[stm32][lan9252]

nucleo + mikroe
Advanced-Robotics-Facility · Oct 9, 2024 · f3c4a00 · f3c4a00
1 parent 361b826
commit f3c4a00
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Showing 2 changed files with 31 additions and 7 deletions.
diff --git a/soes/hal/advr_esc/esc_hw_lan9252_spi.c b/soes/hal/advr_esc/esc_hw_lan9252_spi.c
@@ -54,22 +54,32 @@ inline void lan9252_write_32 (uint16_t address, uint32_t val)
     cs_up();
 }
 
+#define FAST_READ
 /* lan9252 single read */
 inline uint32_t lan9252_read_32 (uint32_t address)
 {
+#ifdef FAST_READ
 	uint8_t data[4];
-	//uint8_t data[3];
+#else
+	uint8_t data[3];
+#endif
 	uint8_t result[4];
 
-   //data[0] = ESC_CMD_SERIAL_READ;
+#ifdef FAST_READ
    data[0] = ESC_CMD_FAST_READ;
+#else
+   data[0] = ESC_CMD_SERIAL_READ;
+#endif
    data[1] = ((address >> 8) & 0xFF);
    data[2] = (address & 0xFF);
+#ifdef FAST_READ
    data[3] = ESC_CMD_FAST_READ_DUMMY;
+#endif
 
    /* Select device. */
    cs_dn();
    /* Read data */
+   //spiWriteRead(&data, sizeof(data), &result, sizeof(result));
    write (data, sizeof(data));
    read (result, sizeof(result));
    /* Un-select device. */

diff --git a/soes/hal/advr_esc/hal_ec_STM32F4xx.c b/soes/hal/advr_esc/hal_ec_STM32F4xx.c
@@ -3,22 +3,36 @@
  */
 #include "stm32f4xx_hal.h"
 #include "hal_ec.h"
-//#include "pins.h"
+#include "main.h"
 
 #include <cc.h>
 
-extern SPI_HandleTypeDef hspi4;
+#define SPI_DFLT_TIMEOUT 100
 
-inline void cs_up(void) { HAL_GPIO_WritePin(GPIOE, GPIO_PIN_4, GPIO_PIN_SET); }
-inline void cs_dn(void) { HAL_GPIO_WritePin(GPIOE, GPIO_PIN_4, GPIO_PIN_RESET); }
+inline void cs_up(void) { HAL_GPIO_WritePin(ECAT_CS_GPIO_Port, ECAT_CS_Pin, GPIO_PIN_SET); }
+inline void cs_dn(void) { HAL_GPIO_WritePin(ECAT_CS_GPIO_Port, ECAT_CS_Pin, GPIO_PIN_RESET); }
 
+#if 0
 
 inline uint8_t spi_write(uint8_t data) {
 	uint8_t rx_data;
 	HAL_StatusTypeDef ret;
-	ret = HAL_SPI_TransmitReceive(&hspi4, &data, &rx_data, 1, 100);
+	ret = HAL_SPI_TransmitReceive(&ecat_spi, &data, &rx_data, 1, SPI_DFLT_TIMEOUT);
+	//while( hspi3.State == HAL_SPI_STATE_BUSY );
 	if ( ret != HAL_OK ) {
 		DPRINT("%s errcode %d",__FUNCTION__,ret);
 	}
 	return rx_data;
 }
+
+#else
+
+inline uint8_t spi_write(uint8_t data) {
+	// must be enabled in MX_SPI3_Init with __HAL_SPI_ENABLE(&hspi3);
+	ecat_spi.Instance->DR = data;
+	while ( ! __HAL_SPI_GET_FLAG(&ecat_spi, SPI_FLAG_RXNE) );
+	return ecat_spi.Instance->DR;
+}
+
+
+#endif