Revision 0:333434a8611b, committed 2020-03-20

Comitter:

Picmon

Date:

Fri Mar 20 10:54:58 2020 +0000

Commit message:

motor controller 200320A

Changed in this revision

diff -r 000000000000 -r 333434a8611b MotorControl.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorControl.cpp	Fri Mar 20 10:54:58 2020 +0000
@@ -0,0 +1,149 @@
+#include "mbed.h"
+#include "MotorControl.h"
+
+RawSerial mc_usart(PA_2,PA_15,115200);// this will be USART6 for motor control 
+
+const string rxMsgTable[MESSAGE] = {
+
+    "SET DRIVE WORKING SETINGS",
+    "SET FEEDBACK BOOST CURRENT",    
+    
+};
+
+struct drvWorkingSettings{
+ 
+ bool par0;
+ bool par1;
+ bool par2;
+ bool par3;
+ bool feedBackMotChk;
+ bool par5;
+ bool auomaticMotCurRed;
+ bool disableDigOutputsFWH;
+ bool par8; 
+ bool par9;
+ bool motRotDir;
+ bool par11;
+ bool par12; 
+ bool fbErrMotAct;
+ bool par14;
+ bool par15;  
+  
+};
+
+char rxMsgStore[BUFFER_SIZE];//received local message store
+char mc_Tx_Buffer[BUFFER_SIZE];//transmitted message buffer 
+volatile char mc_Rx_Buffer[BUFFER_SIZE];//received message buffer
+volatile unsigned char mc_Rx_Rd_Ptr = 0;//circulare buffer read pointer
+volatile unsigned char mc_Rx_Wr_Ptr = 0;//circulare buffer write pointer
+unsigned int rx_int = 0;//received integer / character
+
+//unsigned char i; 
+bool msgRecFlag = false;//message received flag 
+
+void motMsg_RX_ISR(void){
+    
+    //led1=1;
+    //save character in buffer
+    mc_Rx_Buffer[mc_Rx_Wr_Ptr] = mc_usart.getc();
+    //increment pointer
+    mc_Rx_Wr_Ptr++;
+    //test for wrap around
+    if(mc_Rx_Wr_Ptr == (BUFFER_SIZE - 1))
+    {
+        mc_Rx_Wr_Ptr = 0;
+    }
+    //wait(0.0001);
+    //led1=0; 
+}
+  
+bool getMotMsg(char * msgArray){
+    
+    //declare variables
+    static unsigned char i;
+    unsigned int uiMsg= 0xFFFF;
+
+    //test for any characters in the receiver buffer
+    if (mc_Rx_Wr_Ptr != mc_Rx_Rd_Ptr)
+    {
+        //character in the buffer, return the value
+        uiMsg = mc_Rx_Buffer[mc_Rx_Rd_Ptr];
+        //increment the Rd pointer
+        mc_Rx_Rd_Ptr++;
+        //test for wrap around
+        if(mc_Rx_Rd_Ptr == (BUFFER_SIZE - 1))
+        {
+            mc_Rx_Rd_Ptr = 0;
+        }
+    }
+                
+    if(uiMsg != 0xFFFF){//check that a character is in the buffer        
+        msgArray[i++] = uiMsg;//store characters in local message store array
+        
+        mc_usart.printf("%c\r\n", uiMsg); 
+               
+        if(uiMsg == '\r'){//look for <CR> then print out the message in the RX buffer
+            
+            msgRecFlag = true;//set the message received flag
+            
+            mc_usart.printf("Stored Message\r\n");
+                            
+            for(i=0 ; i <BUFFER_SIZE ; i++)                    
+                mc_usart.printf("%c\r\n",msgArray[i]);
+                
+        }
+    }
+    else
+        i=0;    
+            
+             
+    return(msgRecFlag);
+} 
+
+void motMsgDecode(unsigned int rxMsgTable[], unsigned int rxMsg[]){
+    
+    if(memcmp(rxMsgTable, rxMsg, 10)){
+        
+    }
+    
+}
+
+void clrRxMsg(char array[]){
+
+    for(unsigned char i=0; i<BUFFER_SIZE; i++)
+        array[i]=0;
+    
+    #ifdef DEBUG    
+        mc_usart.printf("Clear the RX local message store\r\n"); 
+    #endif
+                
+    for(unsigned char i=0; i<BUFFER_SIZE; i++){
+    
+        #ifdef DEBUG
+            mc_usart.printf("%c\r\n",array[i]);  
+        #endif
+    }
+} 
+
+
+bool moveMot(uint8_t par1, int32_t par2){
+    
+    static uint8_t newPar1 = 0;
+    static int32_t newPar2 = 0;    
+    bool fault = false;
+    
+    if((par1 != newPar1) || (par2 != newPar2)){
+        
+        newPar1 = par1;
+        newPar2 = par2;        
+        
+        if(((par1 >=0) && (par1 <=4))&&((par2 >= REV_MAX_STEPS) && (par2 <= FWD_MAX_STEPS))){  
+            sprintf(mc_Tx_Buffer,"MOVEMOT %d %u\r",par1, par2);      
+            mc_usart.printf("%s\r",mc_Tx_Buffer);    
+        }
+        else
+            fault = true;
+                            
+    }
+    return(fault);    
+}

