MorphGI / Mbed OS MGI_Rebuild_MidLevel_9_0-Basic_PWM

Basic Mid-Level control for the rebuilt MorphGI control unit, using PWM to communicate with the low level controllers.

Dependencies:   ros_lib_kinetic

LLComms.cpp@42:5a5ad23a4bb1, 2021-06-24 (annotated)

Committer:
dofydoink
Date:
Thu Jun 24 20:34:47 2021 +0000
Revision:
42:5a5ad23a4bb1
Parent:
39:e69a6fa12977 
first

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WD40andTape 8:d6657767a182 1 // LLComms.cpp
WD40andTape 8:d6657767a182 2
WD40andTape 8:d6657767a182 3 #include "LLComms.h"
WD40andTape 8:d6657767a182 4
dofydoink 12:595ed862e52f 5 LLComms::LLComms() :
WD40andTape 13:a373dfc57b89 6 queue(32 * EVENTS_EVENT_SIZE), //32 //8 * EVENTS_EVENT_SIZE
WD40andTape 14:54c3759e76ed 7 spi_0(PC_12, PC_11, PC_10),
dofydoink 42:5a5ad23a4bb1 8 // spi_1(PF_9, PF_8, PF_7),
dofydoink 42:5a5ad23a4bb1 9 // spi_2(PB_15, PC_2, PB_13),
WD40andTape 8:d6657767a182 10 // These interrupt pins have to be declared AFTER SPI declaration. No Clue Why.
WD40andTape 8:d6657767a182 11 pinGate0(PF_11),
WD40andTape 8:d6657767a182 12 pinGate1(PG_14),
WD40andTape 8:d6657767a182 13 pinGate2(PF_15),
dofydoink 42:5a5ad23a4bb1 14 //pinGate3(PF_12),
dofydoink 12:595ed862e52f 15 pinReset(PD_2)
WD40andTape 8:d6657767a182 16 { // Constructor
WD40andTape 8:d6657767a182 17
WD40andTape 24:bc852aa89e7a 18 spi_0.format(16,2);
WD40andTape 24:bc852aa89e7a 19 spi_0.frequency(LOW_LEVEL_SPI_FREQUENCY);
dofydoink 42:5a5ad23a4bb1 20 // spi_1.format(16,2);
dofydoink 42:5a5ad23a4bb1 21 // spi_1.frequency(LOW_LEVEL_SPI_FREQUENCY);
WD40andTape 24:bc852aa89e7a 22
dofydoink 42:5a5ad23a4bb1 23
dofydoink 42:5a5ad23a4bb1 24 PinName LLPins[N_CHANNELS] = {PD_15, PE_10, PD_14};//, PD_11};//, PE_7, PB_1, PB_12, PD_13, PB_5};
dofydoink 42:5a5ad23a4bb1 25
WD40andTape 36:4459be8296e9 26 for (short int i=0; i<N_CHANNELS; i++) {
WD40andTape 10:1b6daba32452 27 isDataReady[i] = 0;
WD40andTape 8:d6657767a182 28 cs_LL[i] = new DigitalOut(LLPins[i]);
WD40andTape 34:54e9ebe9e87f 29 //cs_ADC[i] = new DigitalOut(ADCPins[i]);
WD40andTape 8:d6657767a182 30 }
WD40andTape 10:1b6daba32452 31
WD40andTape 9:cd3607ba5643 32 // Initialise relevant variables
WD40andTape 36:4459be8296e9 33 for(short int i=0; i<N_CHANNELS; i++) {
WD40andTape 9:cd3607ba5643 34 // All chip selects in off state
WD40andTape 9:cd3607ba5643 35 *cs_LL[i] = 1;
WD40andTape 34:54e9ebe9e87f 36 //*cs_ADC[i] = 1;
WD40andTape 26:7c59002c9cd7 37 // Initialise pressures/positions
WD40andTape 29:10a5cf37a875 38 pressureSensor_uint[i] = 0.0;
WD40andTape 26:7c59002c9cd7 39 pressureSensor_bar[i] = -1.0;
WD40andTape 29:10a5cf37a875 40 positionSensor_uint[i] = 0.0;
WD40andTape 26:7c59002c9cd7 41 positionSensor_mm[i] = -1.0;
WD40andTape 9:cd3607ba5643 42 }
WD40andTape 9:cd3607ba5643 43 pinReset = 1; // Initialise reset pin to not reset the controllers.
