Add SPI read in Lab12b on th HV Kit with F28069

Hi Sheng-Hua,

Yes, you can add SPI-A to your MotorWare project.  The function HAL_setupSpiA() is already available in hal.c, in which it calls functions from SPI.c.    Use this function very much like HAL_setupSpiB() is already used, adding it to HAL_setParams().  

You will also need to configure the GPIO to be for SPI mode.  This is what I am using for the 06x:

// SPI-SIMO
GPIO_setMode(obj->gpioHandle,GPIO_Number_16,GPIO_16_Mode_SPISIMOA);
GPIO_setPullup(obj->gpioHandle,GPIO_Number_16, GPIO_Pullup_Enable);

// SPI-SOMI
GPIO_setMode(obj->gpioHandle,GPIO_Number_17,GPIO_17_Mode_SPISOMIA);
GPIO_setPullup(obj->gpioHandle,GPIO_Number_17, GPIO_Pullup_Enable);

// SPI-CLK
GPIO_setMode(obj->gpioHandle,GPIO_Number_18,GPIO_18_Mode_SPICLKA);
GPIO_setPullup(obj->gpioHandle,GPIO_Number_18, GPIO_Pullup_Enable);

// SPI-STE
GPIO_setMode(obj->gpioHandle,GPIO_Number_19,GPIO_19_Mode_SPISTEA_NOT);
GPIO_setPullup(obj->gpioHandle,GPIO_Number_19, GPIO_Pullup_Enable);

Here's the function I am using for SPI-A in slave mode. 

void HAL_setupSpiA(HAL_Handle handle)
{
HAL_Obj *obj = (HAL_Obj *)handle;

SPI_reset(obj->spiAHandle);
SPI_setClkPolarity(obj->spiAHandle,SPI_ClkPolarity_OutputRisingEdge_InputFallingEdge);
SPI_disableLoopBack(obj->spiAHandle);
SPI_setCharLength(obj->spiAHandle,SPI_CharLength_16_Bits);

SPI_setMode(obj->spiAHandle,SPI_Mode_Slave);

SPI_setClkPhase(obj->spiAHandle,SPI_ClkPhase_Normal);
SPI_enableTx(obj->spiAHandle);

SPI_enableChannels(obj->spiAHandle);
SPI_enableTxFifoEnh(obj->spiAHandle);
SPI_enableTxFifo(obj->spiAHandle);
SPI_setTxDelay(obj->spiAHandle,0);
SPI_clearTxFifoInt(obj->spiAHandle);
SPI_enableRxFifo(obj->spiAHandle);

//not needed for slave mode SPI_setBaudRate(obj->spiAHandle,(SPI_BaudRate_e)(0x0003));
SPI_setSuspend(obj->spiAHandle,SPI_TxSuspend_free);
SPI_enable(obj->spiAHandle);

return;
} // end of HAL_setupSpiA() function

Don't forget to initialize the SPI-A object in HAL_init():

// initialize the SPIA handle
obj->spiAHandle = SPI_init((void *)SPIA_BASE_ADDR,sizeof(SPI_Obj));

and enable the clock to SPI-A with  CLK_enableSpiaClock(obj->clkHandle) in the functionHAL_setupPeripheralClks().

Hopefully this helps,

Jeff

Dear Jeff:

Thanks your help. I will add the above code into my LAB12b project and test SPI funciton.

Best Regards,

Sheng-Hua

Dear Jeff:

Thanks your hint.

There is an another issue for SPI read from resolver kit between Drv8301+F28069 and Hv-Kit+F28069.

I had implemented SPI read code in LAB12b from resolver kit in Drv8301+F28069 and got correct resover data before.Now I am trying to add the code in Hv-Kit+F28069 and found it can't work. (No any interrupt happen for SPI read event)

It is so intersting. What is different between Hv-Kit and Drv-8301 in Firmware and Hard setting? I found that there is a file of Drv8310.c in Drv-8301 kit.

Best Regards,

Sheng-Hua

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Below is my program code of Lab12b  and some relavent include files in control suit is in the attached file.

///////////////////////////////////////////////////////////////////////////////////////////////////////////

#ifdef FLASH

#pragma CODE_SECTION(mainISR,"ramfuncs");

#endif

// Include header files used in the main function

// **************************************************************************

// the defines

#define LED_BLINK_FREQ_Hz   5

// **************************************************************************

// the globals

uint_least16_t gCounter_updateGlobals = 0;

bool Flag_Latch_softwareUpdate = true;

CTRL_Handle ctrlHandle;

HAL_Handle halHandle;

USER_Params gUserParams;

HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};

HAL_AdcData_t gAdcData;

_iq gMaxCurrentSlope = _IQ(0.0);

#ifdef FAST_ROM_V1p6

CTRL_Obj *controller_obj;

#else

CTRL_Obj ctrl;                              //v1p7 format

#endif

ENC_Handle encHandle;

ENC_Obj enc;

SLIP_Handle slipHandle;

SLIP_Obj slip;

ST_Obj st_obj;

ST_Handle stHandle;

uint16_t gLEDcnt = 0;

volatile MOTOR_Vars_t gMotorVars = MOTOR_Vars_INIT;

#ifdef FLASH

// Used for running BackGround in flash, and ISR in RAM

extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;

