parametrize the ssp data size

tinymovr · Apr 15, 2024 · e4512a2 · e4512a2
1 parent afb60d0
commit e4512a2
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Showing 6 changed files with 13 additions and 6 deletions.
diff --git a/firmware/src/sensor/amt22.c b/firmware/src/sensor/amt22.c
@@ -48,7 +48,7 @@ bool amt22_init_with_port(Sensor *s, const SSP_TYPE port, PAC55XX_SSP_TYPEDEF *s
 bool amt22_init_with_config(Sensor *s, const AMT22SensorConfig *c) {
     AMT22Sensor *as = (AMT22Sensor *)s;
     as->config = *c;
-    ssp_init(as->config.ssp_port, SSP_MS_MASTER, 16, 0, 0);
+    ssp_init(as->config.ssp_port, SSP_MS_MASTER, 16, SSP_DATA_SIZE_8, 0, 0);
     delay_us(10000); 
 
     amt22_send_angle_cmd(s); 

diff --git a/firmware/src/sensor/amt22.h b/firmware/src/sensor/amt22.h
@@ -66,6 +66,13 @@ static inline uint8_t amt22_get_errors(const Sensor *s)
 
 static inline void amt22_send_angle_cmd(const Sensor *s)
 {
+    // AMT22 has specific timing requirements with respect to reading
+    // the first and second bytes of the angle. For this reason we
+    // insert the 6us delay that corresponds to the datasheet-specified
+    // 3us + an experimentally defined value to account for transmission
+    // delay.
+    ssp_write_one(((const AMT22Sensor *)s)->config.ssp_struct, AMT22_CMD_READ_ANGLE);
+    delay_us(6);
     ssp_write_one(((const AMT22Sensor *)s)->config.ssp_struct, AMT22_CMD_READ_ANGLE);
 }
 

diff --git a/firmware/src/sensor/as5047.c b/firmware/src/sensor/as5047.c
@@ -48,7 +48,7 @@ bool as5047p_init_with_port(Sensor *s, const SSP_TYPE port, PAC55XX_SSP_TYPEDEF
 bool as5047p_init_with_config(Sensor *s, const AS5047PSensorConfig *c) {
     AS5047PSensor *as = (AS5047PSensor *)s;
     as->config = *c;
-    ssp_init(as->config.ssp_port, SSP_MS_MASTER, 16, 1, 0);
+    ssp_init(as->config.ssp_port, SSP_MS_MASTER, 16, SSP_DATA_SIZE_16, 1, 0);
     delay_us(10000); // Example delay, adjust based on AS5047P datasheet
 
     as5047p_send_angle_cmd(s); 

diff --git a/firmware/src/sensor/ma7xx.c b/firmware/src/sensor/ma7xx.c
@@ -50,7 +50,7 @@ bool ma7xx_init_with_port(Sensor *s, const SSP_TYPE port, PAC55XX_SSP_TYPEDEF *s
 {
     MA7xxSensor *ms = (MA7xxSensor *)s;
     ms->config = *c;
-    ssp_init(ms->config.ssp_port, SSP_MS_MASTER, 4, 0, 0);
+    ssp_init(ms->config.ssp_port, SSP_MS_MASTER, 4, SSP_DATA_SIZE_16, 0, 0);
     delay_us(16000); // ensure 16ms sensor startup time as per the datasheet
     ma7xx_send_angle_cmd(s);
     ma7xx_update(s, false);

diff --git a/firmware/src/ssp/ssp_func.c b/firmware/src/ssp/ssp_func.c
@@ -759,7 +759,7 @@ void ssp_interrupt_disable(SSP_TYPE ssp)
     }
 }
 
-void ssp_init(SSP_TYPE ssp, SSP_MS_TYPE ms_mode, uint8_t clkn_div, uint8_t cph, uint8_t cpol)
+void ssp_init(SSP_TYPE ssp, SSP_MS_TYPE ms_mode, uint8_t clkn_div, uint32_t data_size, uint8_t cph, uint8_t cpol)
 {
     PAC55XX_SSP_TYPEDEF *ssp_ptr;
 
@@ -804,7 +804,7 @@ void ssp_init(SSP_TYPE ssp, SSP_MS_TYPE ms_mode, uint8_t clkn_div, uint8_t cph,
 	ssp_ptr->CON.LBM = SSP_LP_NORMAL;                        // Loopback Mode, no loopback mode
 	ssp_ptr->CON.CPH = cph;                                  // Clock Out Phase
 	ssp_ptr->CON.CPO = cpol;                                 // Clock Out Polarity
-    ssp_ptr->CON.DSS = SSP_DATA_SIZE_16;                     // Data Size Select, 16 bit data
+    ssp_ptr->CON.DSS = data_size;                            // Data Size Select
     ssp_ptr->CON.SOD = SSP_OUTPUT_NOT_DRIVE;                 // Slave Output Disable
 
     ssp_io_config(ssp, ms_mode);

diff --git a/firmware/src/ssp/ssp_func.h b/firmware/src/ssp/ssp_func.h
@@ -38,7 +38,7 @@ typedef enum
 volatile uint16_t ssp_data[10];
 volatile uint16_t data_num;
 
-extern void ssp_init(SSP_TYPE ssp, SSP_MS_TYPE ms_mode, uint8_t clkn_div, uint8_t cph, uint8_t cpol);
+extern void ssp_init(SSP_TYPE ssp, SSP_MS_TYPE ms_mode, uint8_t clkn_div, uint32_t data_size, uint8_t cph, uint8_t cpol);
 extern void ssp_deinit(SSP_TYPE ssp);
 extern uint32_t ssp_write_one(PAC55XX_SSP_TYPEDEF *ssp_ptr, uint16_t data);
 extern uint32_t ssp_write_multi(PAC55XX_SSP_TYPEDEF *ssp_ptr, uint16_t *data, uint32_t byte_num);