WD40andTape 9:cd3607ba5643 44 wait(0.25);
WD40andTape 9:cd3607ba5643 45 pinReset=0; // Reset controllers to be safe
WD40andTape 9:cd3607ba5643 46 wait(0.25);
WD40andTape 9:cd3607ba5643 47 pinReset = 1; // Ready to go
dofydoink 42:5a5ad23a4bb1 48
dofydoink 42:5a5ad23a4bb1 49 // pinReset.mode(PullUp); // Initialise reset pin to not reset the controllers.
dofydoink 42:5a5ad23a4bb1 50 // wait(0.25);
dofydoink 42:5a5ad23a4bb1 51 // pinReset.write(0); // Reset controllers to be safe
dofydoink 42:5a5ad23a4bb1 52 // wait(0.25);
dofydoink 42:5a5ad23a4bb1 53 // pinReset.mode(PullUp); // Ready to go
dofydoink 42:5a5ad23a4bb1 54 // wait(0.25);
WD40andTape 10:1b6daba32452 55
WD40andTape 10:1b6daba32452 56 // Set up rise interrupts MIGHT NOT NEED TO BE POINTERS
dofydoink 12:595ed862e52f 57 pinGate0.rise(callback(this,&LLComms::rise0));
dofydoink 12:595ed862e52f 58 pinGate1.rise(callback(this,&LLComms::rise1));
dofydoink 12:595ed862e52f 59 pinGate2.rise(callback(this,&LLComms::rise2));
dofydoink 42:5a5ad23a4bb1 60 //pinGate3.rise(callback(this,&LLComms::rise3));
dofydoink 42:5a5ad23a4bb1 61
WD40andTape 10:1b6daba32452 62 // Set up fall interrupts MIGHT NOT NEED TO BE POINTERS
dofydoink 12:595ed862e52f 63 pinGate0.fall(callback(this,&LLComms::fall0));
dofydoink 12:595ed862e52f 64 pinGate1.fall(callback(this,&LLComms::fall1));
dofydoink 12:595ed862e52f 65 pinGate2.fall(callback(this,&LLComms::fall2));
dofydoink 42:5a5ad23a4bb1 66 //pinGate3.fall(callback(this,&LLComms::fall3));
dofydoink 42:5a5ad23a4bb1 67
WD40andTape 9:cd3607ba5643 68 }
WD40andTape 9:cd3607ba5643 69
dofydoink 11:7029367a1840 70 //LLComms::~LLComms(void) { } // Destructor
WD40andTape 26:7c59002c9cd7 71 unsigned int LLComms::formatMessage(short int type, double dblValue, double dblMaxValue) {
WD40andTape 24:bc852aa89e7a 72 // Convert to a 9-bit number
WD40andTape 24:bc852aa89e7a 73 int intValue = (int) ((dblValue/dblMaxValue)*511);
WD40andTape 24:bc852aa89e7a 74 intValue = intValue & 0x1FF; // Ensure number is 9-bit
WD40andTape 24:bc852aa89e7a 75 // Initialize message with value
WD40andTape 24:bc852aa89e7a 76 unsigned int intMsg = intValue;
WD40andTape 24:bc852aa89e7a 77 // Calculate checksum (the decimal sum of the position data)
WD40andTape 24:bc852aa89e7a 78 int intCheckSum = 0, intTempVar = intValue;
WD40andTape 26:7c59002c9cd7 79 while( intTempVar>0 ) {
WD40andTape 24:bc852aa89e7a 80 intCheckSum += intTempVar%10;
WD40andTape 25:88e6cccde856 81 intTempVar = floor(intTempVar/10.0);
WD40andTape 24:bc852aa89e7a 82 }
WD40andTape 24:bc852aa89e7a 83 // Add checksum to message
WD40andTape 24:bc852aa89e7a 84 intMsg = intMsg<<5;
WD40andTape 24:bc852aa89e7a 85 intMsg = intMsg | intCheckSum;
WD40andTape 24:bc852aa89e7a 86 // Add type bit (0 == position, 1 == velocity)
WD40andTape 24:bc852aa89e7a 87 intMsg = intMsg<<1;
WD40andTape 26:7c59002c9cd7 88 intMsg = intMsg | (int)type; // CAST AS BOOL