#endif

#ifdef DRV8301_SPI

// Watch window interface to the 8301 SPI

DRV_SPI_8301_Vars_t gDrvSpi8301Vars;

#endif

_iq gFlux_pu_to_Wb_sf;

_iq gFlux_pu_to_VpHz_sf;

_iq gTorque_Ls_Id_Iq_pu_to_Nm_sf;

_iq gTorque_Flux_Iq_pu_to_Nm_sf;

// **************************************************************************

// the functions

// ====================================================================

// Initialize SPI in slave mode to receive position data from resolver

// ====================================================================

void spi_fifo_init()

{

// Initialize SPI FIFO registers

   SpiaRegs.SPICCR.bit.SPISWRESET=0; // Reset SPI

   //SpiaRegs.SPICCR.all=0x001F;       //16-bit character, Loopback mode

   SpiaRegs.SPICCR.all=0x000F;       //16-bit character

   //SpiaRegs.SPICTL.all=0x0017;       //Interrupt enabled, Master/Slave XMIT enabled

   SpiaRegs.SPICTL.all=0x0013;          //Interrupt enabled, Slave enabled

   SpiaRegs.SPISTS.all=0x0000;

   /*

     v->SPICTL.bit.TALK         = 1;     // enable talk

   v->SPICTL.bit.SPIINTENA     = 0;     // SPI int disable

          v->SPIBRR = 9;                       // Baud rate

   */

   // 2015.0618 by ysh .......

   // SpiaRegs.SPIBRR=0x0063;           // Baud rate

   SpiaRegs.SPICTL.bit.TALK         = 1;     // enable talk

   SpiaRegs.SPIBRR=0x0009;           // Baud rate

   ///////////////////////////////////////////////////////////

   SpiaRegs.SPIFFTX.all=0xC022;     // Enable FIFO's, set TX FIFO level to 4

   SpiaRegs.SPIFFRX.all=0x0022;     // Set RX FIFO level to 4

   SpiaRegs.SPIFFCT.all=0x00;

   SpiaRegs.SPIPRI.all=0x0010;

   SpiaRegs.SPICCR.bit.SPISWRESET=1; // Enable SPI

   SpiaRegs.SPIFFTX.bit.TXFIFO=1;

   SpiaRegs.SPIFFRX.bit.RXFIFORESET=1;

}

////////////////////////////////////////////////////

void InitSpiA_Gpio()

{

   EALLOW;

/* Enable internal pull-up for the selected pins */

// Pull-ups can be enabled or disabled by the user.

// This will enable the pullups for the specified pins.

// Comment out other unwanted lines.

// GpioCtrlRegs.GPAPUD.bit.GPIO3 = 0;   // Enable pull-up on GPIO3 (SPISOMIA)

// GpioCtrlRegs.GPAPUD.bit.GPIO5 = 0;   // Enable pull-up on GPIO5 (SPISIMOA)

   GpioCtrlRegs.GPAPUD.bit.GPIO16 = 0;   // Enable pull-up on GPIO16 (SPISIMOA)

   GpioCtrlRegs.GPAPUD.bit.GPIO17 = 0;   // Enable pull-up on GPIO17 (SPISOMIA)

   GpioCtrlRegs.GPAPUD.bit.GPIO18 = 0;   // Enable pull-up on GPIO18 (SPICLKA)

   GpioCtrlRegs.GPAPUD.bit.GPIO19 = 0;   // Enable pull-up on GPIO19 (SPISTEA)

// GpioCtrlRegs.GPBPUD.bit.GPIO54 = 0;   // Enable pull-up on GPIO54 (SPISIMOA)

// GpioCtrlRegs.GPBPUD.bit.GPIO55 = 0;   // Enable pull-up on GPIO55 (SPISOMIA)

// GpioCtrlRegs.GPBPUD.bit.GPIO56 = 0;   // Enable pull-up on GPIO56 (SPICLKA)

// GpioCtrlRegs.GPBPUD.bit.GPIO57 = 0;   // Enable pull-up on GPIO57 (SPISTEA)

/* Set qualification for selected pins to asynch only */

// This will select asynch (no qualification) for the selected pins.

// Comment out other unwanted lines.

//      GpioCtrlRegs.GPAQSEL1.bit.GPIO3 = 3; // Asynch input GPIO3 (SPISOMIA)

//      GpioCtrlRegs.GPAQSEL1.bit.GPIO5 = 3; // Asynch input GPIO5 (SPISIMOA)

   GpioCtrlRegs.GPAQSEL2.bit.GPIO16 = 3; // Asynch input GPIO16 (SPISIMOA)

   GpioCtrlRegs.GPAQSEL2.bit.GPIO17 = 3; // Asynch input GPIO17 (SPISOMIA)

   GpioCtrlRegs.GPAQSEL2.bit.GPIO18 = 3; // Asynch input GPIO18 (SPICLKA)

   GpioCtrlRegs.GPAQSEL2.bit.GPIO19 = 3; // Asynch input GPIO19 (SPISTEA)

// GpioCtrlRegs.GPBQSEL2.bit.GPIO54 = 3; // Asynch input GPIO54 (SPISIMOA)

// GpioCtrlRegs.GPBQSEL2.bit.GPIO55 = 3; // Asynch input GPIO55 (SPISOMIA)

// GpioCtrlRegs.GPBQSEL2.bit.GPIO56 = 3; // Asynch input GPIO56 (SPICLKA)

// GpioCtrlRegs.GPBQSEL2.bit.GPIO57 = 3; // Asynch input GPIO57 (SPISTEA)

/* Configure SPI-A pins using GPIO regs*/

// This specifies which of the possible GPIO pins will be SPI functional pins.