diff -r 000000000000 -r 333434a8611b MotorControl.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorControl.h	Fri Mar 20 10:54:58 2020 +0000
@@ -0,0 +1,36 @@
+#ifndef MOTORCONTROL_H
+#define MOTORCONTROL_H
+
+#include "mbed.h"
+#include <string> 
+
+#define DEBUG_MOTOR
+
+#define BUFFER_SIZE  32
+#define MESSAGE 20
+
+#define REV_MAX_STEPS -2147483648
+#define FWD_MAX_STEPS 2147483648
+#define DEBUG
+ 
+
+extern RawSerial mc_usart;// this will be USART6 for motor control 
+extern const string rxMsgTable[];
+extern char rxMsgStore[];//received local message store
+extern char mc_Tx_Buffer[];//transmitted message buffer 
+extern volatile char mc_Rx_Buffer[];//received message buffer
+extern volatile unsigned char mc_Rx_Rd_Ptr;//circulare buffer read pointer
+extern volatile unsigned char mc_Rx_Wr_Ptr;//circulare buffer write pointer
+extern unsigned int rx_int;//received integer / character
+
+//unsigned char i; 
+extern bool msgRecFlag;//message received flag 
+
+void motMsg_RX_ISR(void);
+bool getMotMsg(char * msgArray);
+void motMsgDecode(unsigned int rxMsgTable[], unsigned int rxMsg[]);void clrRxMsg(char array[]);
+bool moveMot(uint8_t par1, int32_t par2);
+
+
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 333434a8611b main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 20 10:54:58 2020 +0000
@@ -0,0 +1,55 @@
+
+/*
+
+    ED Motor Controller API
+    
+    
+    Notes:
+    A robust protocal has been called for, the motor command sent out is to be echoed back with and <ACK> or <NACK>
+       
+    In order to compare what was sent to what is echoed back two buffers are required, a TX buffer and an RX buffer, they can then be compared 
+    using memcmp() function
+    
+    19/03/20 Compare of tx and rx buffers can be done
+    20/03/20 Migrate code to mbed studio
+
+
+
+*/
+
+#include "mbed.h"
+#include <string> 
+#include "MotorControl.h"
+
+DigitalOut led1(LED1);
+
+
+
+int main(){
+    
+    led1=0;
+    
+    mc_usart.attach(&motMsg_RX_ISR);//start the serial receiver interrupt
+    mc_usart.printf("ED Motor Controller Commands\r\n");
+       
+    clrRxMsg(rxMsgStore);
+
+    moveMot(1, 1000);
+    
+    mc_usart.printf("TX Buffer Contents\r\n");
+    
+    for(unsigned char i=0 ; i <BUFFER_SIZE ; i++)                     
+        mc_usart.printf("%c\r\n",mc_Tx_Buffer[i]);
+  
+    while(1){
+        
+        if(getMotMsg(rxMsgStore)){//get the message from the receive buffer and store it in local message store
+            
+            msgRecFlag = false;//clear the message received flag
+            
+            if(memcmp(rxMsgStore,mc_Tx_Buffer,strlen(rxMsgStore)) == 0){
+                led1=1;
+            }            
+        }                      
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 333434a8611b main.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Fri Mar 20 10:54:58 2020 +0000
@@ -0,0 +1,7 @@
+#ifndef MAIN_H
+#define MAIN_H
+
+#include "mbed.h"
+
+
+#endif 
\ No newline at end of file

diff -r 000000000000 -r 333434a8611b mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Mar 20 10:54:58 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file