnly = FALSE;
EplApiInitParam.m_dwFeatureFlags = -1;
EplApiInitParam.m_dwCycleLen = CYCLE_LEN;
EplApiInitParam.m_uiPreqActPayloadLimit = 36;
EplApiInitParam.m_uiPresActPayloadLimit = 36;
EplApiInitParam.m_uiMultiplCycleCnt = 0;
EplApiInitParam.m_uiAsyncMtu = 1500;
EplApiInitParam.m_uiPrescaler = 2;
EplApiInitParam.m_dwLossOfFrameTolerance = 500000;
EplApiInitParam.m_dwAsyncSlotTimeout = 3000000;
EplApiInitParam.m_dwWaitSocPreq = 0;
EplApiInitParam.m_dwDeviceType = -1;
EplApiInitParam.m_dwVendorId = -1;
EplApiInitParam.m_dwProductCode = -1;
EplApiInitParam.m_dwRevisionNumber = -1;
EplApiInitParam.m_dwSerialNumber = -1;
EplApiInitParam.m_dwSubnetMask = SUBNET_MASK;
EplApiInitParam.m_dwDefaultGateway = 0;
EplApiInitParam.m_dwApplicationSwDate = 1; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
EplApiInitParam.m_pfnCbEvent = AppCbEvent;
EplApiInitParam.m_pfnCbSync = AppCbSync;
EplApiInitParam.m_pfnObdInitRam = EplObdInitRam;
EplApiInitParam.m_dwSyncResLatency = EPL_C_DLL_T_IFG;
// initialize EPL stack
printf("init EPL Stack with node-ID 0x%02X:\n", EplApiInitParam.m_uiNodeId);
EplRet = EplApiInitialize(&EplApiInitParam);
if(EplRet != kEplSuccessful) {
printf("init EPL Stack... error %X\n\n", EplRet);
goto Exit;
}
printf("init EPL Stack...ok\n\n");
// link process variables used by CN to object dictionary
printf("linking process vars:\n");
ObdSize = sizeof(bButtonInputs_l);
uiVarEntries = 1;
EplRet = EplApiLinkObject(0x6000, &bButtonInputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
ObdSize = sizeof(abVirtualInputs_l[0]);
uiVarEntries = 17;
EplRet = EplApiLinkObject(0x2000, abVirtualInputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
ObdSize = sizeof(adwVirtualInputs_l[0]);
uiVarEntries = 8;
EplRet = EplApiLinkObject(0x2001, adwVirtualInputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
ObdSize = sizeof(wDigitalOutputs_l);
uiVarEntries = 1;
EplRet = EplApiLinkObject(0x6300, &wDigitalOutputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
ObdSize = sizeof(bLedOutputs_l);
uiVarEntries = 1;
EplRet = EplApiLinkObject(0x6200, &bLedOutputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
ObdSize = sizeof(abVirtualOutputs_l[0]);
uiVarEntries = 15;
EplRet = EplApiLinkObject(0x2200, abVirtualOutputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
ObdSize = sizeof(adwVirtualOutputs_l[0]);
uiVarEntries = 8;
EplRet = EplApiLinkObject(0x2201, adwVirtualOutputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
printf("linking process vars... ok\n\n");
// start the EPL stack
printf("start EPL Stack...\n");
EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
if (EplRet != kEplSuccessful) {
printf("start EPL Stack... error\n\n");
goto ExitShutdown;
}
printf("start EPL Stack... ok\n\n");
printf("NIOS II with openPowerlink is ready!\n\n");
#ifdef LED_PIO_BASE
IOWR_ALTERA_AVALON_PIO_DATA(LED_PIO_BASE, 0xFF);
#endif
while(1)
{
EplApiProcess();
if (fShutdown_l == TRUE)
break;
}
ExitShutdown:
printf("Shutdown EPL Stack\n");
EplApiShutdown(); //shutdown node
Exit:
return EplRet;
}