// Comment out other unwanted lines.

// GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 2; // Configure GPIO3 as SPISOMIA

// GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 2; // Configure GPIO5 as SPISIMOA

   GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 1; // Configure GPIO16 as SPISIMOA

   GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 1; // Configure GPIO17 as SPISOMIA

   GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 1; // Configure GPIO18 as SPICLKA

   GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 1; // Configure GPIO19 as SPISTEA

// GpioCtrlRegs.GPBMUX2.bit.GPIO54 = 1; // Configure GPIO54 as SPISIMOA

// GpioCtrlRegs.GPBMUX2.bit.GPIO55 = 1; // Configure GPIO55 as SPISOMIA

// GpioCtrlRegs.GPBMUX2.bit.GPIO56 = 1; // Configure GPIO56 as SPICLKA

// GpioCtrlRegs.GPBMUX2.bit.GPIO57 = 1; // Configure GPIO57 as SPISTEA

   EDIS;

}

void main(void)

{

uint_least8_t estNumber = 0;

#ifdef FAST_ROM_V1p6

uint_least8_t ctrlNumber = 0;

#endif

// Only used if running from FLASH

// Note that the variable FLASH is defined by the project

#ifdef FLASH

// Copy time critical code and Flash setup code to RAM

// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart

// symbols are created by the linker. Refer to the linker files.

memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);

#endif

// initialize the hardware abstraction layer

halHandle = HAL_init(&hal,sizeof(hal));

// check for errors in user parameters

USER_checkForErrors(&gUserParams);

// store user parameter error in global variable

gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);

// do not allow code execution if there is a user parameter error

if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)

   {

     for(;;)

       {

         gMotorVars.Flag_enableSys = false;

       }

   }

// initialize the user parameters

USER_setParams(&gUserParams);

// set the hardware abstraction layer parameters

HAL_setParams(halHandle,&gUserParams);

// initialize the controller

#ifdef FAST_ROM_V1p6

ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber);               //v1p6 format (06xF and 06xM devices)

controller_obj = (CTRL_Obj *)ctrlHandle;

#else

ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl));  //v1p7 format default

#endif

{

   CTRL_Version version;

   // get the version number

   CTRL_getVersion(ctrlHandle,&version);

   gMotorVars.CtrlVersion = version;

}

// set the default controller parameters

CTRL_setParams(ctrlHandle,&gUserParams);

// setup faults

HAL_setupFaults(halHandle);

// initialize the interrupt vector table

HAL_initIntVectorTable(halHandle);

// enable the ADC interrupts

HAL_enableAdcInts(halHandle);

// enable global interrupts

HAL_enableGlobalInts(halHandle);

// enable debug interrupts

HAL_enableDebugInt(halHandle);

// disable the PWM

HAL_disablePwm(halHandle);

// initialize the ENC module

encHandle = ENC_init(&enc, sizeof(enc));

// setup the ENC module

ENC_setup(encHandle, 1, USER_MOTOR_NUM_POLE_PAIRS, USER_MOTOR_ENCODER_LINES, 0, USER_IQ_FULL_SCALE_FREQ_Hz, USER_ISR_FREQ_Hz, 8000.0);

// initialize the SLIP module

slipHandle = SLIP_init(&slip, sizeof(slip));

// setup the SLIP module

SLIP_setup(slipHandle, _IQ(gUserParams.ctrlPeriod_sec));

// initialize the SpinTAC Components

stHandle = ST_init(&st_obj, sizeof(st_obj));

// setup the SpinTAC Components

ST_setupVelCtl(stHandle);

ST_setupPosConv(stHandle);

#ifdef DRV8301_SPI

// turn on the DRV8301 if present

HAL_enableDrv(halHandle);

// initialize the DRV8301 interface

HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);

#endif

// enable DC bus compensation

CTRL_setFlag_enableDcBusComp(ctrlHandle, true);

// compute scaling factors for flux and torque calculations

gFlux_pu_to_Wb_sf = USER_computeFlux_pu_to_Wb_sf();

gFlux_pu_to_VpHz_sf = USER_computeFlux_pu_to_VpHz_sf();

gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();

gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();

/////////////////////////////////////////////////////////////////

// 2015.0526 by ysh for resolver data .....st .....

   Uint16 i;

// Step 1. Initialize System Control:

// PLL, WatchDog, enable Peripheral Clocks

// This example function is found in the F2806x_SysCtrl.c file.

   //InitSysCtrl();

// Step 2. Initalize GPIO:

// This example function is found in the F2806x_Gpio.c file and

// illustrates how to set the GPIO to it's default state.

