LM4F120 SSI to the CC1121 transceiver and L6470 motor controller

Matt,

Are the parts you're using  TI Part CC1121 Active High Performance Low Power RF Transceiver , and the ST Microcontrollers L6470 dSPIN: Fully integrated microstepping motor driver with motion engine and SPI ?

I need to be sure before I try to replicate your issue.

-Austin

Yes, those are the parts that I am using along with the LM4F120H5QR. I'm using the 32MHz crystal for the CC1121 and a 16MHz crystal for the ARM, along with a 32.xxx kHz for a RTC. I haven't been able to get responses on any of the SPI lines, I can show more of my code for writing to the L6470, though it's not much different from what I'm using on the CC1121. I transplanted the ARM from the Launchpad onto my own PCB so that I can have access to some of the other GPIO ports. I also have a schematic from KiCAD if that will help. Thank you for trying to help.

Matt, your code appears to be correct. I was able to run it on my system and have it function (thus verifying the initialization). Might i suggest a few things though,

1) add a UART connection for debugging, I found it very useful to have the UART print back each thing that was received right after it was received so i could debug it in real time.

2) why are you using two channels for the motor controller? From what I can tell it only requires one.

3) beware of SSI channel overlaps, for example SSI1 and SSI3 both can run on PD0-3 just with different AFSEL selectors, make sure that yours are set up correctly, also note that B7 and D1, as well as B6 and D0 are connected via a 0ohm resistor. (its in the data sheet)

4 try using the regular get and puts instead of their nonblocking bretherin.

-Austin

The command strobe worked also? Do the results show up in the variables I initialized and if so could you post the values read from them so that I have something to reference? The reason I am using all three SSI ports is because I am actually using two separate L6470 controllers and the CC1121. I put them on separate SSI busses (or what I thought were separate, somehow I missed the zero ohm resistors) in an attempt to reduce the complexity of any potential debug as far as chip select and talking to multiple peripherals simultaneously. On power up, I want to be talking to all three devices, will the zero ohm resistors interfere with that? If so what steps would you recommend to enable this functionality. The program was hanging/going into FaultISR when I was using the non-blocking versions, which is why I switched.

If my initialization code is functioning properly, then I should be able to use the following code to talk to the dSPIN and continue using the same format to send the CC1121 transmit data, along with transmit configurations, correct? As you can see I've hard coded the commands in hex because I have been unable to find a library to import for the dSPIN, is there a library and header file for it?

unsigned long L6470_NOP = 0x00;

unsigned long L6470_RUN = 0x51003CFA; //Moves forward at specified speed

unsigned long motorStatus1 = 0xFF00, motorStatus2 = 0xFF00;

//Motor_A  SSIDataPut(SSI1_BASE, L6470_RUN);  

SSIDataPut(SSI1_BASE, L6470_NOP);  

SSIDataPut(SSI1_BASE, L6470_NOP);  

SSIDataPut(SSI1_BASE, L6470_GET_STATUS); 

SSIDataGet(SSI1_BASE, &motorStatus1);

Something I just realized for the motor controllers, in my setup I have the controllers powered at 5V and the ARM at 3.3V. I know the GPIO on the ARM is 5V tolerant and the SPI input on the controllers is 3.3-5V TTL controlled, but I was wondering if the hardware SSI on the ARM is also 5V tolerant. The only pin this would be an issue on would be the MISO on the ARM.

Also, I'm sure I could figure this out fairly easily, but if you could paste in the code for your UART setup, that would be a supreme time saver. Thank you for all of your assistance this far Austin. You have been quite the help.

UART CODE

---------------------------------------------------------

#include "utils/uartstdio.h"

main{

......

    //UART init
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
    GPIOPinConfigure(GPIO_PA0_U0RX);
    GPIOPinConfigure(GPIO_PA1_U0TX);
    ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
    UARTStdioInit(0);

......

UARTprintf("whatever you want to print");

UARTprintf("for example a number variable %d", NumberVariableName);

.....

}

--------------------------------------------------------------

I used this to continually write data and print it to the UART as i wrote it, you could easily adapt it to print all data received. 

    UARTprintf("Device Initiated Lets send some data\n");
    
    lIdx = 0;
    while(1){
        while(pcChars[lIdx])
        {
            SSIDataPut(SSI1_BASE, pcChars[lIdx]);
            UARTprintf("%c",pcChars[lIdx]);
            lIdx++;
        }
        UARTprintf("\nSSI Done\n");
        lIdx = 0;
    }

---------------------------------------------------------------------

Good luck,

-Austin

Again, thanks for your help, this will definitely be very helpful, and at least I know now the configuration is right. Last question, do you know of a library that TI has that I can import into my main file to communicate with the L6470 and the CC1121? From the L6470 data sheet it sounded like there was one, but I haven't been able to find anything.

Hi Matt.

I was wondering whether you manged to use the L6470 motor driver with the LM4F120 controller. since I am starting a project that involve the two components. and I encounter some problems with it. And it will be a great help to know that someone has one it before.

Thanks, Asi.