Other Parts Discussed in Thread: C2000WARE
Hi all,
I'm trying to read the absolute encoder(AS5048A) values by SPI communications.
I use the C2000Ware and referred the example code (C2000Ware_4_01_00_00\device_support\f2806x\examples\c28\spi_loopback) to get the encoder signal.
Also, I checked the other questions in TI Forum and use Mohammad code.
My main issue is that I don't know how to make the command package.
Based on my understanding and the below code, I've got the parity bit and address data and I think I should transmit this value (SpiRegs.SPITXBUF = w;).
On AS5048A datasheet, the structure of the command package is [PAR RWn Address].
I've got the parity bit, R_w, and address_data. Could you please let me know how can I make the command structure using this?
Thank you so much for your help!
//########################################################################### // // FILE: Example_2806xSpi_FFDLB.c // // TITLE: SPI Digital Loop Back Example // //! \addtogroup f2806x_example_list //! <h1>SPI Digital Loop Back(spi_loopback)</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. Interrupts are not used. //! //! A stream of data is sent and then compared to the received stream. //! The sent data looks like this: \n //! 0000 0001 0002 0003 0004 0005 0006 0007 .... FFFE FFFF \n //! This pattern is repeated forever. //! //! \b Watch \b Variables \n //! - \b sdata , sent data //! - \b rdata , received data // ////########################################################################### // $TI Release: $ // $Release Date: $ // $Copyright: // Copyright (C) 2009-2022 Texas Instruments Incorporated - http://www.ti.com/ // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions // are met: // // Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // // Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the // distribution. // // Neither the name of Texas Instruments Incorporated nor the names of // its contributors may be used to endorse or promote products derived // from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // $ //############################################################################# // // Included Files // #include "DSP28x_Project.h" // Device Headerfile and Examples Include File // // Function Prototypes // void spi_xmit(Uint16 a); // Gu : this seems like spiWrite in F2802x void spi_fifo_init(void); void spi_init(void); void error(void); // // Main // void main(void) { Uint16 sdata; // send data Uint16 rdata; // received data // // 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 // This function is found in F2806x_Spi.c // InitSpiaGpio(); // // Step 3. Clear all interrupts and initialize PIE vector table: // Disable CPU interrupts // DINT; // // Initialize PIE control registers to their default state. // The default state is all PIE interrupts disabled and flags // are cleared. // This function is found in the F2806x_PieCtrl.c file. // InitPieCtrl(); // // Disable CPU interrupts and clear all CPU interrupt flags // IER = 0x0000; IFR = 0x0000; // // 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(); // // 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 FIFO spi_init(); // init SPI // // Step 5. User specific code: // Interrupts are not used in this example. // sdata = 0x0000; for(;;) { // // Transmit data // spi_xmit(sdata); // // Wait until data is received // while(SpibRegs.SPIFFRX.bit.RXFFST !=1) { } // // Check against sent data // rdata = SpibRegs.SPIRXBUF; if(rdata != sdata) { error(); } sdata++; } } // // error - Step 7. Insert all local Interrupt Service Routines (ISRs) // and functions here // void error(void) { __asm(" ESTOP0"); // Test failed!! Stop! for (;;); } // // spi_init - // void spi_init() { SpiaRegs.SPICCR.all =0x000F; // Reset on, rising edge, 16-bit char bits // // Enable master mode, normal phase, enable talk, and SPI int disabled. // SpiaRegs.SPICTL.all =0x0006; SpiaRegs.SPIBRR =0x007F; SpiaRegs.SPICCR.all =0x009F; // Relinquish SPI from Reset SpiaRegs.SPIPRI.bit.FREE = 1; // Set so breakpoints don't disturb xmission } // // spi_xmit - // void spi_xmit(Uint16 a) { SpiaRegs.SPITXBUF=a; } // // spi_fifo_init - // void spi_fifo_init(void) { // // Initialize SPI FIFO registers // SpiaRegs.SPIFFTX.all=0xE040; SpiaRegs.SPIFFRX.all=0x2044; SpiaRegs.SPIFFCT.all=0x0; } void AS5048A_motor1(void) { EALLOW; 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 (Slave select) 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.GPAQSEL2.bit.GPIO19 = 0; // Configure GPIO19 as GPIO for Slave select GpioCtrlRegs.GPADIR.bit.GPIO19 = 1; //output EDIS; SpiaRegs.SPICCR.bit.SPISWRESET=0; //reset SpiaRegs.SPICCR.bit.CLKPOLARITY=0; SpiaRegs.SPICTL.bit.CLK_PHASE=0; SpiaRegs.SPICCR.bit.SPILBK=0; //Loop back disable SpiaRegs.SPICCR.bit.SPICHAR=0xF; //16 bit Character Length SpiaRegs.SPICTL.bit.OVERRUNINTENA=0; SpiaRegs.SPICTL.bit.SPIINTENA=0; SpiaRegs.SPICTL.bit.MASTER_SLAVE=1; //master SpiaRegs.SPICTL.bit.TALK=1; //4 wire SpiaRegs.SPIBRR =10; //SPICLK=LSPCLK/(SPIBRR+1)-->SPICLK=(90/4)/(10+1)=2Mhz SpiaRegs.SPIPRI.bit.FREE = 1; SpiaRegs.SPIPRI.bit.SOFT = 0; SpiaRegs.SPIPRI.bit.STEINV = 1; SpiaRegs.SPIPRI.bit.TRIWIRE = 0; SpiaRegs.SPICCR.bit.SPISWRESET=1; } void EN_AS5048A_SPI_motor1(void) { EALLOW; GpioDataRegs.GPACLEAR.bit.GPIO19 = 1; // EN_AS5048A EDIS; } void DIS_AS5048A_SPI_motor1(void) { EALLOW; GpioDataRegs.GPASET.bit.GPIO19 = 1; // DIS_AS5048A EDIS; DELAY_US(1); } Uint16 AS5048A_SPI_Read(Uint16 address_data) { Uint16 x; Uint16 R; union w{ unsigned int R_W; unsigned int PAR; unsigned int ADDRESS_DATA; }w; w.R_W = 1; // read - 1 ////////////// x=address_data; x ^= x >> 8; x ^= x >> 4; x ^= x >> 2; x ^= x >> 1; w.PAR =((x) & 1); // calculate odd parity w.ADDRESS_DATA = address_data; // address_data EN_AS5048A_SPI_motor1(); SpiaRegs.SPITXBUF=w; while(SpiaRegs.SPISTS.bit.INT_FLAG==0); // wait for the packet to complete DIS_AS5048A_SPI_motor1(); EN_AS5048A_SPI_motor1(); R=SpiaRegs.SPIRXBUF; DIS_AS5048A_SPI_motor1(); } //void AS5048A_SPI_WRITE_WORD_REG(Uint16_t data) //{ // //} // // End of File //