// InitGpio(); // Skipped for this example

// Setup only the GP I/O only for SPI-A functionality

   //InitSpiaGpio();

   InitSpiA_Gpio();

// Step 3. Initialize PIE vector table:

// Disable and clear all CPU interrupts

   //DINT;

   //IER = 0x0000;

   //IFR = 0x0000;

// Initialize PIE control registers to their default state:

// This function is found in the F2806x_PieCtrl.c file.

   //InitPieCtrl();

// Initialize the PIE vector table with pointers to the shell Interrupt

// Service Routines (ISR).

// This will populate the entire table, even if the interrupt

// is not used in this example. This is useful for debug purposes.

// The shell ISR routines are found in F2806x_DefaultIsr.c.

// This function is found in F2806x_PieVect.c.

   //InitPieVectTable();

// Interrupts that are used in this example are re-mapped to

// ISR functions found within this file.

   EALLOW; // This is needed to write to EALLOW protected registers

   PieVectTable.SPIRXINTA = &spiRxFifoIsr;

   //PieVectTable.SPITXINTA = &spiTxFifoIsr;

   EDIS;   // This is needed to disable write to EALLOW protected registers

// Step 4. Initialize all the Device Peripherals:

// This function is found in F2806x_InitPeripherals.c

// InitPeripherals(); // Not required for this example

   spi_fifo_init();   // Initialize the SPI only

// Step 5. User specific code, enable interrupts:

// Initalize the send data buffer

 for(i=0; i<2; i++)

   {

       sdata[i] = i;

   }

   rdata_point = 0;

// Enable interrupts required for this example

   PieCtrlRegs.PIECTRL.bit.ENPIE = 1;   // Enable the PIE block

   PieCtrlRegs.PIEIER6.bit.INTx1=1;     // Enable PIE Group 6, INT 1

   //PieCtrlRegs.PIEIER6.bit.INTx1=1;     // Enable PIE Group 6, INT 1

   // 2015.0618 by ysh .....disable spi tx mode

   //PieCtrlRegs.PIEIER6.bit.INTx2=1;     // Enable PIE Group 6, INT 2

   //IER=0x20;                          // Enable CPU INT6

   IER= IER | 0x20;                                                      // Enable CPU INT6

   EINT;                               // Enable Global Interrupts

//////////////////////////////////////////////////////////////

for(;;)

{

   // Waiting for enable system flag to be set

          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

   } //end of for loop

} //end of main() program

__interrupt void spiRxFifoIsr(void)

{

   Uint16 i;

   for(i=0;i<2;i++)

   {

       //rdata[i]=SpiaRegs.SPIRXBUF;     // Read data

             rvl_data[i]=SpiaRegs.SPIRXBUF;     // Read data

   }

   rvl_ang= rvl_data[0]/4095*360;

   rvl_ang_temp[1]= rvl_ang_temp[0];               // previous relsolver angle

   rvl_ang_temp[0]=rvl_ang;                                  // current resolver angle

   /*

   for(i=0;i<2;i++)                   // Check received data

   {

       if(rdata[i] != rdata_point+i) error();

   }

*/

   rdata_point++;

   SpiaRegs.SPIFFRX.bit.RXFFOVFCLR=1; // Clear Overflow flag

   SpiaRegs.SPIFFRX.bit.RXFFINTCLR=1; // Clear Interrupt flag

   PieCtrlRegs.PIEACK.all|=0x20;       // Issue PIE ack

}

interrupt void mainISR(void)

{

static uint16_t stCnt = 0;

CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;

// toggle status LED

if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))

{

   HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);

   gLEDcnt = 0;

}

// compute the electrical angle

//ENC_calcElecAngle(encHandle, HAL_getQepPosnCounts(halHandle));

// .... it is ok ....

test_ang= (rvl_ang) /360*2;