WD40andTape 24:bc852aa89e7a 89 // Calculate decimal parity check for the whole message
WD40andTape 24:bc852aa89e7a 90 unsigned int count = 0, b = 1;
WD40andTape 24:bc852aa89e7a 91 for(short int i=0; i<32; i++) {
WD40andTape 24:bc852aa89e7a 92 if( intMsg & (b << i) ) count++;
WD40andTape 24:bc852aa89e7a 93 }
WD40andTape 24:bc852aa89e7a 94 // Add parity bit to message (0 == Odd, 1 == Even)
WD40andTape 27:6853ee8ffefd 95 // Parity selected in this way to prevent 0x0000 from passing checks
WD40andTape 24:bc852aa89e7a 96 bool boolParity = !(bool)(count%2);
WD40andTape 24:bc852aa89e7a 97 intMsg = intMsg<<1;
WD40andTape 24:bc852aa89e7a 98 intMsg = intMsg | (int)boolParity;
WD40andTape 26:7c59002c9cd7 99 return intMsg;
WD40andTape 26:7c59002c9cd7 100 }
WD40andTape 26:7c59002c9cd7 101
WD40andTape 26:7c59002c9cd7 102 bool LLComms::CheckMessage(int msg) {
WD40andTape 26:7c59002c9cd7 103 // Find message parity
WD40andTape 26:7c59002c9cd7 104 short int count = 0;
WD40andTape 26:7c59002c9cd7 105 for(short int i=0; i<32; i++) {
WD40andTape 26:7c59002c9cd7 106 if( msg>>1 & (1<<i) ) count++;
WD40andTape 26:7c59002c9cd7 107 }
WD40andTape 26:7c59002c9cd7 108 int intParity = !(count%2);
WD40andTape 26:7c59002c9cd7 109 // Find message CheckSum
WD40andTape 26:7c59002c9cd7 110 int intChkSum = 0;
WD40andTape 26:7c59002c9cd7 111 int intTempVar = msg>>7;
WD40andTape 26:7c59002c9cd7 112 while(intTempVar > 0) {
WD40andTape 26:7c59002c9cd7 113 intChkSum += intTempVar%10;
WD40andTape 26:7c59002c9cd7 114 intTempVar = int(intTempVar/10);
WD40andTape 26:7c59002c9cd7 115 }
WD40andTape 26:7c59002c9cd7 116 // Check if parity and CheckSum match
WD40andTape 26:7c59002c9cd7 117 bool isParityCorrect = (intParity == (msg&0x1));
WD40andTape 26:7c59002c9cd7 118 bool isChkSumCorrect = (intChkSum == ((msg>>2)&0x1F));
WD40andTape 26:7c59002c9cd7 119 bool isCheckPassed = (isParityCorrect && isChkSumCorrect);
WD40andTape 26:7c59002c9cd7 120 return isCheckPassed;
WD40andTape 26:7c59002c9cd7 121 }
WD40andTape 26:7c59002c9cd7 122
WD40andTape 26:7c59002c9cd7 123 bool LLComms::PerformMasterSPI(SPI *spi, unsigned int outboundMsgs[], unsigned int inboundMsgsData[]) {
WD40andTape 26:7c59002c9cd7 124 unsigned int dummyMsg = 0x5555;
WD40andTape 26:7c59002c9cd7 125 bool isSuccess = true;
WD40andTape 26:7c59002c9cd7 126 unsigned int inboundMsg, typeBit;
WD40andTape 27:6853ee8ffefd 127 AnalogIn ain(PA_4); // Random analogue pin
WD40andTape 26:7c59002c9cd7 128 for(short int i=0; i<3; i++) { // Loop 3 times for 3 SPI messages
WD40andTape 27:6853ee8ffefd 129 ain.read_u16(); // Read analogue pin to cause a delay
WD40andTape 27:6853ee8ffefd 130 ain.read_u16();
WD40andTape 26:7c59002c9cd7 131 if(i==0) {
WD40andTape 26:7c59002c9cd7 132 inboundMsg = spi->write(outboundMsgs[0]);
WD40andTape 26:7c59002c9cd7 133 } else if(i==1) {
WD40andTape 26:7c59002c9cd7 134 inboundMsg = spi->write(outboundMsgs[1]);
WD40andTape 26:7c59002c9cd7 135 } else {
