void set_avr_mapper(uint8_t val) {
SPI_SS_HIGH();
FPGA_SS_LOW();
spiTransferByte(0x30 | (val & 0x0f));
FPGA_SS_HIGH();
SPI_SS_LOW();
}
void set_avr_bank(uint8_t val) {
SPI_SS_HIGH();
FPGA_SS_LOW();
spiTransferByte(0x00); // SET ADDRESS
spiTransferByte(val * 0x20); // select chip
spiTransferByte(0x00); // select chip
spiTransferByte(0x00); // select chip
FPGA_SS_HIGH();
SPI_SS_LOW();
}
/**
* sendCommand - send a command to the SD card
* @command : command to be sent
* @parameter: parameter to be sent
* @deselect : Flags if the card should be deselected afterwards
*
* This function calculates the correct CRC7 for the command and
* parameter and transmits all of it to the SD card. If requested
* the card will be deselected afterwards.
*/
int mmc::sendCommand(const byte command,
const uint32_t parameter,
const byte deselect) {
union {
unsigned long l;
unsigned char c[4];
}
long2char;
byte i,crc,errorcount;
uint16_t counter;
long2char.l = parameter;
crc = crc7update(0 , 0x40+command);
crc = crc7update(crc, long2char.c[3]);
crc = crc7update(crc, long2char.c[2]);
crc = crc7update(crc, long2char.c[1]);
crc = crc7update(crc, long2char.c[0]);
crc = (crc << 1) | 1;
errorcount = 0;
while (errorcount < CONFIG_SD_AUTO_RETRIES) {
// Select card
SPI_SS_LOW();
// Transfer command
spiTransferByte(0x40+command);
spiTransferLong(parameter);
spiTransferByte(crc);
// Wait for a valid response
counter = 0;
do {
i = spiTransferByte(0xff);
counter++;
}
while (i & 0x80 && counter < 0x1000);
// Check for CRC error
// can't reliably retry unless deselect is allowed
if (deselect && (i & STATUS_CRC_ERROR)) {
// uart_putc('x');
deselectCard();
errorcount++;
continue;
}
if (deselect) deselectCard();
break;
}
return i;
}
void sonar::get_data_spi(byte* left, byte* right)
{
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0)|(1<<SPR1); // SPI ON
SPI_SS_LOW(); // CS to low
IRQ_DELAY;
*left = spi_read();
IRQ_DELAY;
*right = spi_read();
SPI_SS_HIGH(); // CS to high
SPCR = 0; //SPI OFF
}
/**
* @brief configuration of all spi related things^^
* @param 0,1 or 2
* @retval angle
*/
uint16_t read_spi(uint8_t selected_spi)
{
/* variables */
uint8_t SPI_MASTER_Buffer_Rx[RxBufferSize];
static uint16_t SPI_SELECT[]={SPI_MASTER_PIN_SS_3, SPI_MASTER_PIN_SS_2, SPI_MASTER_PIN_SS_1};
static uint8_t RxIdx = 0;
static uint16_t sensor_angle;
static uint16_t sensor_angle_invert;
static uint16_t angle_to_send;
/* prepare gpio_init structure for mode changes ----------------------------*/
static GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = SPI_MASTER_PIN_MOSI;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
/* CHIP SELECT ON*/
SPI_SS_LOW(selected_spi);
Delay(1);
/* send data request */
SPI_I2S_SendData(SPI_MASTER, 0xAA);
/* wait till data was sent */