///////////////////////////////////

~~~~~~~~~~~~~~~~~~~~~~~~

~~~~~~~~~~~~~~~~~~~~~~~~

~~~~~~~~~~~~~~~~~~~~~~~~~

} // end of mainISR loop

////////////////////////////////////////////////////

Dear Jeff:

I have used motorware with 06x and Hv-Kit in the directory of "C:\TI\motorware\motorware_1_01_00_14\sw\modules\hal\boards\hvkit_rev1p1\f28x\f2806x\src".

I can't find hal_setupSpiA() in the hal.c on the Hv-kit but I can only find it in the hal.c on the Drv-8301 Kit. (Please reference the following figure files)

What differnt is there between Hv_kit and Drv8301 in hal.c?  How can I add SPIA interface in Hv-kit+F28069 to communicate with resolver kit?

hal.c in Drv8301-kit

hal.c in Hv-kit

Best Regrds,

Sheng-Hua

Dear Jeff:

I have used motorware with 06x and Hv-Kit in the directory of "C:\TI\motorware\motorware_1_01_00_14\sw\modules\hal\boards\hvkit_rev1p1\f28x\f2806x\src". I can't find hal_setupSpiA() in the hal.c on the Hv-kit but I can only find it in the hal.c on the Drv-8301 Kit.

What differnt is there between Hv_kit and Drv8301 in hal.c?  

How can I add SPIA interface in Hv-kit+F28069 to communicate with resolver kit?

Can I use hal.c in the drv-8301 instead of hal.c in the Hv-kit ?

Best Regards,

Sheng-Hua

Hi Sheng-Hua,

Just to confirm I understand your system correctly, please confirm or correct the following descriptions of your project:

1. You have one motor in your project (PMSM with resolver)
2. You are running InstaSPIN on the 28069 HV kit to run the motor
3. You are using the TI resolver kit with an SPI interface to read the motor position
4. You want to read motor position from reolver kit with HV kit via SPI
5. You are adding SPI-A software to InstaSPIN on the 28069 HV kit

Based on the above being correct, let me answer your most recent questions:

• What differnt is there between Hv_kit and Drv8301 in hal.c?  
  • Each board has a different hal.c since the hal.c reflects the boards layout and functionality of the application.
  • There will be differences in pin connections, which peripherals are being used and how those peripherals are configured.
• How can I add SPIA interface in Hv-kit+F28069 to communicate with resolver kit?
  • You can add hal_setupSpiA() to the hal.c for the HV-kit
• Can I use hal.c in the drv-8301 instead of hal.c in the Hv-kit ?
  • I suggest making the required changes to the hal.c already in the HV kit directory.  
  • A good way to start is to compare the difference between the files using a file comparison SW like BeyondCompare
  • Then move over the SPI-A related code from the 8301 hal.c 

When you have this working, how are you going to use the resolver information with your InstaSPIN code?  Maybe measure the accuracy of the angle estimation by the FAST observer?  

Good luck with your project.

Jeff

Dear Jeff:

Thanks your help. Below is the architecture of the project as you describe.

1. We have one motor in your project (PMSM with resolver)
2. We are running InstaSPIN on the 28069 HV kit to run the motor
3. We are using the TI resolver kit with an SPI interface to read the motor position
4. We want to read motor position from reolver kit with HV kit via SPI
5. We are adding SPI-A software to InstaSPIN on the 28069 HV kit
6. Add torque sensor and use ADC to meaure torque
7. use torque control to control the torque force.

We hope to add step 6 and step 7 to control torque in next stage and there will be two issues which need be solved.

As for ADC measure in step 6, we found the ADC channels(A0-A7,B0-B7) are occupied in Hv-Kit and how can setup ADC channel for torque sensor.

In this project ,we will use the resolver information to control torque force.

Could we directly use the angle estimation by FAST Estimation to control torque force instead of the angle from resolver?

Is there a SPI sample code for Hv-Kit in F28069?

Best Regards,

Sheng-Hua

Dear Jeff:

Thanks your help.

Below is the SPIA code of "F28069+Drv-8301" for you reference.The SPIA fucntion can work with Ti-Reslover Kit in "F28069+Drv-8301",but it can't work in "Hv-Kit+F28069". I don't know why it can't work at "Hv-Kit+F28069".

I found there are some difference between Drv-8301 and Hv-Kit.

In Drv-8301, there a U5(ISO7241A) device for SPI bewteen F28069 and Resover kit(F28035) and I can't find it on Hv-kit.

Is it necessary element for SPI transmition?

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

// ====================================================================