WD40andTape 26:7c59002c9cd7 136 inboundMsg = spi->write(dummyMsg);
WD40andTape 26:7c59002c9cd7 137 }
dofydoink 42:5a5ad23a4bb1 138 //rawMsg[i] = inboundMsg;
WD40andTape 26:7c59002c9cd7 139 if((unsigned int)inboundMsg != dummyMsg) { // Message is not dummy which is only used for reply
WD40andTape 26:7c59002c9cd7 140 typeBit = inboundMsg>>1 & 0x1;
WD40andTape 26:7c59002c9cd7 141 inboundMsgsData[typeBit] = inboundMsg>>7 & 0x1FF;
WD40andTape 26:7c59002c9cd7 142 if( !CheckMessage(inboundMsg) ) {
WD40andTape 26:7c59002c9cd7 143 isSuccess = false;
WD40andTape 26:7c59002c9cd7 144 }
WD40andTape 26:7c59002c9cd7 145 }
WD40andTape 26:7c59002c9cd7 146 }
WD40andTape 26:7c59002c9cd7 147 return isSuccess;
WD40andTape 24:bc852aa89e7a 148 }
WD40andTape 24:bc852aa89e7a 149
WD40andTape 10:1b6daba32452 150 void LLComms::SendReceiveData(int channel) {
WD40andTape 24:bc852aa89e7a 151 mutChannel[channel].lock(); // Lock mutex for specific Channel
WD40andTape 24:bc852aa89e7a 152
WD40andTape 24:bc852aa89e7a 153 // Construct messages
WD40andTape 26:7c59002c9cd7 154 unsigned int intPositionMsg = formatMessage(0,demandPosition_mm[channel],MAX_ACTUATOR_LIMIT_MM);
WD40andTape 26:7c59002c9cd7 155 unsigned int intVelocityMsg = formatMessage(1,demandSpeed_mmps[channel],MAX_SPEED_MMPS);
dofydoink 42:5a5ad23a4bb1 156 //unsigned int rawMsg[3];
WD40andTape 26:7c59002c9cd7 157 *cs_LL[channel] = 0; // Select relevant chip
WD40andTape 26:7c59002c9cd7 158 unsigned int outboundMsgs[2] = { intPositionMsg , intVelocityMsg };
WD40andTape 27:6853ee8ffefd 159 unsigned int inboundMsgsData[2] = { 0 };
WD40andTape 26:7c59002c9cd7 160 bool isSPIsuccess = false;
dofydoink 42:5a5ad23a4bb1 161 if( channel < 3 ) {
WD40andTape 26:7c59002c9cd7 162 isSPIsuccess = PerformMasterSPI(&spi_0,outboundMsgs,inboundMsgsData);
dofydoink 42:5a5ad23a4bb1 163 } //else {
dofydoink 42:5a5ad23a4bb1 164 // isSPIsuccess = PerformMasterSPI(&spi_1,outboundMsgs,inboundMsgsData,rawMsg);
dofydoink 42:5a5ad23a4bb1 165 // }
dofydoink 42:5a5ad23a4bb1 166 // else if( channel < 7 ) {
dofydoink 42:5a5ad23a4bb1 167 // isSPIsuccess = PerformMasterSPI(&spi_1,outboundMsgs,inboundMsgsData);
dofydoink 42:5a5ad23a4bb1 168 // } else {
dofydoink 42:5a5ad23a4bb1 169 // isSPIsuccess = PerformMasterSPI(&spi_2,outboundMsgs,inboundMsgsData);
dofydoink 42:5a5ad23a4bb1 170 // }
WD40andTape 26:7c59002c9cd7 171 *cs_LL[channel] = 1; // Deselect chip
WD40andTape 26:7c59002c9cd7 172 if( isSPIsuccess ) {
WD40andTape 26:7c59002c9cd7 173 isDataReady[channel] = 0; // Data no longer ready, i.e. we now require new data
WD40andTape 29:10a5cf37a875 174 positionSensor_uint[channel] = inboundMsgsData[0];
WD40andTape 27:6853ee8ffefd 175 positionSensor_mm[channel] = ((double)inboundMsgsData[0]/511) * (double)MAX_ACTUATOR_LENGTH_MM;
WD40andTape 27:6853ee8ffefd 176 positionSensor_mm[channel] = min( max(positionSensor_mm[channel],0.0) , (double)MAX_ACTUATOR_LENGTH_MM );