while(SPI_I2S_GetFlagStatus(SPI_MASTER, SPI_I2S_FLAG_TXE)==RESET);
while(SPI_I2S_GetFlagStatus(SPI_MASTER, SPI_I2S_FLAG_BSY)==SET);
/* change from transmit to receive mode */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(SPI_MASTER_GPIO, &GPIO_InitStructure);
SPI_Cmd(SPI_MASTER, DISABLE);
Delay(2);
SPI_BiDirectionalLineConfig(SPI_MASTER, SPI_Direction_Rx);
Delay(3);
/* receive data: 10 bytes*/
RxIdx=0;
while(RxIdx<RxBufferSize)
{
SPI_Cmd(SPI_MASTER, ENABLE);
Delay(5);
SPI_Cmd(SPI_MASTER, DISABLE);
while(SPI_I2S_GetFlagStatus(SPI_MASTER, SPI_I2S_FLAG_RXNE)!=RESET)
SPI_MASTER_Buffer_Rx[RxIdx++] = SPI_I2S_ReceiveData(SPI_MASTER);
Delay(5);
}
/* back to transmit mode */
SPI_BiDirectionalLineConfig(SPI_MASTER, SPI_Direction_Tx);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(SPI_MASTER_GPIO, &GPIO_InitStructure);
SPI_Cmd(SPI_MASTER, ENABLE);
Delay(5);
/* CHIP SELECT OFF */
SPI_SS_HIGH(selected_spi);
/* data interpretation */
sensor_angle = (SPI_MASTER_Buffer_Rx[2] << 8) + SPI_MASTER_Buffer_Rx[3];
sensor_angle_invert = (SPI_MASTER_Buffer_Rx[4] << 8) + SPI_MASTER_Buffer_Rx[5];
if(!(sensor_angle & 1) || sensor_angle == 0xFFFF || (sensor_angle & sensor_angle_invert) || (sensor_angle | sensor_angle_invert) != 0xFFFF)
{
angle_to_send = 0xabcd;
}
else
{
angle_to_send = sensor_angle;
}
Delay(50);
return angle_to_send;
}
/*******************************************************************************
Set: 硬件控制设备设置
*******************************************************************************/
u32 Set(u8 Object, u32 Value)
{
switch (Object){
case CH_A_OFFSET: if(Value < 65536){
TIM5_ARR = 470; TIM5_CCR1 = 450 - Value; // Value = 0~200
} else {
TIM5_ARR = Value >>16; TIM5_CCR1 = Value & 0xFFFF;
} break;
case CH_B_OFFSET: if(Value < 65536){
TIM5_ARR = 470; TIM5_CCR2 = 450 - Value; // Value = 0~200
} else {
TIM5_ARR = Value >>16; TIM5_CCR2 = Value & 0xFFFF;
} break;
case BACKLIGHT: TIM8_CCR1 = Value; // Value = 0~100
break;
case BEEP_VOLUME: TIM8_CCR2 = 100 - Value/2; // Value = 0~50
break;
case BETTERY_DT: ADC3_CR2 |= (Value & 1)<<22; // Value = 1/0 ADC3_CR2 |=0x00400000;
break;
case ADC_MODE: if(Value == SEPARATE) FIFO_MODE_LOW();
else FIFO_MODE_HIGH(); break;
case FIFO_CLR: if(Value == W_PTR){FIFO_CLRW_HIGH(); FIFO_CLRW_LOW();}
if(Value == R_PTR){FIFO_CLRR_HIGH(); FIFO_CLRR_LOW();} break;
case T_BASE_PSC: TIM1_PSC = Value;
break;
case T_BASE_ARR: if(Value==0) {TIM1_CCER=0; RCC_CFGR=0x041D8402;} // MCO as SYSCLK
else if(Value==1) {TIM1_CCER=0; RCC_CFGR=0x071D8402;} // MCO as SYSCLK/2
else {RCC_CFGR=0x001D8402; TIM1_CCER=0x0003; // MCO as OC1
TIM1_ARR=Value; TIM1_CCR1=(Value+1)/2;}
break;
case CH_A_COUPLE: if(Value == AC ) AC_1(); else DC_1();
break;
case CH_B_COUPLE: if(Value == AC ) AC_2(); else DC_2();