// Initialize SPI in slave mode to receive position data from resolver

// ====================================================================

// ..........modify from control suit @ F8069 v141 .......

void spi_fifo_init()

{

// Initialize SPI FIFO registers

  SpiaRegs.SPICCR.bit.SPISWRESET=0; // Reset SPI

  //SpiaRegs.SPICCR.all=0x001F;       //16-bit character, Loopback mode

  SpiaRegs.SPICCR.all=0x000F;       //16-bit character

  //SpiaRegs.SPICTL.all=0x0017;       //Interrupt enabled, Master/Slave XMIT enabled

  SpiaRegs.SPICTL.all=0x0013;          //Interrupt enabled, Slave enabled

  SpiaRegs.SPISTS.all=0x0000;

  /*

    v->SPICTL.bit.TALK         = 1;     // enable talk

  v->SPICTL.bit.SPIINTENA     = 0;     // SPI int disable

         v->SPIBRR = 9;                       // Baud rate

  */

  // 2015.0618 by ysh .......

  // SpiaRegs.SPIBRR=0x0063;           // Baud rate

  SpiaRegs.SPICTL.bit.TALK         = 1;     // enable talk

  SpiaRegs.SPIBRR=0x0009;           // Baud rate

  ///////////////////////////////////////////////////////////

  SpiaRegs.SPIFFTX.all=0xC022;     // Enable FIFO's, set TX FIFO level to 4

  SpiaRegs.SPIFFRX.all=0x0022;     // Set RX FIFO level to 4

  SpiaRegs.SPIFFCT.all=0x00;

  SpiaRegs.SPIPRI.all=0x0010;

  SpiaRegs.SPICCR.bit.SPISWRESET=1; // Enable SPI

  SpiaRegs.SPIFFTX.bit.TXFIFO=1;

  SpiaRegs.SPIFFRX.bit.RXFIFORESET=1;

}

////////////////////////////////////////////////////

void InitSpiA_Gpio()

{

  EALLOW;

/* Enable internal pull-up for the selected pins */

// Pull-ups can be enabled or disabled by the user.

// This will enable the pullups for the specified pins.

// Comment out other unwanted lines.

// GpioCtrlRegs.GPAPUD.bit.GPIO3 = 0;   // Enable pull-up on GPIO3 (SPISOMIA)

// GpioCtrlRegs.GPAPUD.bit.GPIO5 = 0;   // Enable pull-up on GPIO5 (SPISIMOA)

  GpioCtrlRegs.GPAPUD.bit.GPIO16 = 0;   // Enable pull-up on GPIO16 (SPISIMOA)

  GpioCtrlRegs.GPAPUD.bit.GPIO17 = 0;   // Enable pull-up on GPIO17 (SPISOMIA)

  GpioCtrlRegs.GPAPUD.bit.GPIO18 = 0;   // Enable pull-up on GPIO18 (SPICLKA)

  GpioCtrlRegs.GPAPUD.bit.GPIO19 = 0;   // Enable pull-up on GPIO19 (SPISTEA)

// GpioCtrlRegs.GPBPUD.bit.GPIO54 = 0;   // Enable pull-up on GPIO54 (SPISIMOA)

// GpioCtrlRegs.GPBPUD.bit.GPIO55 = 0;   // Enable pull-up on GPIO55 (SPISOMIA)

// GpioCtrlRegs.GPBPUD.bit.GPIO56 = 0;   // Enable pull-up on GPIO56 (SPICLKA)

// GpioCtrlRegs.GPBPUD.bit.GPIO57 = 0;   // Enable pull-up on GPIO57 (SPISTEA)

/* Set qualification for selected pins to asynch only */

// This will select asynch (no qualification) for the selected pins.

// Comment out other unwanted lines.

//      GpioCtrlRegs.GPAQSEL1.bit.GPIO3 = 3; // Asynch input GPIO3 (SPISOMIA)

//      GpioCtrlRegs.GPAQSEL1.bit.GPIO5 = 3; // Asynch input GPIO5 (SPISIMOA)

  GpioCtrlRegs.GPAQSEL2.bit.GPIO16 = 3; // Asynch input GPIO16 (SPISIMOA)

  GpioCtrlRegs.GPAQSEL2.bit.GPIO17 = 3; // Asynch input GPIO17 (SPISOMIA)

  GpioCtrlRegs.GPAQSEL2.bit.GPIO18 = 3; // Asynch input GPIO18 (SPICLKA)

  GpioCtrlRegs.GPAQSEL2.bit.GPIO19 = 3; // Asynch input GPIO19 (SPISTEA)

// GpioCtrlRegs.GPBQSEL2.bit.GPIO54 = 3; // Asynch input GPIO54 (SPISIMOA)

// GpioCtrlRegs.GPBQSEL2.bit.GPIO55 = 3; // Asynch input GPIO55 (SPISOMIA)

// GpioCtrlRegs.GPBQSEL2.bit.GPIO56 = 3; // Asynch input GPIO56 (SPICLKA)

// GpioCtrlRegs.GPBQSEL2.bit.GPIO57 = 3; // Asynch input GPIO57 (SPISTEA)

/* Configure SPI-A pins using GPIO regs*/

// This specifies which of the possible GPIO pins will be SPI functional pins.

// Comment out other unwanted lines.

// GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 2; // Configure GPIO3 as SPISOMIA

// GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 2; // Configure GPIO5 as SPISIMOA

  GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 1; // Configure GPIO16 as SPISIMOA

  GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 1; // Configure GPIO17 as SPISOMIA

  GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 1; // Configure GPIO18 as SPICLKA

  GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 1; // Configure GPIO19 as SPISTEA

// GpioCtrlRegs.GPBMUX2.bit.GPIO54 = 1; // Configure GPIO54 as SPISIMOA

// GpioCtrlRegs.GPBMUX2.bit.GPIO55 = 1; // Configure GPIO55 as SPISOMIA

// GpioCtrlRegs.GPBMUX2.bit.GPIO56 = 1; // Configure GPIO56 as SPICLKA

// GpioCtrlRegs.GPBMUX2.bit.GPIO57 = 1; // Configure GPIO57 as SPISTEA

  EDIS;

}

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

main()

{