WD40andTape 29:10a5cf37a875 177 pressureSensor_uint[channel] = inboundMsgsData[1];
WD40andTape 27:6853ee8ffefd 178 pressureSensor_bar[channel] = ((double)inboundMsgsData[1]/511) * (double)MAX_PRESSURE_LIMIT;
WD40andTape 27:6853ee8ffefd 179 pressureSensor_bar[channel] = min( max(pressureSensor_bar[channel],0.0) , (double)MAX_PRESSURE_LIMIT );
WD40andTape 26:7c59002c9cd7 180 } else { // Data is STILL ready and will be resent at the next pin interrupt
dofydoink 42:5a5ad23a4bb1 181 printf("SPI failed: %d. Resending.\n\r",channel);
WD40andTape 26:7c59002c9cd7 182 }
WD40andTape 26:7c59002c9cd7 183
WD40andTape 26:7c59002c9cd7 184 mutChannel[channel].unlock();//unlock mutex for specific channel
dofydoink 42:5a5ad23a4bb1 185
dofydoink 42:5a5ad23a4bb1 186 // if(channel ==3){
dofydoink 42:5a5ad23a4bb1 187 // printf("%x\t%x\t%x\r\n",rawMsg[0], rawMsg[1], rawMsg[2] );
dofydoink 42:5a5ad23a4bb1 188 // }
dofydoink 42:5a5ad23a4bb1 189
dofydoink 42:5a5ad23a4bb1 190 // printf("%d, ", channel);
dofydoink 42:5a5ad23a4bb1 191 // if(channel == 3){
dofydoink 42:5a5ad23a4bb1 192 // printf("\r\n");
dofydoink 42:5a5ad23a4bb1 193 // }
WD40andTape 26:7c59002c9cd7 194 }
WD40andTape 26:7c59002c9cd7 195
WD40andTape 10:1b6daba32452 196 // Common rise handler function
WD40andTape 10:1b6daba32452 197 void LLComms::common_rise_handler(int channel) {
WD40andTape 26:7c59002c9cd7 198 //printf("%d %d common_rise_handler\n\r",channel,isDataReady[channel]);
dofydoink 42:5a5ad23a4bb1 199 //countervar++;
WD40andTape 26:7c59002c9cd7 200 if (isDataReady[channel]) { // Check if data is ready for transmission
WD40andTape 10:1b6daba32452 201 ThreadID[channel] = queue.call(this,&LLComms::SendReceiveData,channel); // Schedule transmission
WD40andTape 10:1b6daba32452 202 }
WD40andTape 10:1b6daba32452 203 }
WD40andTape 10:1b6daba32452 204
WD40andTape 10:1b6daba32452 205 // Common fall handler functions
WD40andTape 10:1b6daba32452 206 void LLComms::common_fall_handler(int channel) {
WD40andTape 10:1b6daba32452 207 queue.cancel(ThreadID[channel]); // Cancel relevant queued event
WD40andTape 10:1b6daba32452 208 }
WD40andTape 10:1b6daba32452 209
WD40andTape 10:1b6daba32452 210 // Stub rise functions
WD40andTape 10:1b6daba32452 211 void LLComms::rise0(void) { common_rise_handler(0); }
WD40andTape 10:1b6daba32452 212 void LLComms::rise1(void) { common_rise_handler(1); }
WD40andTape 10:1b6daba32452 213 void LLComms::rise2(void) { common_rise_handler(2); }
dofydoink 42:5a5ad23a4bb1 214 //void LLComms::rise3(void) { common_rise_handler(3); }
dofydoink 42:5a5ad23a4bb1 215
WD40andTape 10:1b6daba32452 216 // Stub fall functions
WD40andTape 10:1b6daba32452 217 void LLComms::fall0(void) { common_fall_handler(0); }
WD40andTape 10:1b6daba32452 218 void LLComms::fall1(void) { common_fall_handler(1); }
WD40andTape 10:1b6daba32452 219 void LLComms::fall2(void) { common_fall_handler(2); }
dofydoink 42:5a5ad23a4bb1 220 //void LLComms::fall3(void) { common_fall_handler(3); }