break;
case CH_A_RANGE:
switch (Value){
case _50MV: Ax0_ON(); Ax1_ON(); Ax2_HIGH(); Ax5_HIGH();
break;
case _100MV: Ax0_ON(); Ax1_ON(); Ax2_LOW(); Ax5_HIGH();
break;
case _200MV: Ax0_ON(); Ax1_ON(); Ax2_HIGH(); Ax5_LOW();
break;
case _500MV: Ax0_ON(); Ax1_ON(); Ax2_LOW(); Ax5_LOW();
break;
case _1V: Ax0_OFF(); Ax1_OFF(); Ax2_HIGH(); Ax5_HIGH();
break;
case _2V: Ax0_OFF(); Ax1_OFF(); Ax2_LOW(); Ax5_HIGH();
break;
case _5V: Ax0_OFF(); Ax1_OFF(); Ax2_HIGH(); Ax5_LOW();
break;
case _10V: Ax0_OFF(); Ax1_OFF(); Ax2_LOW(); Ax5_LOW();
break;
case CH_B: Ax0_ON(); Ax1_OFF(); Ax2_LOW(); Ax5_LOW();
break;
} break;
case CH_B_RANGE:
switch (Value){
case _50MV: Bx0_ON(); Bx1_ON(); Bx2_HIGH(); Bx5_HIGH();
break;
case _100MV: Bx0_ON(); Bx1_ON(); Bx2_LOW(); Bx5_HIGH();
break;
case _200MV: Bx0_ON(); Bx1_ON(); Bx2_HIGH(); Bx5_LOW();
break;
case _500MV: Bx0_ON(); Bx1_ON(); Bx2_LOW(); Bx5_LOW();
break;
case _1V: Bx0_OFF(); Bx1_OFF(); Bx2_HIGH(); Bx5_HIGH();
break;
case _2V: Bx0_OFF(); Bx1_OFF(); Bx2_LOW(); Bx5_HIGH();
break;
case _5V: Bx0_OFF(); Bx1_OFF(); Bx2_HIGH(); Bx5_LOW();
break;
case _10V: Bx0_OFF(); Bx1_OFF(); Bx2_LOW(); Bx5_LOW();
break;
case CH_A: Bx0_ON(); Bx1_OFF(); Bx2_LOW(); Bx5_LOW();
break;
} break;
case ANALOG_ARR: GPIOB_CRL = 0x34BBB438; TIM4_CR1 = 0x0080; // SQR_OUT = Disnable
GPIOA_CRL = 0x111011BB; DAC_CR = 0x0001; // DAC = Ensable
TIM7_ARR = Value; TIM7_CR1 = 0x0085; break;// DAC_CLK = Enable
case ANALOG_PTR: DMA2_CMAR4 = Value;
break;
case ANALOG_CNT: DMA2_CNDTR4 = Value; // Fout = (Cnt*(ARR+1)/72)KHz
break;
case DIGTAL_PSC: TIM4_PSC = Value; GPIOA_CRL |= 0x40000; // DAC_OUT = Disnable
TIM7_CR1 = 0x0084; DAC_CR = 0; break; // DAC = Disnable
case DIGTAL_ARR: TIM4_ARR = Value;
break;
case DIGTAL_CCR: GPIOB_CRL &= 0xF0FFFFFF; GPIOB_CRL |= 0x0B000000; // PORT_SQR = Enable
TIM4_CCR1 = Value; TIM4_CR1 = 0x0081; break; // SQR_OUT = Enable
case KEY_IF_RST: TIM3_SR = 0; //Clear TIM3 interrupt flag
break;
case STANDBY: if(Value == 1) { STB_EN();} else { STB_DN();}
break;
case FPGA_RST: GPIOB_CRH &= 0xF0FFFFFF; GPIOB_CRH |= 0x01000000; // 设PB14为输出状态
SPI_CRST_LOW(); Delayms(1); // SPI_CRST_LOW 1mS
SPI_SS_HIGH(); Delayms(1); // SPI_SS_HIGH 1mS
SPI_SS_LOW(); Delayms(1); // SPI_SS_LOW 1mS
SPI_CRST_HIGH(); Delayms(2); // SPI_CRST_HIGH 2mS
GPIOB_CRH &= 0xF0FFFFFF; GPIOB_CRH |= 0x08000000; break; // 设PB14为输入状态
case TRIGG_MODE: Set_Param(Object, Value);
break;
case V_THRESHOLD: Set_Param(Object, Value);
break;
case T_THRESHOLD: Set_Param(Object, Value & 0xFF);
Set_Param(Object +1, Value >> 8); break;
case ADC_CTRL: Set_Param(Object, Value);
break;
case A_POSITION: Set_Param(Object, Value);
break;
case B_POSITION: Set_Param(Object, Value);
break;
case REG_ADDR: Set_Param(Object, Value);
break;
}
return 0;
}