~~~~~~~~~~~~~~~~~~~~~~~~~~~~

   InitSpiA_Gpio();

  EALLOW; // This is needed to write to EALLOW protected registers

   PieVectTable.SPIRXINTA = &spiRxFifoIsr;

  EDIS;   // This is needed to disable write to EALLOW protected registers

   spi_fifo_init();   // Initialize the SPI only

 // Enable interrupts required for this example

  PieCtrlRegs.PIECTRL.bit.ENPIE = 1;   // Enable the PIE block

  PieCtrlRegs.PIEIER6.bit.INTx1=1;     // Enable PIE Group 6, INT 1

  // 2015.0618 by ysh .....disable spi tx mode

  //PieCtrlRegs.PIEIER6.bit.INTx2=1;     // Enable PIE Group 6, INT 2

  //IER=0x20;                          // Enable CPU INT6

  IER= IER | 0x20;                                                      // Enable CPU INT6

  EINT;                               // Enable Global Interrupts

for(;;){

~~~~~~~~~~~~~~~~~~~~~~~~

}

// mainisr

~~~~~~~~~~~~~~~~~

} //end of main

__interrupt void spiRxFifoIsr(void)

{

  Uint16 i;

   for(i=0;i<2;i++)

  {

      //rdata[i]=SpiaRegs.SPIRXBUF;     // Read data

            rvl_data[i]=SpiaRegs.SPIRXBUF;     // Read data

  }

  rvl_ang= rvl_data[0]/4095*360;

  rvl_ang_temp[1]= rvl_ang_temp[0];               // previous relsolver angle

  rvl_ang_temp[0]=rvl_ang;                                  // current resolver angle

  rdata_point++;

  SpiaRegs.SPIFFRX.bit.RXFFOVFCLR=1; // Clear Overflow flag

  SpiaRegs.SPIFFRX.bit.RXFFINTCLR=1; // Clear Interrupt flag

  PieCtrlRegs.PIEACK.all|=0x20;       // Issue PIE ack

}

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Best Regards,

Sheng-Hua

Hi Sheng-Hua,

The ISO7241A is an optical isolation unit provided on the DRV8301.  You will need to pay close attention to your ground loops and the high voltage with the HV kit connected to the resolver kit.  

Could we directly use the angle estimation by FAST Estimation to control torque force instead of the angle from resolver?

For many applications yes.  InstaSPIN's FAST observer was specifically designed to enable sensorless FOC (no HALL sensor, encoder or resolver).  But there are limitations.  Please see chapter 1 in the InstaSPIN User's Guide.  Also note that lab05A is an example of using InstaSPIN in torque mode.

Is there a SPI sample code for Hv-Kit in F28069?

Sorry, there I am not aware of any example SPI code for the HV-kit from either MotorWare or ControlSUITE.  We are working to close these gaps.  The example I provided for SPI on DRV8301 is good reference to port it to the HV kit.

Jeff

Dear Jeff:

Thanks your help.

I try to modify the file "Example_2806xSpi_FFDLB_int.c" in the directory of "C:\ti\controlSUITE\device_support\f2806x\v141\F2806x_examples_ccsv5\spi_loopback_interrupts" of control suit to test SPI function in the "Hv-kit+F28069" with resolver kit.It seems to get the correct rotate position of PMSM from resolver kit.Below is the modified file to SPI reading in "F28069+Hv-Kit" (slave) for Resolver kit(master).

//###########################################################################
//
//!  \addtogroup f2806x_example_list
//!  <h1>SPI Digital Loop Back with Interrupts(spi_loopback_interrupts)</h1>
//!
//!  This program uses the internal loop back test mode of the peripheral.
//!  Other then boot mode pin configuration, no other hardware configuration
//!  is required. Both interrupts and the SPI FIFOs are used.
//!
//!  A stream of data is sent and then compared to the received stream.
//!  The sent data looks like this: \n
//!  0000 0001 \n
//!  0001 0002 \n
//!  0002 0003 \n
//!  .... \n
//!  FFFE FFFF \n
//!  FFFF 0000 \n
//!  etc.. \n
//!  This pattern is repeated forever.
//!
//!  \b Watch \b Variables \n
//!  - \b sdata , Data to send
//!  - \b rdata , Received data
//!  - \b rdata_point , Used to keep track of the last position in
//!    the receive stream for error checking
//
//###########################################################################
// $TI Release: F2806x C/C++ Header Files and Peripheral Examples V141 $
// $Release Date: January 19, 2015 $
// $Copyright: Copyright (C) 2011-2015 Texas Instruments Incorporated -
//             http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################

#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File

// Prototype statements for functions found within this file.
__interrupt void spiTxFifoIsr(void);
__interrupt void spiRxFifoIsr(void);
void delay_loop(void);
void spi_fifo_init(void);
void error();

Uint16 sdata[2];     // Send data buffer
Uint16 rdata[2];     // Receive data buffer
Uint16 rdata_point;  // Keep track of where we are
                     // in the data stream to check received data

void main(void)
{
   Uint16 i;

// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the F2806x_SysCtrl.c file.
   InitSysCtrl();

// Step 2. Initalize GPIO:
// This example function is found in the F2806x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio();  // Skipped for this example
// Setup only the GP I/O only for SPI-A functionality
   InitSpiaGpio();

// Step 3. Initialize PIE vector table:
// Disable and clear all CPU interrupts
   DINT;
   IER = 0x0000;
   IFR = 0x0000;

// Initialize PIE control registers to their default state:
// This function is found in the F2806x_PieCtrl.c file.
   InitPieCtrl();

// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example.  This is useful for debug purposes.
// The shell ISR routines are found in F2806x_DefaultIsr.c.
// This function is found in F2806x_PieVect.c.
   InitPieVectTable();

// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
   EALLOW;  // This is needed to write to EALLOW protected registers
   PieVectTable.SPIRXINTA = &spiRxFifoIsr;
   PieVectTable.SPITXINTA = &spiTxFifoIsr;
   EDIS;   // This is needed to disable write to EALLOW protected registers

// Step 4. Initialize all the Device Peripherals:
// This function is found in F2806x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
   spi_fifo_init();   // Initialize the SPI only

// Step 5. User specific code, enable interrupts:

// Initalize the send data buffer
   for(i=0; i<2; i++)
   {
      sdata[i] = i;
   }
   rdata_point = 0;

// Enable interrupts required for this example
   PieCtrlRegs.PIECTRL.bit.ENPIE = 1;   // Enable the PIE block
   PieCtrlRegs.PIEIER6.bit.INTx1=1;     // Enable PIE Group 6, INT 1
   PieCtrlRegs.PIEIER6.bit.INTx2=1;     // Enable PIE Group 6, INT 2
   IER=0x20;                            // Enable CPU INT6
   EINT;                                // Enable Global Interrupts

// Step 6. IDLE loop. Just sit and loop forever (optional):
    for(;;);

}

// Some Useful local functions
void delay_loop()
{
    long      i;
    for (i = 0; i < 1000000; i++) {}
}

void error(void)
{
   __asm("     ESTOP0");  //Test failed!! Stop!
    for (;;);
}

void spi_fifo_init()
{
// Initialize SPI FIFO registers
   SpiaRegs.SPICCR.bit.SPISWRESET=0; // Reset SPI

   SpiaRegs.SPICCR.all=0x001F;       //16-bit character, Loopback mode
   SpiaRegs.SPICTL.all=0x0017;       //Interrupt enabled, Master/Slave XMIT enabled
   SpiaRegs.SPISTS.all=0x0000;
   SpiaRegs.SPIBRR=0x0063;           // Baud rate
   SpiaRegs.SPIFFTX.all=0xC022;      // Enable FIFO's, set TX FIFO level to 4
   SpiaRegs.SPIFFRX.all=0x0022;      // Set RX FIFO level to 4
   SpiaRegs.SPIFFCT.all=0x00;
   SpiaRegs.SPIPRI.all=0x0010;

   SpiaRegs.SPICCR.bit.SPISWRESET=1;  // Enable SPI

   SpiaRegs.SPIFFTX.bit.TXFIFO=1;
   SpiaRegs.SPIFFRX.bit.RXFIFORESET=1;
}

__interrupt void spiTxFifoIsr(void)
{
    Uint16 i;
    for(i=0;i<2;i++)
    {
       SpiaRegs.SPITXBUF=sdata[i];      // Send data
    }

    for(i=0;i<2;i++)                    // Increment data for next cycle
    {
       sdata[i] = sdata[i] + 1;
    }

    SpiaRegs.SPIFFTX.bit.TXFFINTCLR=1;  // Clear Interrupt flag
    PieCtrlRegs.PIEACK.all|=0x20;       // Issue PIE ACK
}

__interrupt void spiRxFifoIsr(void)
{
    Uint16 i;
    for(i=0;i<2;i++)
    {
        rdata[i]=SpiaRegs.SPIRXBUF;     // Read data
    }
    for(i=0;i<2;i++)                    // Check received data
    {
        if(rdata[i] != rdata_point+i) error();
    }
    rdata_point++;
    SpiaRegs.SPIFFRX.bit.RXFFOVFCLR=1;  // Clear Overflow flag
    SpiaRegs.SPIFFRX.bit.RXFFINTCLR=1;  // Clear Interrupt flag
    PieCtrlRegs.PIEACK.all|=0x20;       // Issue PIE ack
}

//===========================================================================
// No more.
//===========================================================================

Hi Sheng-Hua,

I have done same thing before. I have connected motorware (HV-kit) and resolver to digital conversion kit and then pumped angle to the motorware through SPI connection. Same as in your case, I made resolver to digital conversion kit as the master SPI and the motorware as the slave SPI terminal. But I used lab5a to do that. Anyway what I did was, 

First I changed hal.c and configured gpio pins to SPI,

// SPI-SIMO
GPIO_setMode(obj->gpioHandle,GPIO_Number_16,GPIO_16_Mode_SPISIMOA);

// SPI-SOMI
GPIO_setMode(obj->gpioHandle,GPIO_Number_17,GPIO_17_Mode_SPISOMIA);

// SPI-CLK
GPIO_setMode(obj->gpioHandle,GPIO_Number_18,GPIO_18_Mode_SPICLKA);

// SPI-STE
GPIO_setMode(obj->gpioHandle,GPIO_Number_19,GPIO_19_Mode_SPISTEA_NOT);

I added 6 filres externally from control suit to the project as in the image. 

Then called InitSysCtrl(); function above the Spi_config(); function which is mentioned below.

Then configured SPI in a function and put motorware side in to slave SPI mode. Call this function just above the forever for loop.

void Spi_config(void){

SpiaRegs.SPICCR.all = 0x0000;
SpiaRegs.SPICCR.all =0x000F; // Reset on, rising edge, 16-bit char bits

// SpiaRegs.SPICTL.all =0x0006; // Enable master mode, normal phase,
// enable talk, and SPI int disabled.

SpiaRegs.SPICTL.all =0x0000;
SpiaRegs.SPICTL.all =0x0002;
SpibRegs.SPIBRR =0x007F;

}

Then captured angle data in mainISR funtion

Spi_angle_data = SpiaRegs.SPIRXBUF;
Spi_electrical_angle = Spi_angle_data << 8;  // convert to iq format

Those are the only changes I have made to work SPI and SPI worked with this. I did not used SPI interrupt for the communication. But it worked smoothly.

Hope this will be helpful to you.

Thanks.

哥们，我刚接触Hvkit，用的也是F28069的control card，现在也要加SPI功能。方便留个QQ或者邮箱吗？有问题我想请教一下，谢谢啦！